{"type":"session_start","format":"rte-runtime-session-jsonl","version":3,"t":0,"started_at_utc":"2026-09-24T19:45:58.539Z","exported_at_utc":"2026-09-24T20:16:54.560Z","port":"/dev/ttyACM0","mode":"device","protocol":"legacy"}
{"type": "telemetry", "t": 0.239263, "values": {"Elec_RPM": -0.0207557809, "EncoderCos": 37407, "EncoderSin": 12131, "GapTicks": 54764, "Mech_RPM": -0.00415115617, "cg_du": 50.1748238, "cg_dv": 50.2136841, "cg_dw": 49.7863159, "cg_id_a": -0.119173467, "cg_id_raw_a": -0.38013944, "cg_iq_a": -0.0901720226, "cg_iq_raw_a": -0.223481685, "cg_iu_a": -0.717632055, "cg_iv_a": -0.315901041, "cg_iw_a": 1.0335331, "cg_sample_age_us": 24.2381821, "cg_sample_seq": 2023462, "cg_sample_valid": 1, "cg_theta_rad": 4.94625711, "cg_vd_req_v": 0.186389402, "cg_vd_v": 0.186389402, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.348176271, "cg_vq_v": -0.348176271, "cg_vu_v": 37.3908691, "cg_vv_v": 40.0302238, "cg_vw_v": 47.5083961, "control_outputs_enabled": 1, "dclink_i_a": -1.17328846, "dclink_p_w": -169.287643, "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": 23.9811096, "temp_inv2_c": 27.336792, "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": 0.0918974578, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 0.924456, "values": {"Elec_RPM": -0.103154212, "EncoderCos": 37482, "EncoderSin": 12128, "GapTicks": 54765, "Mech_RPM": -0.0206308421, "cg_du": 50.1826553, "cg_dv": 50.2128563, "cg_dw": 49.7871437, "cg_id_a": 0.137190461, "cg_id_raw_a": -0.0250980295, "cg_iq_a": 0.321459591, "cg_iq_raw_a": 0.284398377, "cg_iu_a": -0.173974633, "cg_iv_a": -0.207169622, "cg_iw_a": 0.381144255, "cg_sample_age_us": 27.0745449, "cg_sample_seq": 2026865, "cg_sample_valid": 1, "cg_theta_rad": 4.94637871, "cg_vd_req_v": 0.174149215, "cg_vd_v": 0.174149215, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.355393767, "cg_vq_v": -0.355393767, "cg_vu_v": 108.653458, "cg_vv_v": 109.093361, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 0.08256042, "dclink_p_w": 11.9122105, "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": 23.9811096, "temp_inv2_c": 27.3410034, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0906385854, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1.941884, "values": {"Elec_RPM": -0.150867179, "EncoderCos": 37476, "EncoderSin": 12116, "GapTicks": 54752, "Mech_RPM": -0.0301734358, "cg_du": 50.1692429, "cg_dv": 50.2254333, "cg_dw": 49.7745667, "cg_id_a": -0.184506387, "cg_id_raw_a": 0.00916227698, "cg_iq_a": -0.677037001, "cg_iq_raw_a": -0.289950639, "cg_iu_a": -0.826363564, "cg_iv_a": -0.388388872, "cg_iw_a": 1.21475244, "cg_sample_age_us": 24.1981812, "cg_sample_seq": 2032063, "cg_sample_valid": 1, "cg_theta_rad": 4.9466033, "cg_vd_req_v": 0.199966967, "cg_vd_v": 0.199966967, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.358611465, "cg_vq_v": -0.358611465, "cg_vu_v": 137.686371, "cg_vv_v": 126.689056, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.433914304, "dclink_p_w": -62.7980995, "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": 23.9811096, "temp_inv2_c": 27.336792, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938109383, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 2.959316, "values": {"Elec_RPM": -0.257424206, "EncoderCos": 37432, "EncoderSin": 12107, "GapTicks": 54762, "Mech_RPM": -0.0514848419, "cg_du": 50.1556892, "cg_dv": 50.2155266, "cg_dw": 49.7844734, "cg_id_a": 0.154267535, "cg_id_raw_a": 0.478878617, "cg_iq_a": -0.248985156, "cg_iq_raw_a": -1.27282476, "cg_iu_a": -0.0289992094, "cg_iv_a": -0.0621942878, "cg_iw_a": 0.0911934972, "cg_sample_age_us": 24.1109085, "cg_sample_seq": 2037112, "cg_sample_valid": 1, "cg_theta_rad": 4.94640875, "cg_vd_req_v": 0.198362991, "cg_vd_v": 0.198362991, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.336069703, "cg_vq_v": -0.336069703, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": -0.220075607, "dclink_p_w": -31.8503666, "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": 23.9811096, "temp_inv2_c": 27.3298035, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0857541785, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 3.978134, "values": {"Elec_RPM": 8.11171485e-05, "EncoderCos": 37442, "EncoderSin": 12127, "GapTicks": 54748, "Mech_RPM": 1.62234301e-05, "cg_du": 50.175396, "cg_dv": 50.2285461, "cg_dw": 49.7714539, "cg_id_a": 0.154700667, "cg_id_raw_a": 0.45594582, "cg_iq_a": -0.307525545, "cg_iq_raw_a": -0.5342682, "cg_iu_a": -0.0289992094, "cg_iv_a": 0.0465371907, "cg_iw_a": -0.0175379813, "cg_sample_age_us": 24.1109085, "cg_sample_seq": 2042212, "cg_sample_valid": 1, "cg_theta_rad": 4.94628382, "cg_vd_req_v": 0.203145966, "cg_vd_v": 0.203145966, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.365024269, "cg_vq_v": -0.365024269, "cg_vu_v": 105.134323, "cg_vv_v": 99.4157181, "cg_vw_v": 82.2599106, "control_outputs_enabled": 1, "dclink_i_a": -0.529960394, "dclink_p_w": -76.6983337, "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": 24.0029602, "temp_inv2_c": 27.3298035, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0909910724, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 4.995548, "values": {"Elec_RPM": 0.150115669, "EncoderCos": 37419, "EncoderSin": 12122, "GapTicks": 54745, "Mech_RPM": 0.0300231352, "cg_du": 50.1789246, "cg_dv": 50.2315521, "cg_dw": 49.7684479, "cg_id_a": -0.290077567, "cg_id_raw_a": -0.326509774, "cg_iq_a": -0.0543950312, "cg_iq_raw_a": 0.550582945, "cg_iu_a": 0.224707603, "cg_iv_a": -0.605851769, "cg_iw_a": 0.381144196, "cg_sample_age_us": 24.2163639, "cg_sample_seq": 2047313, "cg_sample_valid": 1, "cg_theta_rad": 4.94688272, "cg_vd_req_v": 0.207172066, "cg_vd_v": 0.207172066, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.369614959, "cg_vq_v": -0.369614959, "cg_vu_v": 116.571533, "cg_vv_v": 131.527878, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -1.26752245, "dclink_p_w": -182.884171, "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": 23.9811096, "temp_inv2_c": 27.3228149, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0877683684, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 6.012994, "values": {"Elec_RPM": 0.168298721, "EncoderCos": 37429, "EncoderSin": 12154, "GapTicks": 54731, "Mech_RPM": 0.033659745, "cg_du": 50.2010155, "cg_dv": 50.2439728, "cg_dw": 49.7560272, "cg_id_a": -0.116378412, "cg_id_raw_a": 0.174411133, "cg_iq_a": 0.384857744, "cg_iq_raw_a": 0.449237108, "cg_iu_a": 0.152219951, "cg_iv_a": -0.497120291, "cg_iw_a": 0.34490034, "cg_sample_age_us": 24.2199993, "cg_sample_seq": 2052362, "cg_sample_valid": 1, "cg_theta_rad": 4.94585371, "cg_vd_req_v": 0.208824202, "cg_vd_v": 0.208824202, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.398750097, "cg_vq_v": -0.398750097, "cg_vu_v": 26.3935547, "cg_vv_v": 10.1175289, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.412379265, "dclink_p_w": 59.6814461, "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": 24.0029602, "temp_inv2_c": 27.3507996, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938612968, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 7.030441, "values": {"Elec_RPM": 0.00349393766, "EncoderCos": 37427, "EncoderSin": 12114, "GapTicks": 54727, "Mech_RPM": 0.000698787509, "cg_du": 50.2097054, "cg_dv": 50.2478294, "cg_dw": 49.7521706, "cg_id_a": -0.280317187, "cg_id_raw_a": -0.370111316, "cg_iq_a": -0.0590337291, "cg_iq_raw_a": 0.177009165, "cg_iu_a": -0.173974633, "cg_iv_a": 0.155268699, "cg_iw_a": 0.0187059268, "cg_sample_age_us": 24.1836357, "cg_sample_seq": 2057462, "cg_sample_valid": 1, "cg_theta_rad": 4.9463191, "cg_vd_req_v": 0.210029423, "cg_vd_v": 0.210029423, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.408732504, "cg_vq_v": -0.408732504, "cg_vu_v": 41.3499031, "cg_vv_v": 50.5876465, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.703930736, "dclink_p_w": -101.566475, "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": 24.0029602, "temp_inv2_c": 27.3465881, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0887754634, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 8.025656, "values": {"Elec_RPM": -0.0243358687, "EncoderCos": 37466, "EncoderSin": 12123, "GapTicks": 54754, "Mech_RPM": -0.00486717373, "cg_du": 50.1624146, "cg_dv": 50.2229538, "cg_dw": 49.7770462, "cg_id_a": 0.0372079052, "cg_id_raw_a": -0.164698973, "cg_iq_a": -0.387398332, "cg_iq_raw_a": 0.344256282, "cg_iu_a": -0.21021843, "cg_iv_a": 0.227756381, "cg_iw_a": -0.669927001, "cg_sample_age_us": 24.2127266, "cg_sample_seq": 2062264, "cg_sample_valid": 1, "cg_theta_rad": 4.9461937, "cg_vd_req_v": 0.201354295, "cg_vd_v": 0.201354295, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.350477278, "cg_vq_v": -0.350477278, "cg_vu_v": 120.090675, "cg_vv_v": 141.205521, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.401294827, "dclink_p_w": -58.0772552, "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": 23.9811096, "temp_inv2_c": 27.3437805, "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": 0.0932570398, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 9.041889, "values": {"Elec_RPM": -0.0130978096, "EncoderCos": 37418, "EncoderSin": 12145, "GapTicks": 54728, "Mech_RPM": -0.00261956197, "cg_du": 50.2047043, "cg_dv": 50.2467842, "cg_dw": 49.7532158, "cg_id_a": -0.133605629, "cg_id_raw_a": -0.129072443, "cg_iq_a": -0.136184826, "cg_iq_raw_a": -1.17913103, "cg_iu_a": -0.21021831, "cg_iv_a": 0.300244033, "cg_iw_a": -0.090025723, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 2067563, "cg_sample_valid": 1, "cg_theta_rad": 4.94506121, "cg_vd_req_v": 0.212315947, "cg_vd_v": 0.212315947, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.404985994, "cg_vq_v": -0.404985994, "cg_vu_v": 0.43989256, "cg_vv_v": 1.31967759, "cg_vw_v": 4.39892578, "control_outputs_enabled": 1, "dclink_i_a": -0.928642631, "dclink_p_w": -134.397491, "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": 23.9811096, "temp_inv2_c": 27.3158264, "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": 0.0960769057, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 10.059309, "values": {"Elec_RPM": 0.33676827, "EncoderCos": 37415, "EncoderSin": 12125, "GapTicks": 54717, "Mech_RPM": 0.0673536509, "cg_du": 50.2260323, "cg_dv": 50.2566566, "cg_dw": 49.7433434, "cg_id_a": -0.112231649, "cg_id_raw_a": 0.0518309213, "cg_iq_a": 0.995107353, "cg_iq_raw_a": 0.0427599698, "cg_iu_a": 0.0434884429, "cg_iv_a": -0.569607973, "cg_iw_a": 0.52611953, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 2072663, "cg_sample_valid": 1, "cg_theta_rad": 4.94673538, "cg_vd_req_v": 0.213342384, "cg_vd_v": 0.213342384, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.429656088, "cg_vq_v": -0.429656088, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": -0.636879802, "dclink_p_w": -92.1722107, "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": 24.0029602, "temp_inv2_c": 27.3437805, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0914442614, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 11.076694, "values": {"Elec_RPM": 0.214330822, "EncoderCos": 37429, "EncoderSin": 12153, "GapTicks": 54708, "Mech_RPM": 0.042866163, "cg_du": 50.2317429, "cg_dv": 50.2650642, "cg_dw": 49.7349358, "cg_id_a": 0.053506434, "cg_id_raw_a": -0.267854989, "cg_iq_a": -0.568651736, "cg_iq_raw_a": -0.487814784, "cg_iu_a": -0.391437531, "cg_iv_a": 0.445219368, "cg_iw_a": -0.0537818372, "cg_sample_age_us": 24.176363, "cg_sample_seq": 2077713, "cg_sample_valid": 1, "cg_theta_rad": 4.94490147, "cg_vd_req_v": 0.219184741, "cg_vd_v": 0.219184741, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.443471581, "cg_vq_v": -0.443471581, "cg_vu_v": 108.653458, "cg_vv_v": 109.093361, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": -0.593387127, "dclink_p_w": -85.8777466, "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": 23.9811096, "temp_inv2_c": 27.3312073, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0870634019, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 11.938095, "values": {"Elec_RPM": 0.170312002, "EncoderCos": 37455, "EncoderSin": 12138, "GapTicks": 54724, "Mech_RPM": 0.0340624005, "cg_du": 50.2139893, "cg_dv": 50.2502403, "cg_dw": 49.7497597, "cg_id_a": 0.288178533, "cg_id_raw_a": 0.492596179, "cg_iq_a": 0.33991313, "cg_iq_raw_a": -0.519703567, "cg_iu_a": -0.898851156, "cg_iv_a": 0.336487889, "cg_iw_a": 0.562363267, "cg_sample_age_us": 24.2018185, "cg_sample_seq": 2081962, "cg_sample_valid": 1, "cg_theta_rad": 4.94594812, "cg_vd_req_v": 0.208173275, "cg_vd_v": 0.208173275, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.417336613, "cg_vq_v": -0.417336613, "cg_vu_v": 108.653458, "cg_vv_v": 109.093361, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": -0.582513928, "dclink_p_w": -84.3041306, "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": 24.0029602, "temp_inv2_c": 27.3591919, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0883222669, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 12.955494, "values": {"Elec_RPM": -0.143597841, "EncoderCos": 37436, "EncoderSin": 12136, "GapTicks": 54719, "Mech_RPM": -0.0287195668, "cg_du": 50.2067604, "cg_dv": 50.2551537, "cg_dw": 49.7448463, "cg_id_a": -0.443139732, "cg_id_raw_a": -0.12832813, "cg_iq_a": 0.568988144, "cg_iq_raw_a": 0.35960722, "cg_iu_a": -0.21021843, "cg_iv_a": -0.569607913, "cg_iw_a": 0.779826343, "cg_sample_age_us": 24.2418175, "cg_sample_seq": 2087162, "cg_sample_valid": 1, "cg_theta_rad": 4.9444108, "cg_vd_req_v": 0.220812753, "cg_vd_v": 0.220812753, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.415754348, "cg_vq_v": -0.415754348, "cg_vu_v": 0.43989256, "cg_vv_v": 1.75957024, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": -0.37592411, "dclink_p_w": -54.4054871, "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": 24.0029602, "temp_inv2_c": 27.3479919, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0910414234, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 13.972906, "values": {"Elec_RPM": -0.0235523432, "EncoderCos": 37442, "EncoderSin": 12149, "GapTicks": 54722, "Mech_RPM": -0.00471046846, "cg_du": 50.20401, "cg_dv": 50.2519417, "cg_dw": 49.7480583, "cg_id_a": -0.338731229, "cg_id_raw_a": 0.0187623072, "cg_iq_a": 0.3581613, "cg_iq_raw_a": 0.067597121, "cg_iu_a": -0.500169039, "cg_iv_a": -1.47570395, "cg_iw_a": 1.97587299, "cg_sample_age_us": 24.2090912, "cg_sample_seq": 2092163, "cg_sample_valid": 1, "cg_theta_rad": 4.94496393, "cg_vd_req_v": 0.2172506, "cg_vd_v": 0.2172506, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.410864145, "cg_vq_v": -0.410864145, "cg_vu_v": 115.251846, "cg_vv_v": 128.008743, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.792728305, "dclink_p_w": -114.727333, "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": 24.0029602, "temp_inv2_c": 27.3298035, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0868116319, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 14.990335, "values": {"Elec_RPM": 0.0978773907, "EncoderCos": 37438, "EncoderSin": 12123, "GapTicks": 54744, "Mech_RPM": 0.0195754785, "cg_du": 50.186718, "cg_dv": 50.2319527, "cg_dw": 49.7680473, "cg_id_a": -0.119501904, "cg_id_raw_a": -0.0218528565, "cg_iq_a": -0.0900418237, "cg_iq_raw_a": -0.264711916, "cg_iu_a": 0.405926704, "cg_iv_a": 0.0465371907, "cg_iw_a": -0.452463895, "cg_sample_age_us": 24.1072731, "cg_sample_seq": 2097262, "cg_sample_valid": 1, "cg_theta_rad": 4.94507408, "cg_vd_req_v": 0.201546222, "cg_vd_v": 0.201546222, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.376943946, "cg_vq_v": -0.376943946, "cg_vu_v": 0.87978512, "cg_vv_v": 2.63935518, "cg_vw_v": 7.47817326, "control_outputs_enabled": 1, "dclink_i_a": -0.0352320671, "dclink_p_w": -5.09894896, "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": 24.0248413, "temp_inv2_c": 27.3675842, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926024243, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 16.007711, "values": {"Elec_RPM": 0.147044346, "EncoderCos": 37431, "EncoderSin": 12145, "GapTicks": 54733, "Mech_RPM": 0.0294088684, "cg_du": 50.1929741, "cg_dv": 50.2418365, "cg_dw": 49.7581635, "cg_id_a": -0.517665744, "cg_id_raw_a": -0.565364599, "cg_iq_a": 0.163508981, "cg_iq_raw_a": 0.370355189, "cg_iu_a": -0.282706141, "cg_iv_a": -0.388388813, "cg_iw_a": 0.671094954, "cg_sample_age_us": 24.2381821, "cg_sample_seq": 2102363, "cg_sample_valid": 1, "cg_theta_rad": 4.94561815, "cg_vd_req_v": 0.210637823, "cg_vd_v": 0.210637823, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.390419126, "cg_vq_v": -0.390419126, "cg_vu_v": 143.404984, "cg_vv_v": 142.085297, "cg_vw_v": 139.885834, "control_outputs_enabled": 1, "dclink_i_a": -0.323370576, "dclink_p_w": -46.7996941, "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": 23.9811096, "temp_inv2_c": 27.3423767, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0919981673, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 17.025169, "values": {"Elec_RPM": 0.279523075, "EncoderCos": 37452, "EncoderSin": 12130, "GapTicks": 54728, "Mech_RPM": 0.0559046157, "cg_du": 50.1964455, "cg_dv": 50.246624, "cg_dw": 49.753376, "cg_id_a": -0.0994922519, "cg_id_raw_a": -0.189604312, "cg_iq_a": -0.149610475, "cg_iq_raw_a": -0.138267681, "cg_iu_a": 0.188463807, "cg_iv_a": -0.0984381437, "cg_iw_a": -0.0537817478, "cg_sample_age_us": 24.1290913, "cg_sample_seq": 2107512, "cg_sample_valid": 1, "cg_theta_rad": 4.9465065, "cg_vd_req_v": 0.214051843, "cg_vd_v": 0.214051843, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.399959892, "cg_vq_v": -0.399959892, "cg_vu_v": 28.5930176, "cg_vv_v": 15.836132, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.979383826, "dclink_p_w": -141.740982, "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": 24.0029602, "temp_inv2_c": 27.336792, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0870130435, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 18.000229, "values": {"Elec_RPM": -0.0112100784, "EncoderCos": 37417, "EncoderSin": 12126, "GapTicks": 54738, "Mech_RPM": -0.00224201567, "cg_du": 50.2117767, "cg_dv": 50.2374992, "cg_dw": 49.7625008, "cg_id_a": -0.13510856, "cg_id_raw_a": -0.269235402, "cg_iq_a": 0.228652537, "cg_iq_raw_a": 0.417378485, "cg_iu_a": 0.0434883833, "cg_iv_a": -0.13468197, "cg_iw_a": 0.0911935866, "cg_sample_age_us": 24.2090912, "cg_sample_seq": 2112163, "cg_sample_valid": 1, "cg_theta_rad": 4.94704866, "cg_vd_req_v": 0.196308881, "cg_vd_v": 0.196308881, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.400922537, "cg_vq_v": -0.400922537, "cg_vu_v": 122.290138, "cg_vv_v": 143.844864, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 0.145987153, "dclink_p_w": 21.1279411, "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": 24.0029602, "temp_inv2_c": 27.3339844, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0882215574, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 19.036583, "values": {"Elec_RPM": -0.0767814294, "EncoderCos": 37446, "EncoderSin": 12123, "GapTicks": 54746, "Mech_RPM": -0.0153562864, "cg_du": 50.1872711, "cg_dv": 50.2307663, "cg_dw": 49.7692337, "cg_id_a": 0.171667919, "cg_id_raw_a": -0.235694781, "cg_iq_a": 0.270236731, "cg_iq_raw_a": 0.66833961, "cg_iu_a": 0.0434885025, "cg_iv_a": 0.264000177, "cg_iw_a": -0.30748868, "cg_sample_age_us": 24.2018185, "cg_sample_seq": 2117513, "cg_sample_valid": 1, "cg_theta_rad": 4.94640017, "cg_vd_req_v": 0.198946267, "cg_vd_v": 0.198946267, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.376549989, "cg_vq_v": -0.376549989, "cg_vu_v": 120.530563, "cg_vv_v": 142.525192, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.19470489, "dclink_p_w": -28.1785984, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2564, "hz_tim_isr": 4999, "hz_vsense": 2564, "pwm_moe": 1, "temp_inv1_c": 24.0248413, "temp_inv2_c": 27.3130188, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975875482, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 20.054001, "values": {"Elec_RPM": 0.214547098, "EncoderCos": 37443, "EncoderSin": 12122, "GapTicks": 54744, "Mech_RPM": 0.042909421, "cg_du": 50.1885529, "cg_dv": 50.2325478, "cg_dw": 49.7674522, "cg_id_a": 0.0530228242, "cg_id_raw_a": 0.597562194, "cg_iq_a": 0.101320818, "cg_iq_raw_a": -0.867884934, "cg_iu_a": 0.297195256, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.30748862, "cg_sample_age_us": 24.2345448, "cg_sample_seq": 2122612, "cg_sample_valid": 1, "cg_theta_rad": 4.94774866, "cg_vd_req_v": 0.200855553, "cg_vd_v": 0.200855553, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.379177302, "cg_vq_v": -0.379177302, "cg_vu_v": 37.3908691, "cg_vv_v": 39.590332, "cg_vw_v": 46.6286087, "control_outputs_enabled": 1, "dclink_i_a": -0.93770349, "dclink_p_w": -136.121307, "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": 24.0029602, "temp_inv2_c": 27.3423767, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0904371738, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 21.071419, "values": {"Elec_RPM": 0.0359976999, "EncoderCos": 37404, "EncoderSin": 12143, "GapTicks": 54739, "Mech_RPM": 0.0071995398, "cg_du": 50.1809196, "cg_dv": 50.2364235, "cg_dw": 49.7635765, "cg_id_a": -0.0216352083, "cg_id_raw_a": 0.0662812367, "cg_iq_a": -0.390858114, "cg_iq_raw_a": -0.148392871, "cg_iu_a": 0.333439112, "cg_iv_a": 0.0827810466, "cg_iw_a": -0.416220158, "cg_sample_age_us": 24.2418175, "cg_sample_seq": 2127763, "cg_sample_valid": 1, "cg_theta_rad": 4.94854307, "cg_vd_req_v": 0.213428408, "cg_vd_v": 0.213428408, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.375523806, "cg_vq_v": -0.375523806, "cg_vu_v": 142.965088, "cg_vv_v": 141.645401, "cg_vw_v": 137.686371, "control_outputs_enabled": 1, "dclink_i_a": -0.731113791, "dclink_p_w": -105.810188, "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": 24.0029602, "temp_inv2_c": 27.3270264, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0901853964, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 21.932796, "values": {"Elec_RPM": -0.0784832835, "EncoderCos": 37468, "EncoderSin": 12120, "GapTicks": 54740, "Mech_RPM": -0.015696656, "cg_du": 50.1905136, "cg_dv": 50.2356071, "cg_dw": 49.7643929, "cg_id_a": 0.0288004596, "cg_id_raw_a": -0.135406896, "cg_iq_a": -0.22341077, "cg_iq_raw_a": 0.00298773288, "cg_iu_a": 0.333439112, "cg_iv_a": -0.0259504318, "cg_iw_a": -0.30748868, "cg_sample_age_us": 24.2127266, "cg_sample_seq": 2131962, "cg_sample_valid": 1, "cg_theta_rad": 4.94642019, "cg_vd_req_v": 0.201624259, "cg_vd_v": 0.201624259, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.384913713, "cg_vq_v": -0.384913713, "cg_vu_v": 40.4701157, "cg_vv_v": 48.3881836, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": -0.778230548, "dclink_p_w": -112.62915, "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": 23.9811096, "temp_inv2_c": 27.3437805, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0881208554, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 22.950207, "values": {"Elec_RPM": 0.040603593, "EncoderCos": 37427, "EncoderSin": 12145, "GapTicks": 54750, "Mech_RPM": 0.00812071841, "cg_du": 50.1966362, "cg_dv": 50.2271118, "cg_dw": 49.7728882, "cg_id_a": 0.214723647, "cg_id_raw_a": 0.289433718, "cg_iq_a": 0.0325458571, "cg_iq_raw_a": 0.498736531, "cg_iu_a": 0.224707603, "cg_iv_a": 0.300244093, "cg_iw_a": -0.524951696, "cg_sample_age_us": 24.2127266, "cg_sample_seq": 2137013, "cg_sample_valid": 1, "cg_theta_rad": 4.94721174, "cg_vd_req_v": 0.190412968, "cg_vd_v": 0.190412968, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.380631626, "cg_vq_v": -0.380631626, "cg_vu_v": 117.891212, "cg_vv_v": 135.047012, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.506401896, "dclink_p_w": -73.5116043, "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": 23.9592896, "temp_inv2_c": 27.3270264, "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": 0.0930052623, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 23.967583, "values": {"Elec_RPM": -0.109996945, "EncoderCos": 37437, "EncoderSin": 12115, "GapTicks": 54744, "Mech_RPM": -0.0219993889, "cg_du": 50.1939964, "cg_dv": 50.2324028, "cg_dw": 49.7675972, "cg_id_a": -0.565450966, "cg_id_raw_a": -0.224029288, "cg_iq_a": 0.951495588, "cg_iq_raw_a": 0.476424187, "cg_iu_a": 0.224707544, "cg_iv_a": -0.279657274, "cg_iw_a": 0.0549497306, "cg_sample_age_us": 24.2018185, "cg_sample_seq": 2142212, "cg_sample_valid": 1, "cg_theta_rad": 4.94657898, "cg_vd_req_v": 0.19758229, "cg_vd_v": 0.19758229, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.381709784, "cg_vq_v": -0.381709784, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": -0.171146512, "dclink_p_w": -24.6938324, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2615, "hz_tim_isr": 5000, "hz_vsense": 2615, "pwm_moe": 1, "temp_inv1_c": 24.0029602, "temp_inv2_c": 27.3507996, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0872144699, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 24.984982, "values": {"Elec_RPM": 0.0158776306, "EncoderCos": 37436, "EncoderSin": 12148, "GapTicks": 54744, "Mech_RPM": 0.00317552616, "cg_du": 50.2133751, "cg_dv": 50.2318993, "cg_dw": 49.7681007, "cg_id_a": 0.0963192284, "cg_id_raw_a": 0.161322951, "cg_iq_a": 0.948368549, "cg_iq_raw_a": 1.2307297, "cg_iu_a": -1.3700211, "cg_iv_a": -0.243413448, "cg_iw_a": 1.61343455, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 2147212, "cg_sample_valid": 1, "cg_theta_rad": 4.94623709, "cg_vd_req_v": 0.185089588, "cg_vd_v": 0.185089588, "cg_vdc_v": 143.844864, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.396406591, "cg_vq_v": -0.396406591, "cg_vu_v": 0.43989256, "cg_vv_v": 1.31967759, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": -0.984820485, "dclink_p_w": -142.094589, "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": 23.9811096, "temp_inv2_c": 27.3395996, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0916960388, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 26.002445, "values": {"Elec_RPM": -0.287742913, "EncoderCos": 37362, "EncoderSin": 12131, "GapTicks": 54767, "Mech_RPM": -0.0575485826, "cg_du": 50.188343, "cg_dv": 50.2111664, "cg_dw": 49.7888336, "cg_id_a": 0.0847670883, "cg_id_raw_a": 0.236328423, "cg_iq_a": -0.0707315505, "cg_iq_raw_a": -0.628138721, "cg_iu_a": 1.02207196, "cg_iv_a": 0.481463075, "cg_iw_a": -1.50353503, "cg_sample_age_us": 24.2090912, "cg_sample_seq": 2152362, "cg_sample_valid": 1, "cg_theta_rad": 4.94305468, "cg_vd_req_v": 0.178946674, "cg_vd_v": 0.178946674, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.354301989, "cg_vq_v": -0.354301989, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": -0.935891271, "dclink_p_w": -135.034851, "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": 24.0248413, "temp_inv2_c": 27.3437805, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0881712064, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 27.019878, "values": {"Elec_RPM": -464.722717, "EncoderCos": 16531, "EncoderSin": 19107, "GapTicks": 53252, "Mech_RPM": -92.9445419, "cg_du": 50.2595215, "cg_dv": 51.5890923, "cg_dw": 48.4109077, "cg_id_a": -0.929541588, "cg_id_raw_a": -1.04210079, "cg_iq_a": 0.221809223, "cg_iq_raw_a": 2.13861585, "cg_iu_a": 0.550902128, "cg_iv_a": 0.408975542, "cg_iw_a": -0.95987767, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 2157462, "cg_sample_valid": 1, "cg_theta_rad": 3.84608197, "cg_vd_req_v": 0.233458117, "cg_vd_v": 0.233458117, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -2.6571331, "cg_vq_v": -2.6571331, "cg_vu_v": 40.4701157, "cg_vv_v": 51.9073219, "cg_vw_v": 61.1450691, "control_outputs_enabled": 1, "dclink_i_a": -0.731113791, "dclink_p_w": -105.488579, "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": 24.0248413, "temp_inv2_c": 27.3535767, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0906889439, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 28.010513, "values": {"Elec_RPM": -1178.54675, "EncoderCos": 25781, "EncoderSin": 12760, "GapTicks": 52154, "Mech_RPM": -235.709351, "cg_du": 47.4134407, "cg_dv": 47.8080788, "cg_dw": 52.5865593, "cg_id_a": -0.024563171, "cg_id_raw_a": 0.313909322, "cg_iq_a": -0.830403686, "cg_iq_raw_a": -1.37295496, "cg_iu_a": -0.971338868, "cg_iv_a": 1.35131526, "cg_iw_a": -0.379976332, "cg_sample_age_us": 24.0345459, "cg_sample_seq": 2162217, "cg_sample_valid": 1, "cg_theta_rad": 4.42348957, "cg_vd_req_v": 0.22428453, "cg_vd_v": 0.22428453, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -4.80688572, "cg_vq_v": -4.80688572, "cg_vu_v": 103.374756, "cg_vv_v": 89.2981949, "cg_vw_v": 91.4976578, "control_outputs_enabled": 1, "dclink_i_a": -1.46142685, "dclink_p_w": -211.504501, "enc_isr_hz": 5001, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2575, "hz_tim_isr": 5000, "hz_vsense": 2575, "pwm_moe": 1, "temp_inv1_c": 24.0466614, "temp_inv2_c": 27.3493958, "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": 0.0904371738, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 29.031357, "values": {"Elec_RPM": -1798.72437, "EncoderCos": 34789, "EncoderSin": 53499, "GapTicks": 52083, "Mech_RPM": -359.744873, "cg_du": 47.3988724, "cg_dv": 52.651474, "cg_dw": 47.348526, "cg_id_a": -0.941538036, "cg_id_raw_a": -0.60050267, "cg_iq_a": -0.0901284888, "cg_iq_raw_a": -0.71673888, "cg_iu_a": 0.840852797, "cg_iv_a": -0.207169652, "cg_iw_a": -0.633683145, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 2167513, "cg_sample_valid": 1, "cg_theta_rad": 1.47288501, "cg_vd_req_v": 0.287298352, "cg_vd_v": 0.287298352, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -5.08422565, "cg_vq_v": -5.08422565, "cg_vu_v": 123.169922, "cg_vv_v": 144.724655, "cg_vw_v": 142.965088, "control_outputs_enabled": 1, "dclink_i_a": -0.897835374, "dclink_p_w": -129.938919, "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": 24.0248413, "temp_inv2_c": 27.3675842, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0921492353, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 30.048779, "values": {"Elec_RPM": -2079.87695, "EncoderCos": 29577, "EncoderSin": 11835, "GapTicks": 51622, "Mech_RPM": -415.975372, "cg_du": 51.764122, "cg_dv": 46.9293671, "cg_dw": 53.0706329, "cg_id_a": 0.404142737, "cg_id_raw_a": -0.291874319, "cg_iq_a": -1.80777812, "cg_iq_raw_a": -2.061553, "cg_iu_a": 1.20329118, "cg_iv_a": -1.40321624, "cg_iw_a": 0.199925065, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 2172563, "cg_sample_valid": 1, "cg_theta_rad": 4.57805347, "cg_vd_req_v": 0.292290658, "cg_vd_v": 0.292290658, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -5.3984623, "cg_vq_v": -5.3984623, "cg_vu_v": 35.6312981, "cg_vv_v": 32.9919434, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": -0.620570064, "dclink_p_w": -89.8117905, "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": 24.0248413, "temp_inv2_c": 27.3507996, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0879194289, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 31.066208, "values": {"Elec_RPM": -2625.53174, "EncoderCos": 52832, "EncoderSin": 37840, "GapTicks": 49826, "Mech_RPM": -525.106323, "cg_du": 45.2968903, "cg_dv": 54.7031097, "cg_dw": 46.5812683, "cg_id_a": 0.340422034, "cg_id_raw_a": 0.639739156, "cg_iq_a": 3.57095671, "cg_iq_raw_a": 3.48345208, "cg_iu_a": 2.39933777, "cg_iv_a": -3.5053587, "cg_iw_a": 1.10602093, "cg_sample_age_us": 23.5981827, "cg_sample_seq": 2177713, "cg_sample_valid": 1, "cg_theta_rad": 0.262022376, "cg_vd_req_v": 0.0364911407, "cg_vd_v": 0.0364911407, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -8.52356148, "cg_vq_v": -8.52356148, "cg_vu_v": 120.970459, "cg_vv_v": 144.724655, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": -0.664062619, "dclink_p_w": -96.1062317, "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": 24.0248413, "temp_inv2_c": 27.3521729, "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": 0.0935591608, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 31.927544, "values": {"Elec_RPM": -3674.48486, "EncoderCos": 37865, "EncoderSin": 12343, "GapTicks": 47207, "Mech_RPM": -734.896973, "cg_du": 57.084362, "cg_dv": 50.7031555, "cg_dw": 42.915638, "cg_id_a": 2.41190386, "cg_id_raw_a": 2.75163102, "cg_iq_a": -4.00468493, "cg_iq_raw_a": -3.01624584, "cg_iu_a": 1.31202257, "cg_iv_a": -2.5630188, "cg_iw_a": -0.706170678, "cg_sample_age_us": 24.1109085, "cg_sample_seq": 2181917, "cg_sample_valid": 1, "cg_theta_rad": 5.06521082, "cg_vd_req_v": -0.712992132, "cg_vd_v": -0.712992132, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -11.8007975, "cg_vq_v": -11.8007975, "cg_vu_v": 144.28476, "cg_vv_v": 144.724655, "cg_vw_v": 137.246475, "control_outputs_enabled": 1, "dclink_i_a": -0.848906159, "dclink_p_w": -122.857651, "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": 24.0466614, "temp_inv2_c": 27.3479919, "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": 0.0965301022, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 32.94495, "values": {"Elec_RPM": -5146.97852, "EncoderCos": 52108, "EncoderSin": 25114, "GapTicks": 46104, "Mech_RPM": -1029.39575, "cg_du": 58.0522499, "cg_dv": 41.9133415, "cg_dw": 58.0866585, "cg_id_a": -2.01453614, "cg_id_raw_a": -3.01733708, "cg_iq_a": -0.160019398, "cg_iq_raw_a": 0.736219287, "cg_iu_a": 1.42075408, "cg_iv_a": 0.662682414, "cg_iw_a": -2.08343649, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 2187013, "cg_sample_valid": 1, "cg_theta_rad": 5.93847513, "cg_vd_req_v": -1.57837284, "cg_vd_v": -1.57837284, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -15.5554543, "cg_vq_v": -15.5554543, "cg_vu_v": 145.164551, "cg_vv_v": 127.12896, "cg_vw_v": 137.686371, "control_outputs_enabled": 1, "dclink_i_a": -0.442975163, "dclink_p_w": -64.3042908, "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": 24.0466614, "temp_inv2_c": 27.3661804, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0870130435, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 33.962372, "values": {"Elec_RPM": -6590.92822, "EncoderCos": 26058, "EncoderSin": 52594, "GapTicks": 42610, "Mech_RPM": -1318.18567, "cg_du": 38.7370872, "cg_dv": 46.4148445, "cg_dw": 61.2629128, "cg_id_a": -3.03893638, "cg_id_raw_a": -1.489838, "cg_iq_a": 0.316053897, "cg_iq_raw_a": -1.93245602, "cg_iu_a": 1.05831575, "cg_iv_a": 2.11243582, "cg_iw_a": -3.17075157, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 2192062, "cg_sample_valid": 1, "cg_theta_rad": 1.91694117, "cg_vd_req_v": -2.78688431, "cg_vd_v": -2.78688431, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -18.9330673, "cg_vq_v": -18.9330673, "cg_vu_v": 37.830761, "cg_vv_v": 36.9509773, "cg_vw_v": 74.7817383, "control_outputs_enabled": 1, "dclink_i_a": -0.548082352, "dclink_p_w": -79.3210297, "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": 24.0466614, "temp_inv2_c": 27.4081726, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944151953, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 34.979782, "values": {"Elec_RPM": -8092.46094, "EncoderCos": 50603, "EncoderSin": 43455, "GapTicks": 41236, "Mech_RPM": -1618.49219, "cg_du": 37.4875793, "cg_dv": 58.1518707, "cg_dw": 62.5124207, "cg_id_a": 2.06335807, "cg_id_raw_a": 7.51411581, "cg_iq_a": -2.67267179, "cg_iq_raw_a": -1.12419796, "cg_iu_a": -2.20362926, "cg_iv_a": -1.9468739, "cg_iw_a": 4.15050316, "cg_sample_age_us": 23.7581825, "cg_sample_seq": 2197213, "cg_sample_valid": 1, "cg_theta_rad": 0.565920413, "cg_vd_req_v": -4.03154612, "cg_vd_v": -4.03154612, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -21.9734879, "cg_vq_v": -21.9734879, "cg_vu_v": 72.1423798, "cg_vv_v": 71.7024918, "cg_vw_v": 106.453995, "control_outputs_enabled": 1, "dclink_i_a": -0.316121817, "dclink_p_w": -45.6115608, "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": 24.0466614, "temp_inv2_c": 27.405365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935591608, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 35.997284, "values": {"Elec_RPM": -9368.87012, "EncoderCos": 49636, "EncoderSin": 44904, "GapTicks": 38719, "Mech_RPM": -1873.77405, "cg_du": 35.1996307, "cg_dv": 50.18927, "cg_dw": 64.8003693, "cg_id_a": -4.11917925, "cg_id_raw_a": -0.930499792, "cg_iq_a": -4.45042992, "cg_iq_raw_a": -7.36598396, "cg_iu_a": -9.70610237, "cg_iv_a": 4.17833376, "cg_iw_a": 5.52776861, "cg_sample_age_us": 23.6709099, "cg_sample_seq": 2202313, "cg_sample_valid": 1, "cg_theta_rad": 0.658514977, "cg_vd_req_v": -4.9891324, "cg_vd_v": -4.9891324, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -24.2257042, "cg_vq_v": -24.2257042, "cg_vu_v": 104.694435, "cg_vv_v": 71.7024918, "cg_vw_v": 108.21357, "control_outputs_enabled": 1, "dclink_i_a": 0.493927896, "dclink_p_w": 71.7008209, "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": 24.0466614, "temp_inv2_c": 27.3955688, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0901350453, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 37.014668, "values": {"Elec_RPM": -10272.8857, "EncoderCos": 19541, "EncoderSin": 16068, "GapTicks": 38436, "Mech_RPM": -2054.57715, "cg_du": 41.4617119, "cg_dv": 65.0578766, "cg_dw": 34.9421272, "cg_id_a": -1.47701514, "cg_id_raw_a": -7.29836655, "cg_iq_a": 1.6908915, "cg_iq_raw_a": 0.353788882, "cg_iu_a": 3.23294568, "cg_iv_a": 1.93121648, "cg_iw_a": -5.16416216, "cg_sample_age_us": 24.0709095, "cg_sample_seq": 2207413, "cg_sample_valid": 1, "cg_theta_rad": 4.08685493, "cg_vd_req_v": -5.57481098, "cg_vd_v": -5.57481098, "cg_vdc_v": 143.844864, "cg_vlimit_scale": 1, "cg_vq_req_v": -25.7197037, "cg_vq_v": -25.7197037, "cg_vu_v": 15.836132, "cg_vv_v": 54.9865723, "cg_vw_v": 34.7515144, "control_outputs_enabled": 1, "dclink_i_a": 1.36921644, "dclink_p_w": 197.557068, "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": 24.0685425, "temp_inv2_c": 27.3899536, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0894804299, "tim_isr_running": 1, "vdc_v": 143.844864}}
{"type": "telemetry", "t": 38.005333, "values": {"Elec_RPM": -10789.1621, "EncoderCos": 12783, "EncoderSin": 39680, "GapTicks": 38511, "Mech_RPM": -2157.83252, "cg_du": 40.0963211, "cg_dv": 64.9895248, "cg_dw": 35.0104752, "cg_id_a": 0.326699018, "cg_id_raw_a": 4.79012442, "cg_iq_a": -0.525449038, "cg_iq_raw_a": 1.23960125, "cg_iu_a": -2.38484836, "cg_iv_a": 2.90980005, "cg_iw_a": -4.04060364, "cg_sample_age_us": 24.0890903, "cg_sample_seq": 2212312, "cg_sample_valid": 1, "cg_theta_rad": 2.82487059, "cg_vd_req_v": -5.63414049, "cg_vd_v": -5.63414049, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.2114658, "cg_vq_v": -26.2114658, "cg_vu_v": 36.5110817, "cg_vv_v": 74.7817383, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": -0.154836774, "dclink_p_w": -22.408699, "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": 24.1122437, "temp_inv2_c": 27.3983765, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0876676589, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 39.026196, "values": {"Elec_RPM": -11234.2617, "EncoderCos": 11922, "EncoderSin": 36609, "GapTicks": 36844, "Mech_RPM": -2246.85229, "cg_du": 33.4951019, "cg_dv": 66.5048981, "cg_dw": 51.6891136, "cg_id_a": -1.06101561, "cg_id_raw_a": -0.119656339, "cg_iq_a": 3.2393074, "cg_iq_raw_a": 1.4179002, "cg_iu_a": -0.246462226, "cg_iv_a": 2.65609312, "cg_iw_a": -2.40963078, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 2217413, "cg_sample_valid": 1, "cg_theta_rad": 3.03212094, "cg_vd_req_v": -5.84458923, "cg_vd_v": -5.84458923, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9188786, "cg_vq_v": -26.9188786, "cg_vu_v": 0, "cg_vv_v": 0.43989256, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": 1.27135813, "dclink_p_w": 183.437607, "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": 24.1340942, "temp_inv2_c": 27.3913574, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902861059, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 40.043522, "values": {"Elec_RPM": -11532.1631, "EncoderCos": 16550, "EncoderSin": 46216, "GapTicks": 38024, "Mech_RPM": -2306.43262, "cg_du": 65.4319153, "cg_dv": 37.7860909, "cg_dw": 34.5680885, "cg_id_a": 2.47821116, "cg_id_raw_a": 10.6489058, "cg_iq_a": 0.640504122, "cg_iq_raw_a": 3.59609365, "cg_iu_a": 2.00065541, "cg_iv_a": -1.43945992, "cg_iw_a": -0.561195493, "cg_sample_age_us": 24.045454, "cg_sample_seq": 2222562, "cg_sample_valid": 1, "cg_theta_rad": 2.48264074, "cg_vd_req_v": -6.31529856, "cg_vd_v": -6.31529856, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5530758, "cg_vq_v": -27.5530758, "cg_vu_v": 144.28476, "cg_vv_v": 144.28476, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": 1.28585565, "dclink_p_w": 186.66066, "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": 24.1122437, "temp_inv2_c": 27.4361572, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0877180099, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 41.060947, "values": {"Elec_RPM": -11886.748, "EncoderCos": 16989, "EncoderSin": 46741, "GapTicks": 37402, "Mech_RPM": -2377.34961, "cg_du": 65.9981766, "cg_dv": 34.0018234, "cg_dw": 37.3061409, "cg_id_a": 5.34014416, "cg_id_raw_a": 14.0950699, "cg_iq_a": -0.233825743, "cg_iq_raw_a": 5.19526529, "cg_iu_a": -2.34860444, "cg_iv_a": 6.02676964, "cg_iw_a": -3.67816544, "cg_sample_age_us": 24.1836357, "cg_sample_seq": 2227662, "cg_sample_valid": 1, "cg_theta_rad": 2.44426012, "cg_vd_req_v": -6.98401737, "cg_vd_v": -6.98401737, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4735241, "cg_vq_v": -28.4735241, "cg_vu_v": 73.462059, "cg_vv_v": 73.0221634, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 1.65735495, "dclink_p_w": 239.131058, "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": 24.1122437, "temp_inv2_c": 27.4529724, "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": 0.0928038433, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 41.922329, "values": {"Elec_RPM": -12198.3203, "EncoderCos": 43695, "EncoderSin": 50638, "GapTicks": 36139, "Mech_RPM": -2439.66406, "cg_du": 67.1459732, "cg_dv": 32.8540268, "cg_dw": 57.5715637, "cg_id_a": -7.55186749, "cg_id_raw_a": -8.40913677, "cg_iq_a": -0.556012213, "cg_iq_raw_a": -1.07610595, "cg_iu_a": 9.93805504, "cg_iv_a": -5.7162323, "cg_iw_a": -4.22182274, "cg_sample_age_us": 24.1218185, "cg_sample_seq": 2231916, "cg_sample_valid": 1, "cg_theta_rad": 1.25322235, "cg_vd_req_v": -6.85313988, "cg_vd_v": -6.85313988, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7647495, "cg_vq_v": -28.7647495, "cg_vu_v": 35.6312981, "cg_vv_v": 50.1477547, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 1.57218194, "dclink_p_w": 226.841888, "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": 24.1340942, "temp_inv2_c": 27.4963684, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0907392949, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 42.939751, "values": {"Elec_RPM": -12382.9238, "EncoderCos": 33467, "EncoderSin": 11497, "GapTicks": 37019, "Mech_RPM": -2476.58472, "cg_du": 66.3462219, "cg_dv": 33.6537781, "cg_dw": 62.2646141, "cg_id_a": -2.52079725, "cg_id_raw_a": -10.235219, "cg_iq_a": -0.0826729834, "cg_iq_raw_a": 0.935451627, "cg_iu_a": -1.84119093, "cg_iv_a": 1.89497268, "cg_iw_a": -0.0537817478, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 2237012, "cg_sample_valid": 1, "cg_theta_rad": 4.78906918, "cg_vd_req_v": -6.92405272, "cg_vd_v": -6.92405272, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9532299, "cg_vq_v": -28.9532299, "cg_vu_v": 69.0631332, "cg_vv_v": 0, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 1.94911778, "dclink_p_w": 282.085388, "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": 24.1559753, "temp_inv2_c": 27.4389648, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0899839774, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 43.95723, "values": {"Elec_RPM": -12467.9287, "EncoderCos": 35903, "EncoderSin": 11761, "GapTicks": 35611, "Mech_RPM": -2493.58569, "cg_du": 67.6260681, "cg_dv": 32.3739357, "cg_dw": 44.7572098, "cg_id_a": 1.27518594, "cg_id_raw_a": -5.97869349, "cg_iq_a": 0.22856921, "cg_iq_raw_a": 0.136275604, "cg_iu_a": 2.47182536, "cg_iv_a": 1.38755894, "cg_iw_a": -3.8593843, "cg_sample_age_us": 24.2600002, "cg_sample_seq": 2242163, "cg_sample_valid": 1, "cg_theta_rad": 4.95790148, "cg_vd_req_v": -6.91869307, "cg_vd_v": -6.91869307, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9815006, "cg_vq_v": -28.9815006, "cg_vu_v": 49.707859, "cg_vv_v": 37.3908691, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 2.07053471, "dclink_p_w": 298.746613, "enc_isr_hz": 5000, "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": 24.1559753, "temp_inv2_c": 27.4725647, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 44.974617, "values": {"Elec_RPM": -12507.4717, "EncoderCos": 53393, "EncoderSin": 35802, "GapTicks": 36831, "Mech_RPM": -2501.49438, "cg_du": 62.1457214, "cg_dv": 66.517128, "cg_dw": 33.482872, "cg_id_a": 2.170084, "cg_id_raw_a": 12.2832041, "cg_iq_a": -0.124422342, "cg_iq_raw_a": 1.2992959, "cg_iu_a": 3.23294592, "cg_iv_a": 0.082780838, "cg_iw_a": -3.31572676, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 2247163, "cg_sample_valid": 1, "cg_theta_rad": 0.188871086, "cg_vd_req_v": -7.01236534, "cg_vd_v": -7.01236534, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0617332, "cg_vq_v": -29.0617332, "cg_vu_v": 104.254532, "cg_vv_v": 144.724655, "cg_vw_v": 97.2162552, "control_outputs_enabled": 1, "dclink_i_a": 1.01765132, "dclink_p_w": 146.831573, "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": 24.199707, "temp_inv2_c": 27.4305725, "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": 0.0966811627, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 45.992012, "values": {"Elec_RPM": -12654.2227, "EncoderCos": 17129, "EncoderSin": 46915, "GapTicks": 35789, "Mech_RPM": -2530.84448, "cg_du": 67.4644775, "cg_dv": 32.5355225, "cg_dw": 39.5152397, "cg_id_a": 8.80818176, "cg_id_raw_a": -2.12458968, "cg_iq_a": -1.50504243, "cg_iq_raw_a": 0.121972792, "cg_iu_a": 3.55914021, "cg_iv_a": 5.08443022, "cg_iw_a": -5.56284475, "cg_sample_age_us": 24.1909084, "cg_sample_seq": 2252313, "cg_sample_valid": 1, "cg_theta_rad": 2.48032975, "cg_vd_req_v": -7.88857794, "cg_vd_v": -7.88857794, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.767561, "cg_vq_v": -29.767561, "cg_vu_v": 36.9509773, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 0.802000463, "dclink_p_w": 115.716446, "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": 24.2215881, "temp_inv2_c": 27.5145874, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0894300714, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 47.009415, "values": {"Elec_RPM": -12896.3887, "EncoderCos": 11803, "EncoderSin": 28995, "GapTicks": 35579, "Mech_RPM": -2579.27783, "cg_du": 39.9406662, "cg_dv": 32.3449593, "cg_dw": 67.6550446, "cg_id_a": 3.51174879, "cg_id_raw_a": 0.507520497, "cg_iq_a": -0.346156001, "cg_iq_raw_a": -0.466033638, "cg_iu_a": 3.3779211, "cg_iv_a": 4.25082207, "cg_iw_a": -7.62874317, "cg_sample_age_us": 24.0381813, "cg_sample_seq": 2257363, "cg_sample_valid": 1, "cg_theta_rad": 3.35218978, "cg_vd_req_v": -7.83497334, "cg_vd_v": -7.83497334, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.054884, "cg_vq_v": -30.054884, "cg_vu_v": 145.164551, "cg_vv_v": 83.5795898, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": 0.55191803, "dclink_p_w": 79.8761444, "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": 24.2215881, "temp_inv2_c": 27.5061951, "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": 0.0948180333, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 47.97533, "values": {"Elec_RPM": -12985.8242, "EncoderCos": 22877, "EncoderSin": 13853, "GapTicks": 34649, "Mech_RPM": -2597.16479, "cg_du": 31.499649, "cg_dv": 68.500351, "cg_dw": 53.1120758, "cg_id_a": 0.944039226, "cg_id_raw_a": -5.11246538, "cg_iq_a": 1.27492821, "cg_iq_raw_a": 1.10789013, "cg_iu_a": -4.84942913, "cg_iv_a": 5.33813715, "cg_iw_a": -0.488708019, "cg_sample_age_us": 24.1181812, "cg_sample_seq": 2262062, "cg_sample_valid": 1, "cg_theta_rad": 4.26556206, "cg_vd_req_v": -7.68956184, "cg_vd_v": -7.68956184, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0952358, "cg_vq_v": -30.0952358, "cg_vu_v": 5.27871037, "cg_vv_v": 36.9509773, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 1.81863999, "dclink_p_w": 263.202057, "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": 24.2653198, "temp_inv2_c": 27.5342102, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939619988, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 49.020859, "values": {"Elec_RPM": -13021.0244, "EncoderCos": 43786, "EncoderSin": 50564, "GapTicks": 35529, "Mech_RPM": -2604.20483, "cg_du": 67.7004852, "cg_dv": 32.2995148, "cg_dw": 59.9696083, "cg_id_a": -5.12860489, "cg_id_raw_a": -10.7304134, "cg_iq_a": 0.621800065, "cg_iq_raw_a": -0.253617376, "cg_iu_a": 0.478414416, "cg_iv_a": -5.20881844, "cg_iw_a": 4.7304039, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 2267412, "cg_sample_valid": 1, "cg_theta_rad": 1.00716829, "cg_vd_req_v": -7.53582859, "cg_vd_v": -7.53582859, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0804882, "cg_vq_v": -30.0804882, "cg_vu_v": 45.7488289, "cg_vv_v": 0, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 1.3982116, "dclink_p_w": 202.355698, "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": 24.2653198, "temp_inv2_c": 27.5187988, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0892790109, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 50.038258, "values": {"Elec_RPM": -13035.9961, "EncoderCos": 40618, "EncoderSin": 13116, "GapTicks": 35263, "Mech_RPM": -2607.19922, "cg_du": 67.9425659, "cg_dv": 58.2066994, "cg_dw": 32.0574341, "cg_id_a": 0.717808485, "cg_id_raw_a": 6.95679426, "cg_iq_a": -0.797477961, "cg_iq_raw_a": 2.27002192, "cg_iu_a": -7.96639872, "cg_iv_a": 5.19316149, "cg_iw_a": 2.77323723, "cg_sample_age_us": 24.1727276, "cg_sample_seq": 2272513, "cg_sample_valid": 1, "cg_theta_rad": 5.1484642, "cg_vd_req_v": -7.61488199, "cg_vd_v": -7.61488199, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0629044, "cg_vq_v": -30.0629044, "cg_vu_v": 108.21357, "cg_vv_v": 144.28476, "cg_vw_v": 97.6561432, "control_outputs_enabled": 1, "dclink_i_a": 1.19162166, "dclink_p_w": 172.457031, "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": 24.2872009, "temp_inv2_c": 27.5468445, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917463973, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 51.055714, "values": {"Elec_RPM": -13037.6055, "EncoderCos": 52715, "EncoderSin": 38788, "GapTicks": 35402, "Mech_RPM": -2607.521, "cg_du": 40.5811958, "cg_dv": 67.8158569, "cg_dw": 32.1841393, "cg_id_a": 1.41520202, "cg_id_raw_a": -4.66150093, "cg_iq_a": 1.38766897, "cg_iq_raw_a": 1.23315513, "cg_iu_a": -1.87743473, "cg_iv_a": -4.12150383, "cg_iw_a": 5.99893856, "cg_sample_age_us": 23.6345463, "cg_sample_seq": 2277662, "cg_sample_valid": 1, "cg_theta_rad": 0.342835516, "cg_vd_req_v": -7.60739088, "cg_vd_v": -7.60739088, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0872936, "cg_vq_v": -30.0872936, "cg_vu_v": 103.374756, "cg_vv_v": 144.724655, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.979595244, "dclink_p_w": 141.771591, "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": 24.3091125, "temp_inv2_c": 27.59729, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0941634253, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 52.073078, "values": {"Elec_RPM": -13039.3828, "EncoderCos": 26978, "EncoderSin": 12257, "GapTicks": 34610, "Mech_RPM": -2607.87646, "cg_du": 31.4644375, "cg_dv": 46.880455, "cg_dw": 68.5355606, "cg_id_a": -0.485404968, "cg_id_raw_a": 3.0488379, "cg_iq_a": 0.111320794, "cg_iq_raw_a": 0.361422658, "cg_iu_a": 11.1703453, "cg_iv_a": -4.88262367, "cg_iw_a": -6.28772163, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 2282762, "cg_sample_valid": 1, "cg_theta_rad": 4.47646952, "cg_vd_req_v": -7.58226395, "cg_vd_v": -7.58226395, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0860157, "cg_vq_v": -30.0860157, "cg_vu_v": 21.5547352, "cg_vv_v": 0, "cg_vw_v": 50.1477547, "control_outputs_enabled": 1, "dclink_i_a": 1.38915062, "dclink_p_w": 200.433258, "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": 24.3309937, "temp_inv2_c": 27.5566406, "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": 0.0931059718, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 52.934444, "values": {"Elec_RPM": -13039.8232, "EncoderCos": 41198, "EncoderSin": 51936, "GapTicks": 36049, "Mech_RPM": -2607.9646, "cg_du": 67.2278748, "cg_dv": 32.7721252, "cg_dw": 38.2139816, "cg_id_a": 0.556240678, "cg_id_raw_a": -8.88095379, "cg_iq_a": -3.79242229, "cg_iq_raw_a": -2.21072888, "cg_iu_a": 8.08961868, "cg_iv_a": -3.25165129, "cg_iw_a": -4.8379674, "cg_sample_age_us": 24.1145458, "cg_sample_seq": 2286963, "cg_sample_valid": 1, "cg_theta_rad": 1.18022084, "cg_vd_req_v": -7.62265062, "cg_vd_v": -7.62265062, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.001297, "cg_vq_v": -30.001297, "cg_vu_v": 135.926804, "cg_vv_v": 108.21357, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 1.26592159, "dclink_p_w": 182.653198, "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": 24.3747864, "temp_inv2_c": 27.6127014, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0869626924, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 53.951885, "values": {"Elec_RPM": -13042.6445, "EncoderCos": 14913, "EncoderSin": 44074, "GapTicks": 34714, "Mech_RPM": -2608.52881, "cg_du": 68.4411316, "cg_dv": 54.5497398, "cg_dw": 31.5588703, "cg_id_a": -0.353830099, "cg_id_raw_a": 2.99410176, "cg_iq_a": 0.460457981, "cg_iq_raw_a": 0.996550858, "cg_iu_a": -10.2135162, "cg_iv_a": 3.59843254, "cg_iw_a": 6.61508369, "cg_sample_age_us": 24.0854549, "cg_sample_seq": 2292113, "cg_sample_valid": 1, "cg_theta_rad": 2.60137153, "cg_vd_req_v": -7.6333065, "cg_vd_v": -7.6333065, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0806904, "cg_vq_v": -30.0806904, "cg_vu_v": 103.814644, "cg_vv_v": 128.448624, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 2.18832707, "dclink_p_w": 314.779602, "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": 24.3747864, "temp_inv2_c": 27.6099243, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938612968, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 54.969296, "values": {"Elec_RPM": -13040.1475, "EncoderCos": 51184, "EncoderSin": 42565, "GapTicks": 34987, "Mech_RPM": -2608.02954, "cg_du": 31.8072605, "cg_dv": 68.1927414, "cg_dw": 56.7843056, "cg_id_a": 5.82950354, "cg_id_raw_a": -5.04980755, "cg_iq_a": -1.81380343, "cg_iq_raw_a": 0.867118478, "cg_iu_a": -4.37825918, "cg_iv_a": -0.352144718, "cg_iw_a": 4.7304039, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 2297212, "cg_sample_valid": 1, "cg_theta_rad": 0.528748751, "cg_vd_req_v": -7.69292259, "cg_vd_v": -7.69292259, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0351429, "cg_vq_v": -30.0351429, "cg_vu_v": 0.43989256, "cg_vv_v": 3.51914048, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 2.2771244, "dclink_p_w": 328.554352, "enc_isr_hz": 5001, "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": 24.3747864, "temp_inv2_c": 27.6099243, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0959761962, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 55.986629, "values": {"Elec_RPM": -13040.1807, "EncoderCos": 16067, "EncoderSin": 19413, "GapTicks": 34682, "Mech_RPM": -2608.03613, "cg_du": 68.4704132, "cg_dv": 53.05476, "cg_dw": 31.529583, "cg_id_a": 1.5457499, "cg_id_raw_a": -3.7785356, "cg_iq_a": -0.673355639, "cg_iq_raw_a": -2.7022121, "cg_iu_a": 5.66128254, "cg_iv_a": 4.25082254, "cg_iw_a": 3.75182104, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 2302212, "cg_sample_valid": 1, "cg_theta_rad": 3.84511566, "cg_vd_req_v": -7.64205742, "cg_vd_v": -7.64205742, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0504875, "cg_vq_v": -30.0504875, "cg_vu_v": 36.9509773, "cg_vv_v": 74.3418427, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 1.45438945, "dclink_p_w": 209.846237, "enc_isr_hz": 4998, "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": 24.3747864, "temp_inv2_c": 27.6267395, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0924513638, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 57.00407, "values": {"Elec_RPM": -13040.0146, "EncoderCos": 15670, "EncoderSin": 45232, "GapTicks": 34936, "Mech_RPM": -2608.00293, "cg_du": 68.23909, "cg_dv": 44.0280495, "cg_dw": 31.7609062, "cg_id_a": 0.751662493, "cg_id_raw_a": 6.72747469, "cg_iq_a": -0.6535514, "cg_iq_raw_a": -3.69807315, "cg_iu_a": 8.05337524, "cg_iv_a": -5.78871918, "cg_iw_a": 0.41738826, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 2307412, "cg_sample_valid": 1, "cg_theta_rad": 2.53206468, "cg_vd_req_v": -7.64252329, "cg_vd_v": -7.64252329, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0636444, "cg_vq_v": -30.0636444, "cg_vu_v": 36.5110817, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 1.34747016, "dclink_p_w": 194.419403, "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": 24.3966675, "temp_inv2_c": 27.5903015, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0924513638, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 57.985516, "values": {"Elec_RPM": -13043.3535, "EncoderCos": 33041, "EncoderSin": 11474, "GapTicks": 37149, "Mech_RPM": -2608.67065, "cg_du": 65.5781479, "cg_dv": 33.7727051, "cg_dw": 66.2272949, "cg_id_a": -4.05570412, "cg_id_raw_a": 9.46108246, "cg_iq_a": -0.366531491, "cg_iq_raw_a": -0.350499719, "cg_iu_a": -2.7472868, "cg_iv_a": 1.24258375, "cg_iw_a": 1.50470304, "cg_sample_age_us": 24.2563629, "cg_sample_seq": 2312317, "cg_sample_valid": 1, "cg_theta_rad": 4.99036741, "cg_vd_req_v": -7.52914667, "cg_vd_v": -7.52914667, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0767078, "cg_vq_v": -30.0767078, "cg_vu_v": 145.164551, "cg_vv_v": 144.28476, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 1.93643248, "dclink_p_w": 279.397705, "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": 24.4404602, "temp_inv2_c": 27.6127014, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 59.01556, "values": {"Elec_RPM": -13041.9932, "EncoderCos": 48974, "EncoderSin": 19421, "GapTicks": 36012, "Mech_RPM": -2608.39868, "cg_du": 32.7385483, "cg_dv": 61.7711716, "cg_dw": 67.2614517, "cg_id_a": 2.94133234, "cg_id_raw_a": 3.61331201, "cg_iq_a": -0.974805117, "cg_iq_raw_a": -2.94889235, "cg_iu_a": 7.54596233, "cg_iv_a": -3.36038303, "cg_iw_a": -4.1855793, "cg_sample_age_us": 24.0381813, "cg_sample_seq": 2317362, "cg_sample_valid": 1, "cg_theta_rad": 5.65518904, "cg_vd_req_v": -7.6519804, "cg_vd_v": -7.6519804, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0422783, "cg_vq_v": -30.0422783, "cg_vu_v": 113.492287, "cg_vv_v": 76.1014175, "cg_vw_v": 145.164551, "control_outputs_enabled": 1, "dclink_i_a": 1.64466965, "dclink_p_w": 236.577286, "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": 24.4623718, "temp_inv2_c": 27.6604004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923002958, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 60.032925, "values": {"Elec_RPM": -13039.5527, "EncoderCos": 48204, "EncoderSin": 46886, "GapTicks": 36387, "Mech_RPM": -2607.91064, "cg_du": 33.0796852, "cg_dv": 37.0374527, "cg_dw": 66.9203186, "cg_id_a": -6.16444969, "cg_id_raw_a": 5.05047798, "cg_iq_a": -3.03819537, "cg_iq_raw_a": -0.276773453, "cg_iu_a": -3.90708971, "cg_iv_a": 0.952632904, "cg_iw_a": 10.0582485, "cg_sample_age_us": 23.6127281, "cg_sample_seq": 2322512, "cg_sample_valid": 1, "cg_theta_rad": 0.766392171, "cg_vd_req_v": -7.46259069, "cg_vd_v": -7.46259069, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0044518, "cg_vq_v": -30.0044518, "cg_vu_v": 36.5110817, "cg_vv_v": 0, "cg_vw_v": 44.4291458, "control_outputs_enabled": 1, "dclink_i_a": 1.36196768, "dclink_p_w": 197.110306, "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": 24.4623718, "temp_inv2_c": 27.6575928, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0888761729, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 61.050404, "values": {"Elec_RPM": -13040.9941, "EncoderCos": 38674, "EncoderSin": 52884, "GapTicks": 34577, "Mech_RPM": -2608.19873, "cg_du": 68.5662308, "cg_dv": 49.1044197, "cg_dw": 31.4337692, "cg_id_a": -5.2491045, "cg_id_raw_a": -3.64774919, "cg_iq_a": -3.16559482, "cg_iq_raw_a": -5.52858067, "cg_iu_a": -6.19045115, "cg_iv_a": 3.96087122, "cg_iw_a": 2.22957993, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 2327563, "cg_sample_valid": 1, "cg_theta_rad": 1.32192171, "cg_vd_req_v": -7.51382685, "cg_vd_v": -7.51382685, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0182915, "cg_vq_v": -30.0182915, "cg_vu_v": 136.366699, "cg_vv_v": 144.724655, "cg_vw_v": 95.8965836, "control_outputs_enabled": 1, "dclink_i_a": 0.936102629, "dclink_p_w": 135.065338, "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": 24.5719299, "temp_inv2_c": 27.6660461, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0909910724, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 62.067768, "values": {"Elec_RPM": -13039.458, "EncoderCos": 13069, "EncoderSin": 40672, "GapTicks": 34557, "Mech_RPM": -2607.8916, "cg_du": 49.5405464, "cg_dv": 68.5837555, "cg_dw": 31.4162483, "cg_id_a": -2.18606329, "cg_id_raw_a": 0.134237483, "cg_iq_a": 1.845963, "cg_iq_raw_a": -0.408301413, "cg_iu_a": -2.81977439, "cg_iv_a": -6.73106003, "cg_iw_a": 9.55083466, "cg_sample_age_us": 24.1981812, "cg_sample_seq": 2332712, "cg_sample_valid": 1, "cg_theta_rad": 2.79142857, "cg_vd_req_v": -7.58059168, "cg_vd_v": -7.58059168, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.1198502, "cg_vq_v": -30.1198502, "cg_vu_v": 0, "cg_vv_v": 69.5030289, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": 1.28223121, "dclink_p_w": 185.006424, "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": 24.5061951, "temp_inv2_c": 27.699707, "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": 0.0910414234, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 62.929127, "values": {"Elec_RPM": -13042.7354, "EncoderCos": 11547, "EncoderSin": 34230, "GapTicks": 37193, "Mech_RPM": -2608.54712, "cg_du": 33.8119278, "cg_dv": 65.8281403, "cg_dw": 66.1880722, "cg_id_a": 6.44678831, "cg_id_raw_a": -2.45318842, "cg_iq_a": 1.12149942, "cg_iq_raw_a": 3.2887845, "cg_iu_a": 5.69752645, "cg_iv_a": -3.5053587, "cg_iw_a": -2.19216776, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 2336962, "cg_sample_valid": 1, "cg_theta_rad": 3.09610391, "cg_vd_req_v": -7.73738766, "cg_vd_v": -7.73738766, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0863342, "cg_vq_v": -30.0863342, "cg_vu_v": 0, "cg_vv_v": 0.43989256, "cg_vw_v": 53.666893, "control_outputs_enabled": 1, "dclink_i_a": 1.91106176, "dclink_p_w": 275.737091, "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": 24.5061951, "temp_inv2_c": 27.7249756, "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": 0.0928542018, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 63.946537, "values": {"Elec_RPM": -13040.3115, "EncoderCos": 45273, "EncoderSin": 49580, "GapTicks": 35527, "Mech_RPM": -2608.06226, "cg_du": 59.8085518, "cg_dv": 32.2978363, "cg_dw": 67.7021637, "cg_id_a": -1.90283895, "cg_id_raw_a": -11.6898832, "cg_iq_a": -1.10266566, "cg_iq_raw_a": -0.586401045, "cg_iu_a": 3.77660322, "cg_iv_a": 2.58360529, "cg_iw_a": -6.36020851, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 2342062, "cg_sample_valid": 1, "cg_theta_rad": 0.924080431, "cg_vd_req_v": -7.54776049, "cg_vd_v": -7.54776049, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0312023, "cg_vq_v": -30.0312023, "cg_vu_v": 38.2706528, "cg_vv_v": 0, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 1.66460371, "dclink_p_w": 240.176941, "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": 24.5281067, "temp_inv2_c": 27.729187, "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": 0.0939116478, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 64.963921, "values": {"Elec_RPM": -13042.4893, "EncoderCos": 38949, "EncoderSin": 12497, "GapTicks": 34822, "Mech_RPM": -2608.4978, "cg_du": 68.3432312, "cg_dv": 44.7680359, "cg_dw": 31.6567707, "cg_id_a": -1.47075009, "cg_id_raw_a": -2.61911798, "cg_iq_a": -0.997016549, "cg_iq_raw_a": -2.6374588, "cg_iu_a": -8.58254433, "cg_iv_a": 2.07619238, "cg_iw_a": 6.50635195, "cg_sample_age_us": 24.1509094, "cg_sample_seq": 2347163, "cg_sample_valid": 1, "cg_theta_rad": 5.05312252, "cg_vd_req_v": -7.57218409, "cg_vd_v": -7.57218409, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0325775, "cg_vq_v": -30.0325775, "cg_vu_v": 142.085297, "cg_vv_v": 144.28476, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": 1.03214884, "dclink_p_w": 148.92334, "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": 24.5281067, "temp_inv2_c": 27.6800537, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0877683684, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 65.981361, "values": {"Elec_RPM": -13042.3242, "EncoderCos": 12192, "EncoderSin": 38056, "GapTicks": 35965, "Mech_RPM": -2608.46484, "cg_du": 32.6958694, "cg_dv": 67.3041306, "cg_dw": 37.9564514, "cg_id_a": 0.884558201, "cg_id_raw_a": -6.83176851, "cg_iq_a": 2.63070202, "cg_iq_raw_a": 1.88445866, "cg_iu_a": 7.11103582, "cg_iv_a": -9.30437183, "cg_iw_a": 2.19333601, "cg_sample_age_us": 24.1218185, "cg_sample_seq": 2352263, "cg_sample_valid": 1, "cg_theta_rad": 2.91800451, "cg_vd_req_v": -7.64221525, "cg_vd_v": -7.64221525, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.1156216, "cg_vq_v": -30.1156216, "cg_vu_v": 77.4210892, "cg_vv_v": 144.724655, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.73676157, "dclink_p_w": 106.627563, "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": 24.5719299, "temp_inv2_c": 27.699707, "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": 0.0955733582, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 66.998726, "values": {"Elec_RPM": -13040.2256, "EncoderCos": 53649, "EncoderSin": 32252, "GapTicks": 35047, "Mech_RPM": -2608.04517, "cg_du": 68.1385345, "cg_dv": 42.8811417, "cg_dw": 31.8614635, "cg_id_a": -0.642758012, "cg_id_raw_a": 4.38748026, "cg_iq_a": 0.738073349, "cg_iq_raw_a": -0.912227809, "cg_iu_a": 6.60362244, "cg_iv_a": -6.98476696, "cg_iw_a": 0.381144285, "cg_sample_age_us": 24.2199993, "cg_sample_seq": 2357262, "cg_sample_valid": 1, "cg_theta_rad": 0.0240105186, "cg_vd_req_v": -7.55773354, "cg_vd_v": -7.55773354, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0501022, "cg_vq_v": -30.0501022, "cg_vu_v": 52.7871094, "cg_vv_v": 76.1014175, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 1.64829397, "dclink_p_w": 238.548782, "enc_isr_hz": 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": 24.5719299, "temp_inv2_c": 27.7207642, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908903629, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 67.955521, "values": {"Elec_RPM": -13040.8848, "EncoderCos": 26048, "EncoderSin": 12491, "GapTicks": 34795, "Mech_RPM": -2608.177, "cg_du": 31.6322079, "cg_dv": 54.1659088, "cg_dw": 68.3677902, "cg_id_a": -2.64689708, "cg_id_raw_a": -1.99172091, "cg_iq_a": -1.33986735, "cg_iq_raw_a": -3.65363336, "cg_iu_a": 7.98088789, "cg_iv_a": -3.21540785, "cg_iw_a": -4.76548004, "cg_sample_age_us": 24.1800003, "cg_sample_seq": 2362012, "cg_sample_valid": 1, "cg_theta_rad": 4.43094492, "cg_vd_req_v": -7.56363487, "cg_vd_v": -7.56363487, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.0189171, "cg_vq_v": -30.0189171, "cg_vu_v": 0.43989256, "cg_vv_v": 0, "cg_vw_v": 66.4237747, "control_outputs_enabled": 1, "dclink_i_a": 1.12094617, "dclink_p_w": 162.228546, "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": 24.5719299, "temp_inv2_c": 27.699707, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0937102288, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 69.010857, "values": {"Elec_RPM": -13045.2725, "EncoderCos": 41770, "EncoderSin": 51711, "GapTicks": 34494, "Mech_RPM": -2609.05444, "cg_du": 68.6409149, "cg_dv": 31.3590813, "cg_dw": 43.7172775, "cg_id_a": -3.25452805, "cg_id_raw_a": 0.599735379, "cg_iq_a": -25.9490166, "cg_iq_raw_a": -21.5746555, "cg_iu_a": 27.8787537, "cg_iv_a": -10.5004196, "cg_iw_a": -17.378334, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 2367362, "cg_sample_valid": 1, "cg_theta_rad": 1.11509204, "cg_vd_req_v": -8.96809006, "cg_vd_v": -8.96809006, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.341753, "cg_vq_v": -30.341753, "cg_vu_v": 40.9100075, "cg_vv_v": 1.31967759, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": -4.91002798, "dclink_p_w": -708.4422, "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": 24.5938721, "temp_inv2_c": 27.7488403, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943648368, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 70.028252, "values": {"Elec_RPM": -13048.5996, "EncoderCos": 39657, "EncoderSin": 12733, "GapTicks": 34174, "Mech_RPM": -2609.71997, "cg_du": 68.9326782, "cg_dv": 49.0725403, "cg_dw": 31.0673256, "cg_id_a": -1.15065718, "cg_id_raw_a": 0.144486174, "cg_iq_a": -24.6898193, "cg_iq_raw_a": -27.2725163, "cg_iu_a": -12.2794151, "cg_iv_a": 26.4682922, "cg_iw_a": -14.1888771, "cg_sample_age_us": 24.1654549, "cg_sample_seq": 2372463, "cg_sample_valid": 1, "cg_theta_rad": 5.10048532, "cg_vd_req_v": -9.01249981, "cg_vd_v": -9.01249981, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3415031, "cg_vq_v": -30.3415031, "cg_vu_v": 106.893898, "cg_vv_v": 125.369385, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": -6.4014616, "dclink_p_w": -926.449341, "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": 24.6377258, "temp_inv2_c": 27.7614746, "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": 0.0942641348, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 71.045677, "values": {"Elec_RPM": -13046.6211, "EncoderCos": 53620, "EncoderSin": 33279, "GapTicks": 34100, "Mech_RPM": -2609.32422, "cg_du": 68.9996796, "cg_dv": 49.2536736, "cg_dw": 31.0003204, "cg_id_a": -0.467113972, "cg_id_raw_a": 0.0101383403, "cg_iq_a": -22.6217937, "cg_iq_raw_a": -25.1707554, "cg_iu_a": -6.95157194, "cg_iv_a": 25.0547829, "cg_iw_a": -10.2020559, "cg_sample_age_us": 24.2490902, "cg_sample_seq": 2377613, "cg_sample_valid": 1, "cg_theta_rad": 0.116348647, "cg_vd_req_v": -8.99779606, "cg_vd_v": -8.99779606, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3572979, "cg_vq_v": -30.3572979, "cg_vu_v": 0.43989256, "cg_vv_v": 66.4237747, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": -5.92666721, "dclink_p_w": -855.127747, "enc_isr_hz": 4998, "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": 24.6377258, "temp_inv2_c": 27.7642822, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0954726487, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 72.06308, "values": {"Elec_RPM": -13044.6191, "EncoderCos": 20075, "EncoderSin": 15570, "GapTicks": 35252, "Mech_RPM": -2608.92383, "cg_du": 39.5048294, "cg_dv": 67.9521713, "cg_dw": 32.0478287, "cg_id_a": -2.2363441, "cg_id_raw_a": 6.95625591, "cg_iq_a": -22.3402042, "cg_iq_raw_a": -20.3797474, "cg_iu_a": -24.0949059, "cg_iv_a": 14.0366573, "cg_iw_a": 10.0582485, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 2382712, "cg_sample_valid": 1, "cg_theta_rad": 4.11927414, "cg_vd_req_v": -8.98985958, "cg_vd_v": -8.98985958, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3603592, "cg_vq_v": -30.3603592, "cg_vu_v": 0.43989256, "cg_vv_v": 65.5439911, "cg_vw_v": 27.2733402, "control_outputs_enabled": 1, "dclink_i_a": -5.50080252, "dclink_p_w": -796.101746, "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": 24.6157837, "temp_inv2_c": 27.7362061, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0964797437, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 72.924469, "values": {"Elec_RPM": -13050.8604, "EncoderCos": 51175, "EncoderSin": 42757, "GapTicks": 34615, "Mech_RPM": -2610.17212, "cg_du": 31.4690514, "cg_dv": 68.5309448, "cg_dw": 56.8445549, "cg_id_a": 6.41537428, "cg_id_raw_a": -3.09493852, "cg_iq_a": -25.0503349, "cg_iq_raw_a": -23.2959328, "cg_iu_a": -10.4672232, "cg_iv_a": -17.857914, "cg_iw_a": 28.3251381, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 2386916, "cg_sample_valid": 1, "cg_theta_rad": 0.744138479, "cg_vd_req_v": -9.15001583, "cg_vd_v": -9.15001583, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3131847, "cg_vq_v": -30.3131847, "cg_vu_v": 23.3143044, "cg_vv_v": 0, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": -6.61892462, "dclink_p_w": -957.92157, "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": 24.6377258, "temp_inv2_c": 27.7572632, "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": 0.0925520733, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 73.941849, "values": {"Elec_RPM": -13048.2559, "EncoderCos": 24345, "EncoderSin": 52101, "GapTicks": 34844, "Mech_RPM": -2609.65112, "cg_du": 31.6770172, "cg_dv": 41.5109482, "cg_dw": 68.3229828, "cg_id_a": -5.61265707, "cg_id_raw_a": -0.370796174, "cg_iq_a": -25.6285591, "cg_iq_raw_a": -23.7304707, "cg_iu_a": 9.75683594, "cg_iv_a": -26.6651688, "cg_iw_a": 16.9083328, "cg_sample_age_us": 24.0709095, "cg_sample_seq": 2392062, "cg_sample_valid": 1, "cg_theta_rad": 2.00401092, "cg_vd_req_v": -8.96305466, "cg_vd_v": -8.96305466, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3025837, "cg_vq_v": -30.3025837, "cg_vu_v": 72.1423798, "cg_vv_v": 36.9509773, "cg_vw_v": 82.2599106, "control_outputs_enabled": 1, "dclink_i_a": -7.74248362, "dclink_p_w": -1117.12244, "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": 24.6377258, "temp_inv2_c": 27.7853394, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0858045295, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 74.959251, "values": {"Elec_RPM": -13047.2061, "EncoderCos": 40440, "EncoderSin": 13034, "GapTicks": 34377, "Mech_RPM": -2609.44116, "cg_du": 68.7478638, "cg_dv": 55.5947723, "cg_dw": 31.25214, "cg_id_a": -0.618536472, "cg_id_raw_a": 0.888864458, "cg_iq_a": -22.1780014, "cg_iq_raw_a": -21.8737602, "cg_iu_a": -18.83955, "cg_iv_a": 26.6495132, "cg_iw_a": -7.80996227, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 2397063, "cg_sample_valid": 1, "cg_theta_rad": 5.1350913, "cg_vd_req_v": -9.03289318, "cg_vd_v": -9.03289318, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3808136, "cg_vq_v": -30.3808136, "cg_vu_v": 141.205521, "cg_vv_v": 144.28476, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": -6.88712931, "dclink_p_w": -993.707825, "enc_isr_hz": 5002, "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": 24.659668, "temp_inv2_c": 27.8050232, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0906889439, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 75.976639, "values": {"Elec_RPM": -13047.3096, "EncoderCos": 14395, "EncoderSin": 21793, "GapTicks": 35950, "Mech_RPM": -2609.46191, "cg_du": 67.3181152, "cg_dv": 32.6818848, "cg_dw": 36.837822, "cg_id_a": 0.968853235, "cg_id_raw_a": 12.9576969, "cg_iq_a": -26.7989006, "cg_iq_raw_a": -24.1696587, "cg_iu_a": 16.3532143, "cg_iv_a": 11.8620262, "cg_iw_a": -28.2152405, "cg_sample_age_us": 24.2236366, "cg_sample_seq": 2402262, "cg_sample_valid": 1, "cg_theta_rad": 3.71002388, "cg_vd_req_v": -9.04944324, "cg_vd_v": -9.04944324, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.281292, "cg_vq_v": -30.281292, "cg_vu_v": 43.549366, "cg_vv_v": 18.4754887, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": -7.1245265, "dclink_p_w": -1031.0946, "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": 24.7254639, "temp_inv2_c": 27.7825317, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982421637, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 76.99411, "values": {"Elec_RPM": -13047.9043, "EncoderCos": 19814, "EncoderSin": 15751, "GapTicks": 34736, "Mech_RPM": -2609.58081, "cg_du": 41.8850365, "cg_dv": 68.42099, "cg_dw": 31.5790119, "cg_id_a": -0.439530373, "cg_id_raw_a": -9.72279739, "cg_iq_a": -23.1854572, "cg_iq_raw_a": -24.0127506, "cg_iu_a": -21.0141792, "cg_iv_a": 21.2854233, "cg_iw_a": -0.271245003, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 2407313, "cg_sample_valid": 1, "cg_theta_rad": 4.1069212, "cg_vd_req_v": -9.03019524, "cg_vd_v": -9.03019524, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3527126, "cg_vq_v": -30.3527126, "cg_vu_v": 74.3418427, "cg_vv_v": 144.28476, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": -6.51744175, "dclink_p_w": -940.367493, "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": 24.6815796, "temp_inv2_c": 27.7966003, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0890272334, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 77.955437, "values": {"Elec_RPM": -13050.0342, "EncoderCos": 21782, "EncoderSin": 50760, "GapTicks": 34268, "Mech_RPM": -2610.00684, "cg_du": 46.6616936, "cg_dv": 31.1528835, "cg_dw": 68.8471146, "cg_id_a": -0.768133998, "cg_id_raw_a": 1.06456208, "cg_iq_a": -24.0548096, "cg_iq_raw_a": -27.5353775, "cg_iu_a": 15.1934109, "cg_iv_a": -23.8743935, "cg_iw_a": 8.68098164, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 2412062, "cg_sample_valid": 1, "cg_theta_rad": 2.15546107, "cg_vd_req_v": -9.05212402, "cg_vd_v": -9.05212402, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -30.3387165, "cg_vq_v": -30.3387165, "cg_vu_v": 69.0631332, "cg_vv_v": 0.43989256, "cg_vw_v": 36.0711899, "control_outputs_enabled": 1, "dclink_i_a": -6.19305944, "dclink_p_w": -896.288391, "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": 24.7035217, "temp_inv2_c": 27.7853394, "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": 0.0942137763, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 79.006119, "values": {"Elec_RPM": -13040.8408, "EncoderCos": 31024, "EncoderSin": 53687, "GapTicks": 35637, "Mech_RPM": -2608.16821, "cg_du": 32.3981476, "cg_dv": 67.6018524, "cg_dw": 42.5289536, "cg_id_a": -5.31357765, "cg_id_raw_a": -0.6382218, "cg_iq_a": 23.3115425, "cg_iq_raw_a": 22.2737064, "cg_iu_a": 20.5212536, "cg_iv_a": 5.04818535, "cg_iw_a": -25.5694389, "cg_sample_age_us": 24.0381813, "cg_sample_seq": 2417362, "cg_sample_valid": 1, "cg_theta_rad": 1.68511069, "cg_vd_req_v": -6.00321674, "cg_vd_v": -6.00321674, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.6844845, "cg_vq_v": -29.6844845, "cg_vu_v": 0, "cg_vv_v": 33.871727, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 8.43132782, "dclink_p_w": 1220.22107, "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": 24.7035217, "temp_inv2_c": 27.8204956, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908400118, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 80.023582, "values": {"Elec_RPM": -13037.6064, "EncoderCos": 52123, "EncoderSin": 24813, "GapTicks": 35081, "Mech_RPM": -2607.52124, "cg_du": 53.4791603, "cg_dv": 31.8918533, "cg_dw": 68.1081467, "cg_id_a": -0.871509552, "cg_id_raw_a": 2.01440167, "cg_iq_a": 25.4190578, "cg_iq_raw_a": 24.2264729, "cg_iu_a": -18.0059395, "cg_iv_a": 28.1355076, "cg_iw_a": -10.1295681, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 2422463, "cg_sample_valid": 1, "cg_theta_rad": 5.93592787, "cg_vd_req_v": -6.07961178, "cg_vd_v": -6.07961178, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7391777, "cg_vq_v": -29.7391777, "cg_vu_v": 132.847549, "cg_vv_v": 78.3008804, "cg_vw_v": 118.770996, "control_outputs_enabled": 1, "dclink_i_a": 9.54038906, "dclink_p_w": 1376.53271, "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": 24.7254639, "temp_inv2_c": 27.8148499, "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": 0.0930556208, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 81.040977, "values": {"Elec_RPM": -13033.3496, "EncoderCos": 18515, "EncoderSin": 16849, "GapTicks": 35018, "Mech_RPM": -2606.66992, "cg_du": 52.0211487, "cg_dv": 68.1650009, "cg_dw": 31.8349991, "cg_id_a": -3.0936389, "cg_id_raw_a": -0.910444081, "cg_iq_a": 24.8814583, "cg_iq_raw_a": 22.5688705, "cg_iu_a": 18.2741375, "cg_iv_a": -28.0786781, "cg_iw_a": 9.80454063, "cg_sample_age_us": 24.1399994, "cg_sample_seq": 2427562, "cg_sample_valid": 1, "cg_theta_rad": 4.01718187, "cg_vd_req_v": -6.04075718, "cg_vd_v": -6.04075718, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7185822, "cg_vq_v": -29.7185822, "cg_vu_v": 6.1584959, "cg_vv_v": 73.9019547, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": 9.44977951, "dclink_p_w": 1367.61609, "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": 24.7254639, "temp_inv2_c": 27.7923889, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 82.058441, "values": {"Elec_RPM": -13033.1797, "EncoderCos": 23600, "EncoderSin": 51737, "GapTicks": 37513, "Mech_RPM": -2606.63599, "cg_du": 34.795887, "cg_dv": 34.1027718, "cg_dw": 65.8972321, "cg_id_a": -0.822627068, "cg_id_raw_a": 9.63170338, "cg_iq_a": 24.2651234, "cg_iq_raw_a": 26.3048038, "cg_iu_a": -15.1789217, "cg_iv_a": 23.3150787, "cg_iw_a": -8.13615704, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 2432662, "cg_sample_valid": 1, "cg_theta_rad": 2.04291368, "cg_vd_req_v": -6.12639093, "cg_vd_v": -6.12639093, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7226219, "cg_vq_v": -29.7226219, "cg_vu_v": 73.9019547, "cg_vv_v": 36.0711899, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 9.67086697, "dclink_p_w": 1395.35876, "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": 24.7913208, "temp_inv2_c": 27.7853394, "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": 0.0913939103, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 83.07579, "values": {"Elec_RPM": -13032.7158, "EncoderCos": 53622, "EncoderSin": 33472, "GapTicks": 35118, "Mech_RPM": -2606.54321, "cg_du": 68.0744705, "cg_dv": 53.3783531, "cg_dw": 31.9255295, "cg_id_a": 2.95086718, "cg_id_raw_a": -5.11260557, "cg_iq_a": 26.6690235, "cg_iq_raw_a": 23.7987461, "cg_iu_a": 4.57396746, "cg_iv_a": -15.5745554, "cg_iw_a": 30.9346962, "cg_sample_age_us": 23.6854553, "cg_sample_seq": 2437762, "cg_sample_valid": 1, "cg_theta_rad": 0.0696330518, "cg_vd_req_v": -6.15837717, "cg_vd_v": -6.15837717, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7495403, "cg_vq_v": -29.7495403, "cg_vu_v": 3.07924795, "cg_vv_v": 41.3499031, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 9.48421097, "dclink_p_w": 1372.59912, "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": 24.6815796, "temp_inv2_c": 27.8500061, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0963286757, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 83.937149, "values": {"Elec_RPM": -13032.623, "EncoderCos": 11546, "EncoderSin": 34410, "GapTicks": 37377, "Mech_RPM": -2606.52466, "cg_du": 33.9791679, "cg_dv": 64.8679962, "cg_dw": 66.0208282, "cg_id_a": 2.36442614, "cg_id_raw_a": 7.61237812, "cg_iq_a": 26.0611458, "cg_iq_raw_a": 28.0187244, "cg_iu_a": 2.07314301, "cg_iv_a": 21.0317173, "cg_iw_a": -23.1048603, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 2441965, "cg_sample_valid": 1, "cg_theta_rad": 3.27226806, "cg_vd_req_v": -6.179245, "cg_vd_v": -6.179245, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7387314, "cg_vq_v": -29.7387314, "cg_vu_v": 43.1094704, "cg_vv_v": 9.67763615, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 9.49870872, "dclink_p_w": 1370.51892, "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": 24.7913208, "temp_inv2_c": 27.8373413, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0906889439, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 84.95459, "values": {"Elec_RPM": -13034.1133, "EncoderCos": 23490, "EncoderSin": 51691, "GapTicks": 37281, "Mech_RPM": -2606.82275, "cg_du": 35.5199165, "cg_dv": 33.8926086, "cg_dw": 66.1073914, "cg_id_a": 0.786106467, "cg_id_raw_a": -7.67361736, "cg_iq_a": 23.0917702, "cg_iq_raw_a": 23.7256832, "cg_iu_a": -11.5545387, "cg_iv_a": 23.7500038, "cg_iw_a": -12.1954651, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 2447163, "cg_sample_valid": 1, "cg_theta_rad": 2.05632949, "cg_vd_req_v": -6.15963364, "cg_vd_v": -6.15963364, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.6951637, "cg_vq_v": -29.6951637, "cg_vu_v": 145.164551, "cg_vv_v": 79.1806641, "cg_vw_v": 145.164551, "control_outputs_enabled": 1, "dclink_i_a": 9.96263027, "dclink_p_w": 1441.83826, "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": 24.7693787, "temp_inv2_c": 27.8120422, "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": 0.0937102288, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 85.980469, "values": {"Elec_RPM": -13035.2109, "EncoderCos": 12890, "EncoderSin": 40227, "GapTicks": 35277, "Mech_RPM": -2607.04224, "cg_du": 44.6593552, "cg_dv": 67.9299774, "cg_dw": 32.0700188, "cg_id_a": 1.12590027, "cg_id_raw_a": -6.99879313, "cg_iq_a": 26.7851143, "cg_iq_raw_a": 24.8824539, "cg_iu_a": 25.1242218, "cg_iv_a": -18.4015732, "cg_iw_a": -6.72264767, "cg_sample_age_us": 24.1690903, "cg_sample_seq": 2452213, "cg_sample_valid": 1, "cg_theta_rad": 2.81100965, "cg_vd_req_v": -6.14916801, "cg_vd_v": -6.14916801, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.7749443, "cg_vq_v": -29.7749443, "cg_vu_v": 71.2625961, "cg_vv_v": 117.891212, "cg_vw_v": 104.694435, "control_outputs_enabled": 1, "dclink_i_a": 9.42622089, "dclink_p_w": 1364.20654, "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": 24.7693787, "temp_inv2_c": 27.8373413, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.084898144, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 86.998497, "values": {"Elec_RPM": -13031.1475, "EncoderCos": 28573, "EncoderSin": 53408, "GapTicks": 37012, "Mech_RPM": -2606.22949, "cg_du": 33.6478081, "cg_dv": 66.3521881, "cg_dw": 61.6457977, "cg_id_a": -5.00955439, "cg_id_raw_a": 2.55815291, "cg_iq_a": 46.5916824, "cg_iq_raw_a": 49.4081306, "cg_iu_a": 29.292263, "cg_iv_a": 15.1602135, "cg_iw_a": -45.1773529, "cg_sample_age_us": 23.863636, "cg_sample_seq": 2457413, "cg_sample_valid": 1, "cg_theta_rad": 1.79057872, "cg_vd_req_v": -4.52719212, "cg_vd_v": -4.52719212, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1977444, "cg_vq_v": -29.1977444, "cg_vu_v": 71.7024918, "cg_vv_v": 71.7024918, "cg_vw_v": 109.533249, "control_outputs_enabled": 1, "dclink_i_a": 16.8000278, "dclink_p_w": 2431.37817, "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": 24.8132629, "temp_inv2_c": 27.8992004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0890272334, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 87.959824, "values": {"Elec_RPM": -13027.2031, "EncoderCos": 36229, "EncoderSin": 11815, "GapTicks": 36448, "Mech_RPM": -2605.44067, "cg_du": 66.8652115, "cg_dv": 33.1347885, "cg_dw": 40.6255188, "cg_id_a": -0.985335827, "cg_id_raw_a": 2.87675261, "cg_iq_a": 49.9634628, "cg_iq_raw_a": 53.8477821, "cg_iu_a": -40.4771194, "cg_iv_a": -4.48394012, "cg_iw_a": 44.9610596, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 2461962, "cg_sample_valid": 1, "cg_theta_rad": 4.88334751, "cg_vd_req_v": -4.58635569, "cg_vd_v": -4.58635569, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2423515, "cg_vq_v": -29.2423515, "cg_vu_v": 39.1504402, "cg_vv_v": 18.9153805, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 17.5575237, "dclink_p_w": 2541.00659, "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": 24.7913208, "temp_inv2_c": 27.8429565, "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": 0.0913435593, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 89.009979, "values": {"Elec_RPM": -13027.0811, "EncoderCos": 47658, "EncoderSin": 17942, "GapTicks": 36246, "Mech_RPM": -2605.41626, "cg_du": 32.9513092, "cg_dv": 67.0486908, "cg_dw": 58.8623466, "cg_id_a": 5.65597534, "cg_id_raw_a": 12.4902258, "cg_iq_a": 51.7017899, "cg_iq_raw_a": 56.3326607, "cg_iu_a": 43.2461395, "cg_iv_a": -0.352149963, "cg_iw_a": -42.8939896, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 2467363, "cg_sample_valid": 1, "cg_theta_rad": 5.55813503, "cg_vd_req_v": -4.73881292, "cg_vd_v": -4.73881292, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2746658, "cg_vq_v": -29.2746658, "cg_vu_v": 103.374756, "cg_vv_v": 140.325729, "cg_vw_v": 146.044327, "control_outputs_enabled": 1, "dclink_i_a": 16.6478043, "dclink_p_w": 2409.34766, "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": 24.8132629, "temp_inv2_c": 27.876709, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0924513638, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 90.027405, "values": {"Elec_RPM": -13023.6709, "EncoderCos": 28852, "EncoderSin": 11813, "GapTicks": 37074, "Mech_RPM": -2604.73413, "cg_du": 37.9437256, "cg_dv": 33.7039948, "cg_dw": 66.2960052, "cg_id_a": 2.1769135, "cg_id_raw_a": -5.60153008, "cg_iq_a": 50.2588272, "cg_iq_raw_a": 48.3627853, "cg_iu_a": -23.7324677, "cg_iv_a": 51.8752213, "cg_iw_a": -28.1427536, "cg_sample_age_us": 24.0527267, "cg_sample_seq": 2472563, "cg_sample_valid": 1, "cg_theta_rad": 4.57787323, "cg_vd_req_v": -4.66548872, "cg_vd_v": -4.66548872, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.243309, "cg_vq_v": -29.243309, "cg_vu_v": 145.604446, "cg_vv_v": 77.8609848, "cg_vw_v": 145.604446, "control_outputs_enabled": 1, "dclink_i_a": 17.0120544, "dclink_p_w": 2462.06372, "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": 24.8352356, "temp_inv2_c": 27.9076233, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0900846869, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 91.044792, "values": {"Elec_RPM": -13024.4678, "EncoderCos": 24641, "EncoderSin": 52200, "GapTicks": 36491, "Mech_RPM": -2604.89355, "cg_du": 33.1742325, "cg_dv": 40.3546448, "cg_dw": 66.8257675, "cg_id_a": -4.25707245, "cg_id_raw_a": 0.308395714, "cg_iq_a": 50.3142815, "cg_iq_raw_a": 54.9653053, "cg_iu_a": -9.74234772, "cg_iv_a": 45.2788467, "cg_iw_a": -35.536499, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 2477562, "cg_sample_valid": 1, "cg_theta_rad": 1.99923229, "cg_vd_req_v": -4.5640316, "cg_vd_v": -4.5640316, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2643852, "cg_vq_v": -29.2643852, "cg_vu_v": 54.9865723, "cg_vv_v": 30.7924805, "cg_vw_v": 76.5413055, "control_outputs_enabled": 1, "dclink_i_a": 17.229517, "dclink_p_w": 2493.53589, "enc_isr_hz": 5000, "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": 24.8571777, "temp_inv2_c": 27.9076233, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0905378833, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 92.062294, "values": {"Elec_RPM": -13024.1172, "EncoderCos": 53407, "EncoderSin": 35931, "GapTicks": 36382, "Mech_RPM": -2604.82349, "cg_du": 59.3139496, "cg_dv": 66.9246826, "cg_dw": 33.0753174, "cg_id_a": -0.711767018, "cg_id_raw_a": -3.4641726, "cg_iq_a": 49.9215546, "cg_iq_raw_a": 49.4870262, "cg_iu_a": 30.5607967, "cg_iv_a": -47.5053711, "cg_iw_a": 28.8687973, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 2482662, "cg_sample_valid": 1, "cg_theta_rad": 0.183970928, "cg_vd_req_v": -4.58916759, "cg_vd_v": -4.58916759, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2284584, "cg_vq_v": -29.2284584, "cg_vu_v": 0, "cg_vv_v": 48.3881836, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 16.4919567, "dclink_p_w": 2386.79272, "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": 24.8571777, "temp_inv2_c": 27.9723511, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0884733349, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 92.923622, "values": {"Elec_RPM": -13025.4141, "EncoderCos": 23087, "EncoderSin": 13742, "GapTicks": 36020, "Mech_RPM": -2605.08276, "cg_du": 32.7458344, "cg_dv": 67.2541656, "cg_dw": 57.4358482, "cg_id_a": 3.49130416, "cg_id_raw_a": 9.07316017, "cg_iq_a": 50.4344406, "cg_iq_raw_a": 55.4655952, "cg_iu_a": 42.4487762, "cg_iv_a": -3.14292145, "cg_iw_a": -41.7341919, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 2486963, "cg_sample_valid": 1, "cg_theta_rad": 4.27451515, "cg_vd_req_v": -4.6945262, "cg_vd_v": -4.6945262, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2485332, "cg_vq_v": -29.2485332, "cg_vu_v": 104.694435, "cg_vv_v": 140.325729, "cg_vw_v": 146.044327, "control_outputs_enabled": 1, "dclink_i_a": 16.8833885, "dclink_p_w": 2443.44263, "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": 24.8791504, "temp_inv2_c": 27.9456177, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948683918, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 93.94104, "values": {"Elec_RPM": -13028.7109, "EncoderCos": 35156, "EncoderSin": 53654, "GapTicks": 35744, "Mech_RPM": -2605.74219, "cg_du": 53.9164352, "cg_dv": 67.5050735, "cg_dw": 32.4949265, "cg_id_a": -7.39050102, "cg_id_raw_a": -8.10002804, "cg_iq_a": 45.2731209, "cg_iq_raw_a": 43.4972725, "cg_iu_a": 40.5278473, "cg_iv_a": 0.988876343, "cg_iw_a": -41.5167236, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 2491966, "cg_sample_valid": 1, "cg_theta_rad": 1.70094895, "cg_vd_req_v": -4.47459173, "cg_vd_v": -4.47459173, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1550331, "cg_vq_v": -29.1550331, "cg_vu_v": 0, "cg_vv_v": 21.1148415, "cg_vw_v": 63.7844238, "control_outputs_enabled": 1, "dclink_i_a": 16.5608196, "dclink_p_w": 2396.75879, "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": 24.9230957, "temp_inv2_c": 27.9849854, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 94.967499, "values": {"Elec_RPM": -13021.752, "EncoderCos": 47030, "EncoderSin": 48052, "GapTicks": 35777, "Mech_RPM": -2604.35034, "cg_du": 46.8831482, "cg_dv": 32.5245743, "cg_dw": 67.4754257, "cg_id_a": -7.23025799, "cg_id_raw_a": -3.33442879, "cg_iq_a": 72.0414276, "cg_iq_raw_a": 69.2115707, "cg_iu_a": -64.9054565, "cg_iv_a": 72.8241577, "cg_iw_a": -32.3470383, "cg_sample_age_us": 23.6018181, "cg_sample_seq": 2497162, "cg_sample_valid": 1, "cg_theta_rad": 0.843221307, "cg_vd_req_v": -3.12482429, "cg_vd_v": -3.12482429, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1914673, "cg_vq_v": -29.1914673, "cg_vu_v": 45.3089333, "cg_vv_v": 0, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 23.7805901, "dclink_p_w": 3452.09863, "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": 24.9450684, "temp_inv2_c": 27.9216919, "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": 0.0939619988, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 95.984901, "values": {"Elec_RPM": -13020.6787, "EncoderCos": 13639, "EncoderSin": 41916, "GapTicks": 35890, "Mech_RPM": -2604.13574, "cg_du": 55.4765282, "cg_dv": 67.3724976, "cg_dw": 32.6275024, "cg_id_a": 5.07885122, "cg_id_raw_a": 9.92483902, "cg_iq_a": 77.0521088, "cg_iq_raw_a": 76.0244064, "cg_iu_a": 56.6926003, "cg_iv_a": -73.9633789, "cg_iw_a": 17.2707748, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 2502313, "cg_sample_valid": 1, "cg_theta_rad": 2.73277426, "cg_vd_req_v": -3.44921303, "cg_vd_v": -3.44921303, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3064671, "cg_vq_v": -29.3064671, "cg_vu_v": 70.3828125, "cg_vv_v": 109.093361, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 24.7464886, "dclink_p_w": 3570.54126, "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": 24.967041, "temp_inv2_c": 27.9624939, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 97.002342, "values": {"Elec_RPM": -13017.668, "EncoderCos": 52840, "EncoderSin": 38454, "GapTicks": 36765, "Mech_RPM": -2603.53369, "cg_du": 39.4751587, "cg_dv": 66.5770874, "cg_dw": 33.4229126, "cg_id_a": -4.36839533, "cg_id_raw_a": 0.794597447, "cg_iq_a": 76.5117722, "cg_iq_raw_a": 79.0965652, "cg_iu_a": 72.2774506, "cg_iv_a": -56.7113037, "cg_iw_a": -15.5661449, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 2507312, "cg_sample_valid": 1, "cg_theta_rad": 0.318934232, "cg_vd_req_v": -3.18536925, "cg_vd_v": -3.18536925, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2424259, "cg_vq_v": -29.2424259, "cg_vu_v": 0, "cg_vv_v": 47.9482918, "cg_vw_v": 11.877099, "control_outputs_enabled": 1, "dclink_i_a": 25.4333096, "dclink_p_w": 3680.8269, "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": 25.0109863, "temp_inv2_c": 27.9849854, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 97.983772, "values": {"Elec_RPM": -13017.9111, "EncoderCos": 50974, "EncoderSin": 22409, "GapTicks": 37669, "Mech_RPM": -2603.58228, "cg_du": 36.4169693, "cg_dv": 34.244915, "cg_dw": 65.7550888, "cg_id_a": 3.76468682, "cg_id_raw_a": 15.3001394, "cg_iq_a": 74.0315323, "cg_iq_raw_a": 78.2407074, "cg_iu_a": -83.4622955, "cg_iv_a": 42.669281, "cg_iw_a": 40.7930145, "cg_sample_age_us": 26.7909088, "cg_sample_seq": 2512166, "cg_sample_valid": 1, "cg_theta_rad": 6.03463888, "cg_vd_req_v": -3.36371565, "cg_vd_v": -3.36371565, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2172184, "cg_vq_v": -29.2172184, "cg_vu_v": 39.1504402, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 24.4474773, "dclink_p_w": 3538.15283, "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": 24.9890137, "temp_inv2_c": 28.028656, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940123573, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 99.013802, "values": {"Elec_RPM": -13018.3223, "EncoderCos": 16194, "EncoderSin": 45865, "GapTicks": 36190, "Mech_RPM": -2603.66455, "cg_du": 67.0997543, "cg_dv": 42.4246292, "cg_dw": 32.9002457, "cg_id_a": 5.74725151, "cg_id_raw_a": 10.1345119, "cg_iq_a": 76.7908325, "cg_iq_raw_a": 78.2002182, "cg_iu_a": -25.9433403, "cg_iv_a": -49.6800041, "cg_iw_a": 75.6233444, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 2517412, "cg_sample_valid": 1, "cg_theta_rad": 2.50115538, "cg_vd_req_v": -3.46013093, "cg_vd_v": -3.46013093, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2922726, "cg_vq_v": -29.2922726, "cg_vu_v": 67.303566, "cg_vv_v": 61.5849609, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 24.8062916, "dclink_p_w": 3590.08203, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2604, "hz_tim_isr": 4997, "hz_vsense": 2604, "pwm_moe": 1, "temp_inv1_c": 25.0549622, "temp_inv2_c": 28.0230103, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926024243, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 100.031197, "values": {"Elec_RPM": -13020.2402, "EncoderCos": 47615, "EncoderSin": 47423, "GapTicks": 36552, "Mech_RPM": -2604.0481, "cg_du": 40.7559395, "cg_dv": 33.2299042, "cg_dw": 66.7700958, "cg_id_a": -4.11045599, "cg_id_raw_a": -7.10623312, "cg_iq_a": 70.9231796, "cg_iq_raw_a": 69.9204178, "cg_iu_a": -42.9779434, "cg_iv_a": 74.8900528, "cg_iw_a": -42.5677948, "cg_sample_age_us": 24.9254551, "cg_sample_seq": 2522513, "cg_sample_valid": 1, "cg_theta_rad": 0.80349946, "cg_vd_req_v": -3.19472933, "cg_vd_v": -3.19472933, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.146162, "cg_vq_v": -29.146162, "cg_vu_v": 145.604446, "cg_vv_v": 99.8556061, "cg_vw_v": 146.044327, "control_outputs_enabled": 1, "dclink_i_a": 25.0835571, "dclink_p_w": 3630.20923, "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": 25.0549622, "temp_inv2_c": 28.0807495, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926024243, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 101.057716, "values": {"Elec_RPM": -13016.4414, "EncoderCos": 12595, "EncoderSin": 39331, "GapTicks": 38215, "Mech_RPM": -2603.28833, "cg_du": 34.7415619, "cg_dv": 65.2584381, "cg_dw": 34.8657837, "cg_id_a": 1.48226953, "cg_id_raw_a": 6.76918554, "cg_iq_a": 101.031509, "cg_iq_raw_a": 103.217087, "cg_iu_a": 99.9677429, "cg_iv_a": -62.9452515, "cg_iw_a": -37.0224915, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 2527662, "cg_sample_valid": 1, "cg_theta_rad": 2.8606379, "cg_vd_req_v": -2.06343579, "cg_vd_v": -2.06343579, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3113461, "cg_vq_v": -29.3113461, "cg_vu_v": 0, "cg_vv_v": 42.6695786, "cg_vw_v": 41.7897949, "control_outputs_enabled": 1, "dclink_i_a": 30.4530792, "dclink_p_w": 4407.31152, "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": 25.098938, "temp_inv2_c": 28.0427246, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0914442614, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 102.075134, "values": {"Elec_RPM": -13016.0371, "EncoderCos": 19234, "EncoderSin": 16264, "GapTicks": 36460, "Mech_RPM": -2603.20752, "cg_du": 41.355751, "cg_dv": 66.8545074, "cg_dw": 33.1454887, "cg_id_a": -0.238352716, "cg_id_raw_a": -11.3988085, "cg_iq_a": 101.638069, "cg_iq_raw_a": 99.37043, "cg_iu_a": 90.544342, "cg_iv_a": -81.1396484, "cg_iw_a": -9.40468979, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 2532713, "cg_sample_valid": 1, "cg_theta_rad": 4.06352949, "cg_vd_req_v": -2.03416729, "cg_vd_v": -2.03416729, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3045387, "cg_vq_v": -29.3045387, "cg_vu_v": 104.694435, "cg_vv_v": 146.044327, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 32.1656036, "dclink_p_w": 4655.15576, "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": 25.164978, "temp_inv2_c": 28.114563, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0910917819, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 102.936493, "values": {"Elec_RPM": -13011.7754, "EncoderCos": 20561, "EncoderSin": 49928, "GapTicks": 37758, "Mech_RPM": -2602.35498, "cg_du": 63.8147392, "cg_dv": 34.3256607, "cg_dw": 65.6743393, "cg_id_a": -1.14544106, "cg_id_raw_a": 4.34036922, "cg_iq_a": 100.851868, "cg_iq_raw_a": 103.781509, "cg_iu_a": -106.332153, "cg_iv_a": 52.7450676, "cg_iw_a": 53.5870857, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 2537013, "cg_sample_valid": 1, "cg_theta_rad": 2.27521157, "cg_vd_req_v": -2.02866125, "cg_vd_v": -2.02866125, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3200836, "cg_vq_v": -29.3200836, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 32.2163429, "dclink_p_w": 4662.49902, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2575, "hz_tim_isr": 5000, "hz_vsense": 2575, "pwm_moe": 1, "temp_inv1_c": 25.1869812, "temp_inv2_c": 28.1300659, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940123573, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 103.953934, "values": {"Elec_RPM": -13010.6699, "EncoderCos": 47687, "EncoderSin": 47398, "GapTicks": 36527, "Mech_RPM": -2602.13403, "cg_du": 41.7122879, "cg_dv": 33.2065659, "cg_dw": 66.7934341, "cg_id_a": -7.25845289, "cg_id_raw_a": 4.0449667, "cg_iq_a": 93.6953888, "cg_iq_raw_a": 95.4128876, "cg_iu_a": -68.9285278, "cg_iv_a": 94.3167419, "cg_iw_a": -25.3882179, "cg_sample_age_us": 23.6745453, "cg_sample_seq": 2542112, "cg_sample_valid": 1, "cg_theta_rad": 0.804473519, "cg_vd_req_v": -1.8331337, "cg_vd_v": -1.8331337, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1234283, "cg_vq_v": -29.1234283, "cg_vu_v": 69.9429169, "cg_vv_v": 3.07924795, "cg_vw_v": 43.549366, "control_outputs_enabled": 1, "dclink_i_a": 32.6349602, "dclink_p_w": 4723.0835, "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": 25.2089844, "temp_inv2_c": 28.1751709, "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": 0.0953719392, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 104.971359, "values": {"Elec_RPM": -13011.9873, "EncoderCos": 24173, "EncoderSin": 51984, "GapTicks": 38308, "Mech_RPM": -2602.39746, "cg_du": 34.9111977, "cg_dv": 34.8262062, "cg_dw": 65.1737976, "cg_id_a": 1.65322924, "cg_id_raw_a": -8.92125893, "cg_iq_a": 98.3385849, "cg_iq_raw_a": 99.611351, "cg_iu_a": -32.3584976, "cg_iv_a": 95.1865921, "cg_iw_a": -62.8280945, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 2547163, "cg_sample_valid": 1, "cg_theta_rad": 2.02517509, "cg_vd_req_v": -2.07666755, "cg_vd_v": -2.07666755, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2546406, "cg_vq_v": -29.2546406, "cg_vu_v": 113.052383, "cg_vv_v": 80.5003433, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 32.3631325, "dclink_p_w": 4683.74316, "enc_isr_hz": 5001, "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": 25.2530212, "temp_inv2_c": 28.2315674, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902357474, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 105.988754, "values": {"Elec_RPM": -13010.8105, "EncoderCos": 35968, "EncoderSin": 53464, "GapTicks": 36295, "Mech_RPM": -2602.16211, "cg_du": 57.1521568, "cg_dv": 67.0043106, "cg_dw": 32.9956894, "cg_id_a": -6.00393677, "cg_id_raw_a": -7.49181366, "cg_iq_a": 95.5591583, "cg_iq_raw_a": 94.0501785, "cg_iu_a": 60.4257126, "cg_iv_a": -99.6240082, "cg_iw_a": 39.1982956, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 2552362, "cg_sample_valid": 1, "cg_theta_rad": 1.44779122, "cg_vd_req_v": -1.91217935, "cg_vd_v": -1.91217935, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1798, "cg_vq_v": -29.1798, "cg_vu_v": 0, "cg_vv_v": 60.2652817, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 31.9408894, "dclink_p_w": 4622.63428, "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": 25.2970886, "temp_inv2_c": 28.2104187, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944151953, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 107.006203, "values": {"Elec_RPM": -13010.3008, "EncoderCos": 13780, "EncoderSin": 42131, "GapTicks": 36035, "Mech_RPM": -2602.06006, "cg_du": 55.912693, "cg_dv": 67.2407303, "cg_dw": 32.7592697, "cg_id_a": 2.83113384, "cg_id_raw_a": 5.66002131, "cg_iq_a": 99.471199, "cg_iq_raw_a": 98.48349, "cg_iu_a": 60.8606415, "cg_iv_a": -104.553177, "cg_iw_a": 43.6925354, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 2557412, "cg_sample_valid": 1, "cg_theta_rad": 2.7224102, "cg_vd_req_v": -2.12485504, "cg_vd_v": -2.12485504, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2939949, "cg_vq_v": -29.2939949, "cg_vu_v": 97.2162552, "cg_vv_v": 146.044327, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": 32.2525864, "dclink_p_w": 4667.74463, "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": 25.3190918, "temp_inv2_c": 28.306366, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0916456878, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 107.99218, "values": {"Elec_RPM": -13010.2002, "EncoderCos": 39877, "EncoderSin": 52466, "GapTicks": 35960, "Mech_RPM": -2602.04004, "cg_du": 67.3085709, "cg_dv": 45.4799118, "cg_dw": 32.6914291, "cg_id_a": -5.93227291, "cg_id_raw_a": -1.6876502, "cg_iq_a": 96.5472412, "cg_iq_raw_a": 95.3954849, "cg_iu_a": 54.3729935, "cg_iv_a": -94.0787048, "cg_iw_a": 39.7057114, "cg_sample_age_us": 23.863636, "cg_sample_seq": 2562166, "cg_sample_valid": 1, "cg_theta_rad": 1.42486084, "cg_vd_req_v": -1.89333272, "cg_vd_v": -1.89333272, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1905708, "cg_vq_v": -29.1905708, "cg_vu_v": 106.453995, "cg_vv_v": 146.044327, "cg_vw_v": 106.893898, "control_outputs_enabled": 1, "dclink_i_a": 32.1583519, "dclink_p_w": 4654.10645, "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": 25.3851929, "temp_inv2_c": 28.2978821, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0966811627, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 109.018242, "values": {"Elec_RPM": -13007.1191, "EncoderCos": 29059, "EncoderSin": 53477, "GapTicks": 37339, "Mech_RPM": -2601.42383, "cg_du": 33.9452667, "cg_dv": 66.0547333, "cg_dw": 61.7947044, "cg_id_a": -1.87744868, "cg_id_raw_a": -14.9689188, "cg_iq_a": 119.856445, "cg_iq_raw_a": 121.071793, "cg_iu_a": 87.0649338, "cg_iv_a": 27.7005844, "cg_iw_a": -114.765518, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 2567462, "cg_sample_valid": 1, "cg_theta_rad": 1.78505003, "cg_vd_req_v": -0.790750206, "cg_vd_v": -0.790750206, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2211857, "cg_vq_v": -29.2211857, "cg_vu_v": 107.333786, "cg_vv_v": 98.5359344, "cg_vw_v": 146.924118, "control_outputs_enabled": 1, "dclink_i_a": 39.5067902, "dclink_p_w": 5734.98535, "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": 25.4292908, "temp_inv2_c": 28.3190613, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917967483, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 110.035652, "values": {"Elec_RPM": -13008.2676, "EncoderCos": 11520, "EncoderSin": 33020, "GapTicks": 35705, "Mech_RPM": -2601.65356, "cg_du": 32.4592171, "cg_dv": 50.0716209, "cg_dw": 67.5407867, "cg_id_a": 1.14302349, "cg_id_raw_a": 2.83156896, "cg_iq_a": 128.381088, "cg_iq_raw_a": 124.851189, "cg_iu_a": 2.43558145, "cg_iv_a": 108.451836, "cg_iw_a": -110.887421, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 2572513, "cg_sample_valid": 1, "cg_theta_rad": 3.20732951, "cg_vd_req_v": -0.811371684, "cg_vd_v": -0.811371684, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3910217, "cg_vq_v": -29.3910217, "cg_vu_v": 8.35795879, "cg_vv_v": 0, "cg_vw_v": 65.9838867, "control_outputs_enabled": 1, "dclink_i_a": 39.2132149, "dclink_p_w": 5692.36865, "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": 25.4954529, "temp_inv2_c": 28.3275452, "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": 0.0932570398, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 111.053032, "values": {"Elec_RPM": -13005.5283, "EncoderCos": 13782, "EncoderSin": 42123, "GapTicks": 35944, "Mech_RPM": -2601.10571, "cg_du": 54.6314087, "cg_dv": 67.322731, "cg_dw": 32.677269, "cg_id_a": 6.42660809, "cg_id_raw_a": 11.6563301, "cg_iq_a": 128.027573, "cg_iq_raw_a": 127.160057, "cg_iu_a": 97.4669189, "cg_iv_a": -122.312653, "cg_iw_a": 24.8457298, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 2577713, "cg_sample_valid": 1, "cg_theta_rad": 2.76705408, "cg_vd_req_v": -0.937501431, "cg_vd_v": -0.937501431, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3655682, "cg_vq_v": -29.3655682, "cg_vu_v": 2.19946289, "cg_vv_v": 62.0248489, "cg_vw_v": 22.4345207, "control_outputs_enabled": 1, "dclink_i_a": 39.5231018, "dclink_p_w": 5737.35352, "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": 25.5395813, "temp_inv2_c": 28.4363098, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918471068, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 112.07045, "values": {"Elec_RPM": -13005.877, "EncoderCos": 36509, "EncoderSin": 53365, "GapTicks": 36874, "Mech_RPM": -2601.17529, "cg_du": 59.6576157, "cg_dv": 66.4774475, "cg_dw": 33.5225525, "cg_id_a": -5.86196995, "cg_id_raw_a": 1.70538056, "cg_iq_a": 118.438675, "cg_iq_raw_a": 120.092804, "cg_iu_a": 70.320282, "cg_iv_a": -117.927139, "cg_iw_a": 47.6068573, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 2582813, "cg_sample_valid": 1, "cg_theta_rad": 1.4155035, "cg_vd_req_v": -0.667427957, "cg_vd_v": -0.667427957, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1506214, "cg_vq_v": -29.1506214, "cg_vu_v": 104.254532, "cg_vv_v": 146.484222, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": 39.950779, "dclink_p_w": 5781.86279, "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": 25.6058044, "temp_inv2_c": 28.3925171, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926024243, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 112.931808, "values": {"Elec_RPM": -13001.9912, "EncoderCos": 42124, "EncoderSin": 13856, "GapTicks": 36043, "Mech_RPM": -2600.39819, "cg_du": 55.0365105, "cg_dv": 67.2329025, "cg_dw": 32.7670975, "cg_id_a": -1.39376688, "cg_id_raw_a": 0.27065599, "cg_iq_a": 124.654991, "cg_iq_raw_a": 123.893341, "cg_iu_a": 79.7799225, "cg_iv_a": -121.624016, "cg_iw_a": 71.092865, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 2587012, "cg_sample_valid": 1, "cg_theta_rad": 5.21500587, "cg_vd_req_v": -0.768743575, "cg_vd_v": -0.768743575, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2843189, "cg_vq_v": -29.2843189, "cg_vu_v": 17.1558094, "cg_vv_v": 76.1014175, "cg_vw_v": 48.8280716, "control_outputs_enabled": 1, "dclink_i_a": 39.5647812, "dclink_p_w": 5743.40381, "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": 25.6499329, "temp_inv2_c": 28.4447937, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0937102288, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 113.949203, "values": {"Elec_RPM": -13001.0352, "EncoderCos": 53037, "EncoderSin": 37484, "GapTicks": 36101, "Mech_RPM": -2600.20703, "cg_du": 43.8691597, "cg_dv": 67.1803894, "cg_dw": 32.8196106, "cg_id_a": -2.9029119, "cg_id_raw_a": 3.06012869, "cg_iq_a": 127.973541, "cg_iq_raw_a": 129.388504, "cg_iu_a": 119.974335, "cg_iv_a": -94.04245, "cg_iw_a": 11.3630295, "cg_sample_age_us": 23.3981819, "cg_sample_seq": 2592064, "cg_sample_valid": 1, "cg_theta_rad": 0.315653384, "cg_vd_req_v": -0.682862759, "cg_vd_v": -0.682862759, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3058395, "cg_vq_v": -29.3058395, "cg_vu_v": 100.735397, "cg_vv_v": 146.044327, "cg_vw_v": 145.604446, "control_outputs_enabled": 1, "dclink_i_a": 39.3980598, "dclink_p_w": 5701.87061, "enc_isr_hz": 5000, "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": 25.716217, "temp_inv2_c": 28.5098572, "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": 0.0957747772, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 114.975731, "values": {"Elec_RPM": -12998.0156, "EncoderCos": 12808, "EncoderSin": 25319, "GapTicks": 36130, "Mech_RPM": -2599.60303, "cg_du": 67.154335, "cg_dv": 32.845665, "cg_dw": 55.9924126, "cg_id_a": 4.02478886, "cg_id_raw_a": 9.47137833, "cg_iq_a": 152.172409, "cg_iq_raw_a": 151.724258, "cg_iu_a": -149.063644, "cg_iv_a": 60.7187195, "cg_iw_a": 88.3449249, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 2597313, "cg_sample_valid": 1, "cg_theta_rad": 3.54091597, "cg_vd_req_v": 0.299406052, "cg_vd_v": 0.299406052, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3318119, "cg_vq_v": -29.3318119, "cg_vu_v": 135.047012, "cg_vv_v": 91.9375458, "cg_vw_v": 68.1833496, "control_outputs_enabled": 1, "dclink_i_a": 47.319149, "dclink_p_w": 6848.24756, "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": 25.7604065, "temp_inv2_c": 28.5635986, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.086710915, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 115.993126, "values": {"Elec_RPM": -12994.877, "EncoderCos": 23409, "EncoderSin": 13633, "GapTicks": 38055, "Mech_RPM": -2598.97534, "cg_du": 34.5955811, "cg_dv": 65.4044189, "cg_dw": 64.3902435, "cg_id_a": 4.80968618, "cg_id_raw_a": 12.1025801, "cg_iq_a": 147.840057, "cg_iq_raw_a": 152.595535, "cg_iu_a": 105.041878, "cg_iv_a": 32.5572586, "cg_iw_a": -123.790222, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 2602263, "cg_sample_valid": 1, "cg_theta_rad": 4.29318571, "cg_vd_req_v": 0.313786209, "cg_vd_v": 0.313786209, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.246664, "cg_vq_v": -29.246664, "cg_vu_v": 103.814644, "cg_vv_v": 108.653458, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 46.3840599, "dclink_p_w": 6712.91699, "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": 25.8046265, "temp_inv2_c": 28.5635986, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 117.010536, "values": {"Elec_RPM": -12998.1426, "EncoderCos": 51713, "EncoderSin": 41450, "GapTicks": 36066, "Mech_RPM": -2599.62842, "cg_du": 32.7873306, "cg_dv": 67.2126694, "cg_dw": 55.6417084, "cg_id_a": -1.71921301, "cg_id_raw_a": 5.3983922, "cg_iq_a": 151.608505, "cg_iq_raw_a": 155.036179, "cg_iu_a": 139.473511, "cg_iv_a": -24.8167343, "cg_iw_a": -114.656776, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 2607413, "cg_sample_valid": 1, "cg_theta_rad": 0.462647498, "cg_vd_req_v": 0.455015719, "cg_vd_v": 0.455015719, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2716827, "cg_vq_v": -29.2716827, "cg_vu_v": 101.615181, "cg_vv_v": 143.404984, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 46.3260689, "dclink_p_w": 6704.52441, "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": 25.8930664, "temp_inv2_c": 28.6018372, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943144858, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 118.001152, "values": {"Elec_RPM": -12995.9033, "EncoderCos": 17570, "EncoderSin": 17805, "GapTicks": 36040, "Mech_RPM": -2599.18066, "cg_du": 55.1135216, "cg_dv": 67.2360229, "cg_dw": 32.7639732, "cg_id_a": 3.85274887, "cg_id_raw_a": 10.4241276, "cg_iq_a": 150.766754, "cg_iq_raw_a": 149.345993, "cg_iu_a": 97.2494507, "cg_iv_a": -147.139664, "cg_iw_a": 49.8902168, "cg_sample_age_us": 23.954546, "cg_sample_seq": 2612313, "cg_sample_valid": 1, "cg_theta_rad": 3.95798039, "cg_vd_req_v": 0.299349874, "cg_vd_v": 0.299349874, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3105278, "cg_vq_v": -29.3105278, "cg_vu_v": 71.2625961, "cg_vv_v": 116.571533, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 47.0908127, "dclink_p_w": 6835.9165, "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": 25.9594727, "temp_inv2_c": 28.6372375, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0884229839, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 119.021965, "values": {"Elec_RPM": -12993.1143, "EncoderCos": 12297, "EncoderSin": 38397, "GapTicks": 36125, "Mech_RPM": -2598.6228, "cg_du": 32.8413391, "cg_dv": 67.1586609, "cg_dw": 43.7288933, "cg_id_a": 3.36547709, "cg_id_raw_a": 6.77378654, "cg_iq_a": 154.123962, "cg_iq_raw_a": 152.206818, "cg_iu_a": 154.224747, "cg_iv_a": -109.047409, "cg_iw_a": -40.7555962, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 2617412, "cg_sample_valid": 1, "cg_theta_rad": 2.89356947, "cg_vd_req_v": 0.265473127, "cg_vd_v": 0.265473127, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3937473, "cg_vq_v": -29.3937473, "cg_vu_v": 0, "cg_vv_v": 29.0329094, "cg_vw_v": 53.666893, "control_outputs_enabled": 1, "dclink_i_a": 46.7283745, "dclink_p_w": 6783.30371, "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": 26.0259094, "temp_inv2_c": 28.7335815, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 120.039452, "values": {"Elec_RPM": -12995.7773, "EncoderCos": 15237, "EncoderSin": 44585, "GapTicks": 36372, "Mech_RPM": -2599.15552, "cg_du": 66.9337921, "cg_dv": 57.7603073, "cg_dw": 33.0662117, "cg_id_a": 1.1487546, "cg_id_raw_a": 8.18099594, "cg_iq_a": 152.291306, "cg_iq_raw_a": 153.227936, "cg_iu_a": -13.1492672, "cg_iv_a": -112.345596, "cg_iw_a": 146.190094, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 2622613, "cg_sample_valid": 1, "cg_theta_rad": 2.56759596, "cg_vd_req_v": 0.339207262, "cg_vd_v": 0.339207262, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3594532, "cg_vq_v": -29.3594532, "cg_vu_v": 98.5359344, "cg_vv_v": 119.210884, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 47.0056419, "dclink_p_w": 6823.55273, "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": 26.0923462, "temp_inv2_c": 28.7633362, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0896818489, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 121.056831, "values": {"Elec_RPM": -12996.7139, "EncoderCos": 49477, "EncoderSin": 45253, "GapTicks": 36153, "Mech_RPM": -2599.34277, "cg_du": 32.8665161, "cg_dv": 44.3215637, "cg_dw": 67.1334839, "cg_id_a": -5.00867987, "cg_id_raw_a": 2.95419931, "cg_iq_a": 144.685242, "cg_iq_raw_a": 147.798599, "cg_iu_a": 17.7304802, "cg_iv_a": 116.280502, "cg_iw_a": -134.010986, "cg_sample_age_us": 23.5036373, "cg_sample_seq": 2627612, "cg_sample_valid": 1, "cg_theta_rad": 0.688289523, "cg_vd_req_v": 0.530991137, "cg_vd_v": 0.530991137, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1470108, "cg_vq_v": -29.1470108, "cg_vu_v": 113.052383, "cg_vv_v": 85.7790527, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 46.0161858, "dclink_p_w": 6659.67676, "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": 26.1809998, "temp_inv2_c": 28.7959595, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0909910724, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 122.074852, "values": {"Elec_RPM": -12992.2705, "EncoderCos": 11525, "EncoderSin": 33622, "GapTicks": 36594, "Mech_RPM": -2598.4541, "cg_du": 33.2673073, "cg_dv": 51.9812202, "cg_dw": 66.7326965, "cg_id_a": 3.14877176, "cg_id_raw_a": 9.13516903, "cg_iq_a": 176.949707, "cg_iq_raw_a": 174.337296, "cg_iu_a": 53.1407051, "cg_iv_a": 117.005386, "cg_iw_a": -170.146088, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 2632763, "cg_sample_valid": 1, "cg_theta_rad": 3.12568378, "cg_vd_req_v": 1.42507493, "cg_vd_v": 1.42507493, "cg_vdc_v": 151.323044, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2710667, "cg_vq_v": -29.2710667, "cg_vu_v": 102.494972, "cg_vv_v": 91.4976578, "cg_vw_v": 153.082611, "control_outputs_enabled": 1, "dclink_i_a": 50.0247536, "dclink_p_w": 7569.89795, "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": 26.2697144, "temp_inv2_c": 28.8144226, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0927031338, "tim_isr_running": 1, "vdc_v": 151.323044}}
{"type": "telemetry", "t": 122.936241, "values": {"Elec_RPM": -12990.5625, "EncoderCos": 26287, "EncoderSin": 12506, "GapTicks": 36859, "Mech_RPM": -2598.11255, "cg_du": 33.5086365, "cg_dv": 43.4831467, "cg_dw": 66.4913635, "cg_id_a": -0.155641675, "cg_id_raw_a": -9.04200554, "cg_iq_a": 176.651398, "cg_iq_raw_a": 170.23317, "cg_iu_a": 12.7650738, "cg_iv_a": 142.847229, "cg_iw_a": -155.612305, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 2637013, "cg_sample_valid": 1, "cg_theta_rad": 4.44099188, "cg_vd_req_v": 1.52748406, "cg_vd_v": 1.52748406, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2586746, "cg_vq_v": -29.2586746, "cg_vu_v": 118.770996, "cg_vv_v": 106.893898, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 51.6176682, "dclink_p_w": 7742.82422, "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": 26.2919006, "temp_inv2_c": 28.8953247, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0894804299, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 123.953621, "values": {"Elec_RPM": -12986.9248, "EncoderCos": 13016, "EncoderSin": 24666, "GapTicks": 36402, "Mech_RPM": -2597.38501, "cg_du": 66.9066238, "cg_dv": 33.0933762, "cg_dw": 49.91819, "cg_id_a": 1.143417, "cg_id_raw_a": 0.157336682, "cg_iq_a": 179.687805, "cg_iq_raw_a": 179.553925, "cg_iu_a": -181.79184, "cg_iv_a": 63.1470566, "cg_iw_a": 118.644783, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 2642112, "cg_sample_valid": 1, "cg_theta_rad": 3.56428981, "cg_vd_req_v": 1.46579123, "cg_vd_v": 1.46579123, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3331795, "cg_vq_v": -29.3331795, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 52.3950996, "dclink_p_w": 7859.44141, "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": 26.4029236, "temp_inv2_c": 28.9109497, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938612968, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 124.971062, "values": {"Elec_RPM": -12985.1914, "EncoderCos": 53401, "EncoderSin": 30066, "GapTicks": 38223, "Mech_RPM": -2597.03833, "cg_du": 65.2516174, "cg_dv": 37.3793335, "cg_dw": 34.7483826, "cg_id_a": 3.65173936, "cg_id_raw_a": 7.38850737, "cg_iq_a": 175.986633, "cg_iq_raw_a": 183.998337, "cg_iu_a": -118.473846, "cg_iv_a": -52.1808167, "cg_iw_a": 170.654663, "cg_sample_age_us": 24.1654549, "cg_sample_seq": 2647262, "cg_sample_valid": 1, "cg_theta_rad": 6.19851732, "cg_vd_req_v": 1.44793534, "cg_vd_v": 1.44793534, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2413845, "cg_vq_v": -29.2413845, "cg_vu_v": 73.9019547, "cg_vv_v": 54.5466805, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 51.4654427, "dclink_p_w": 7719.98975, "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": 26.4917908, "temp_inv2_c": 29.0033264, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970336422, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 125.988472, "values": {"Elec_RPM": -12987.7139, "EncoderCos": 42801, "EncoderSin": 14207, "GapTicks": 36478, "Mech_RPM": -2597.54272, "cg_du": 47.1910172, "cg_dv": 66.8374557, "cg_dw": 33.1625443, "cg_id_a": -5.16174555, "cg_id_raw_a": 1.46864998, "cg_iq_a": 175.773331, "cg_iq_raw_a": 176.041367, "cg_iu_a": 106.201683, "cg_iv_a": -173.017776, "cg_iw_a": 66.8160934, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 2652362, "cg_sample_valid": 1, "cg_theta_rad": 5.21670771, "cg_vd_req_v": 1.61811304, "cg_vd_v": 1.61811304, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2542343, "cg_vq_v": -29.2542343, "cg_vu_v": 21.5547352, "cg_vv_v": 69.5030289, "cg_vw_v": 29.4728031, "control_outputs_enabled": 1, "dclink_i_a": 51.8496284, "dclink_p_w": 7777.61914, "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": 26.5362549, "temp_inv2_c": 29.0872498, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0954726487, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 127.005852, "values": {"Elec_RPM": -12987.2451, "EncoderCos": 12465, "EncoderSin": 26338, "GapTicks": 37876, "Mech_RPM": -2597.44897, "cg_du": 65.5670929, "cg_dv": 34.4329071, "cg_dw": 61.8410568, "cg_id_a": 3.01323748, "cg_id_raw_a": -10.8688822, "cg_iq_a": 178.343048, "cg_iq_raw_a": 176.265167, "cg_iu_a": -178.566132, "cg_iv_a": 123.094345, "cg_iw_a": 55.4717827, "cg_sample_age_us": 24.1290913, "cg_sample_seq": 2657362, "cg_sample_valid": 1, "cg_theta_rad": 3.4903605, "cg_vd_req_v": 1.45629764, "cg_vd_v": 1.45629764, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.3266563, "cg_vq_v": -29.3266563, "cg_vu_v": 76.9812012, "cg_vv_v": 37.830761, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 51.5687408, "dclink_p_w": 7735.48486, "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": 26.7142639, "temp_inv2_c": 29.0673218, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 127.996468, "values": {"Elec_RPM": -12984.2871, "EncoderCos": 23680, "EncoderSin": 13521, "GapTicks": 38244, "Mech_RPM": -2596.85742, "cg_du": 34.76791, "cg_dv": 62.5133743, "cg_dw": 65.2320862, "cg_id_a": 2.88739109, "cg_id_raw_a": -7.90515089, "cg_iq_a": 171.846405, "cg_iq_raw_a": 174.521378, "cg_iu_a": 38.8606339, "cg_iv_a": 105.951027, "cg_iw_a": -168.188934, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 2662314, "cg_sample_valid": 1, "cg_theta_rad": 4.41338634, "cg_vd_req_v": 1.47025263, "cg_vd_v": 1.47025263, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1635208, "cg_vq_v": -29.1635208, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 51.5161858, "dclink_p_w": 7704.93994, "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": 26.7588196, "temp_inv2_c": 29.1697693, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0903868154, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 129.017929, "values": {"Elec_RPM": -12985.0566, "EncoderCos": 48149, "EncoderSin": 46877, "GapTicks": 37536, "Mech_RPM": -2597.01123, "cg_du": 41.1784363, "cg_dv": 34.123661, "cg_dw": 65.8763351, "cg_id_a": -4.53013277, "cg_id_raw_a": 5.20980501, "cg_iq_a": 178.563065, "cg_iq_raw_a": 181.730728, "cg_iu_a": -87.3041458, "cg_iv_a": 178.402435, "cg_iw_a": -91.0982895, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 2667462, "cg_sample_valid": 1, "cg_theta_rad": 0.772914827, "cg_vd_req_v": 1.99390101, "cg_vd_v": 1.99390101, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0653725, "cg_vq_v": -29.0653725, "cg_vu_v": 47.5083961, "cg_vv_v": 0, "cg_vw_v": 33.871727, "control_outputs_enabled": 1, "dclink_i_a": 52.6433678, "dclink_p_w": 7966.15479, "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": 26.8033752, "temp_inv2_c": 29.2538757, "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": 0.0938612968, "tim_isr_running": 1, "vdc_v": 151.323044}}
{"type": "telemetry", "t": 130.035568, "values": {"Elec_RPM": -12984.1914, "EncoderCos": 14208, "EncoderSin": 42868, "GapTicks": 36932, "Mech_RPM": -2596.83838, "cg_du": 57.0178452, "cg_dv": 66.4251709, "cg_dw": 33.5748253, "cg_id_a": 6.43852568, "cg_id_raw_a": 14.0975199, "cg_iq_a": 199.459961, "cg_iq_raw_a": 200.037338, "cg_iu_a": 97.2856979, "cg_iv_a": -197.736069, "cg_iw_a": 100.450371, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 2672513, "cg_sample_valid": 1, "cg_theta_rad": 2.67839694, "cg_vd_req_v": 2.41726255, "cg_vd_v": 2.41726255, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2028198, "cg_vq_v": -29.2028198, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 58.1614914, "dclink_p_w": 8724.41992, "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": 26.8925476, "temp_inv2_c": 29.2923279, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939619988, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 131.05275, "values": {"Elec_RPM": -12980.6035, "EncoderCos": 12930, "EncoderSin": 40132, "GapTicks": 38427, "Mech_RPM": -2596.12061, "cg_du": 36.4963379, "cg_dv": 65.0660858, "cg_dw": 34.9339142, "cg_id_a": 2.81286478, "cg_id_raw_a": 5.87666655, "cg_iq_a": 203.843246, "cg_iq_raw_a": 207.454407, "cg_iu_a": 189.272537, "cg_iv_a": -161.129791, "cg_iw_a": -28.142746, "cg_sample_age_us": 23.994545, "cg_sample_seq": 2677712, "cg_sample_valid": 1, "cg_theta_rad": 2.81704688, "cg_vd_req_v": 2.47967577, "cg_vd_v": 2.47967577, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.277977, "cg_vq_v": -29.277977, "cg_vu_v": 14.9563465, "cg_vv_v": 76.9812012, "cg_vw_v": 77.8609848, "control_outputs_enabled": 1, "dclink_i_a": 58.4315109, "dclink_p_w": 8764.92383, "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": 27.0264282, "temp_inv2_c": 29.3479919, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 131.922607, "values": {"Elec_RPM": -12979.9707, "EncoderCos": 22967, "EncoderSin": 13826, "GapTicks": 38282, "Mech_RPM": -2595.99414, "cg_du": 34.8019638, "cg_dv": 65.1980362, "cg_dw": 62.8377571, "cg_id_a": 5.70859098, "cg_id_raw_a": -9.51435184, "cg_iq_a": 200.143265, "cg_iq_raw_a": 201.070847, "cg_iu_a": 190.359863, "cg_iv_a": -41.8875732, "cg_iw_a": -148.47229, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 2681962, "cg_sample_valid": 1, "cg_theta_rad": 4.23660421, "cg_vd_req_v": 2.45120358, "cg_vd_v": 2.45120358, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1852531, "cg_vq_v": -29.1852531, "cg_vu_v": 85.3391571, "cg_vv_v": 104.694435, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 58.2611618, "dclink_p_w": 8739.37109, "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": 27.1157837, "temp_inv2_c": 29.4664917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944151953, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 132.940018, "values": {"Elec_RPM": -12983.8135, "EncoderCos": 53549, "EncoderSin": 32059, "GapTicks": 36679, "Mech_RPM": -2596.7627, "cg_du": 66.6552124, "cg_dv": 44.3042984, "cg_dw": 33.3447838, "cg_id_a": -1.62021303, "cg_id_raw_a": 4.011971, "cg_iq_a": 203.124039, "cg_iq_raw_a": 201.497528, "cg_iu_a": -63.9631195, "cg_iv_a": -137.643799, "cg_iw_a": 201.606918, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 2687011, "cg_sample_valid": 1, "cg_theta_rad": 0.0168099385, "cg_vd_req_v": 2.58061314, "cg_vd_v": 2.58061314, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2052231, "cg_vq_v": -29.2052231, "cg_vu_v": 150.443253, "cg_vv_v": 150.883148, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 58.8374405, "dclink_p_w": 8799.93262, "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": 27.2275391, "temp_inv2_c": 29.4993591, "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": 0.0967315137, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 133.957489, "values": {"Elec_RPM": -12978.2861, "EncoderCos": 13864, "EncoderSin": 42143, "GapTicks": 36417, "Mech_RPM": -2595.65723, "cg_du": 51.3809395, "cg_dv": 66.893486, "cg_dw": 33.106514, "cg_id_a": 1.09613085, "cg_id_raw_a": 6.03658533, "cg_iq_a": 199.164764, "cg_iq_raw_a": 195.898941, "cg_iu_a": 133.094604, "cg_iv_a": -193.096863, "cg_iw_a": 60.0022583, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 2692163, "cg_sample_valid": 1, "cg_theta_rad": 2.70645618, "cg_vd_req_v": 2.52656746, "cg_vd_v": 2.52656746, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1844406, "cg_vq_v": -29.1844406, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 80.9402313, "control_outputs_enabled": 1, "dclink_i_a": 58.866436, "dclink_p_w": 8830.16406, "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": 27.3170471, "temp_inv2_c": 29.5264893, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0910414234, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 134.974838, "values": {"Elec_RPM": -12978.8672, "EncoderCos": 32024, "EncoderSin": 11576, "GapTicks": 38192, "Mech_RPM": -2595.77344, "cg_du": 65.279541, "cg_dv": 34.7204628, "cg_dw": 62.6129303, "cg_id_a": -1.46519804, "cg_id_raw_a": -14.5587559, "cg_iq_a": 196.659241, "cg_iq_raw_a": 195.140518, "cg_iu_a": -192.809952, "cg_iv_a": 139.76651, "cg_iw_a": 53.0434418, "cg_sample_age_us": 24.1145458, "cg_sample_seq": 2697212, "cg_sample_valid": 1, "cg_theta_rad": 4.72453403, "cg_vd_req_v": 2.61844325, "cg_vd_v": 2.61844325, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1140423, "cg_vq_v": -29.1140423, "cg_vu_v": 76.9812012, "cg_vv_v": 37.830761, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 58.0708847, "dclink_p_w": 8710.82813, "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": 27.4290161, "temp_inv2_c": 29.5951538, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 135.992249, "values": {"Elec_RPM": -12977.4854, "EncoderCos": 40036, "EncoderSin": 52393, "GapTicks": 36446, "Mech_RPM": -2595.49707, "cg_du": 66.8667145, "cg_dv": 49.0490036, "cg_dw": 33.1332817, "cg_id_a": -6.4535141, "cg_id_raw_a": -4.40137768, "cg_iq_a": 197.027908, "cg_iq_raw_a": 195.201843, "cg_iu_a": -54.2135315, "cg_iv_a": -136.773941, "cg_iw_a": 190.987473, "cg_sample_age_us": 23.863636, "cg_sample_seq": 2702362, "cg_sample_valid": 1, "cg_theta_rad": 1.2561729, "cg_vd_req_v": 2.70492172, "cg_vd_v": 2.70492172, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1047211, "cg_vq_v": -29.1047211, "cg_vu_v": 125.809273, "cg_vv_v": 151.323044, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": 58.4296951, "dclink_p_w": 8790.35352, "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": 27.5186768, "temp_inv2_c": 29.6838989, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0945159048, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 137.009644, "values": {"Elec_RPM": -12977.5742, "EncoderCos": 51416, "EncoderSin": 41903, "GapTicks": 37780, "Mech_RPM": -2595.51489, "cg_du": 34.3460388, "cg_dv": 65.6539612, "cg_dw": 61.0756721, "cg_id_a": 1.78181863, "cg_id_raw_a": -11.7219782, "cg_iq_a": 197.749374, "cg_iq_raw_a": 198.675049, "cg_iu_a": 165.025421, "cg_iv_a": 8.63632202, "cg_iw_a": -173.661743, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 2707462, "cg_sample_valid": 1, "cg_theta_rad": 0.485469371, "cg_vd_req_v": 2.57858038, "cg_vd_v": 2.57858038, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0890961, "cg_vq_v": -29.0890961, "cg_vu_v": 4.83881807, "cg_vv_v": 31.2323723, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 58.2339821, "dclink_p_w": 8735.29395, "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": 27.6533203, "temp_inv2_c": 29.7870483, "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": 0.0860059559, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 138.004898, "values": {"Elec_RPM": -12979.7344, "EncoderCos": 53216, "EncoderSin": 28909, "GapTicks": 37555, "Mech_RPM": -2595.94678, "cg_du": 65.8587799, "cg_dv": 34.1412201, "cg_dw": 39.6616135, "cg_id_a": 4.51090384, "cg_id_raw_a": -6.20884943, "cg_iq_a": 204.647003, "cg_iq_raw_a": 201.847641, "cg_iu_a": -173.491989, "cg_iv_a": 3.45344543, "cg_iw_a": 170.038544, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 2712213, "cg_sample_valid": 1, "cg_theta_rad": 6.14531136, "cg_vd_req_v": 2.52308989, "cg_vd_v": 2.52308989, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.2413673, "cg_vq_v": -29.2413673, "cg_vu_v": 151.323044, "cg_vv_v": 149.123581, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": 58.125248, "dclink_p_w": 8693.41406, "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": 27.7431641, "temp_inv2_c": 29.789917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944151953, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 139.021164, "values": {"Elec_RPM": -12980.3105, "EncoderCos": 47050, "EncoderSin": 47942, "GapTicks": 36499, "Mech_RPM": -2596.06201, "cg_du": 52.2881508, "cg_dv": 33.1813011, "cg_dw": 66.8186951, "cg_id_a": -6.10610867, "cg_id_raw_a": -5.27322388, "cg_iq_a": 197.608826, "cg_iq_raw_a": 193.875885, "cg_iu_a": -150.259689, "cg_iv_a": 201.127319, "cg_iw_a": -101.753983, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 2717512, "cg_sample_valid": 1, "cg_theta_rad": 0.839379907, "cg_vd_req_v": 2.75433064, "cg_vd_v": 2.75433064, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0911255, "cg_vq_v": -29.0911255, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 59.385498, "control_outputs_enabled": 1, "dclink_i_a": 58.3698959, "dclink_p_w": 8755.68164, "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": 27.8555603, "temp_inv2_c": 29.888916, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918471068, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 140.039154, "values": {"Elec_RPM": -12978.0967, "EncoderCos": 53557, "EncoderSin": 32942, "GapTicks": 37332, "Mech_RPM": -2595.61938, "cg_du": 66.0611191, "cg_dv": 58.4027824, "cg_dw": 33.9388809, "cg_id_a": -1.95253944, "cg_id_raw_a": 3.12246537, "cg_iq_a": 213.75293, "cg_iq_raw_a": 215.203415, "cg_iu_a": -22.7176399, "cg_iv_a": -171.640518, "cg_iw_a": 194.358154, "cg_sample_age_us": 24.2672729, "cg_sample_seq": 2722613, "cg_sample_valid": 1, "cg_theta_rad": 0.0570927635, "cg_vd_req_v": 3.06929183, "cg_vd_v": 3.06929183, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1552391, "cg_vq_v": -29.1552391, "cg_vu_v": 95.0167923, "cg_vv_v": 114.37207, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 59.5623169, "dclink_p_w": 9013.15137, "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": 27.9906311, "temp_inv2_c": 29.9793701, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0896818489, "tim_isr_running": 1, "vdc_v": 151.323044}}
{"type": "telemetry", "t": 141.05661, "values": {"Elec_RPM": -12972.0039, "EncoderCos": 20322, "EncoderSin": 49692, "GapTicks": 37205, "Mech_RPM": -2594.40088, "cg_du": 66.1765594, "cg_dv": 33.8234406, "cg_dw": 58.7613602, "cg_id_a": -4.24646616, "cg_id_raw_a": -10.4666433, "cg_iq_a": 223.8759, "cg_iq_raw_a": 219.116501, "cg_iu_a": -229.923645, "cg_iv_a": 143.463379, "cg_iw_a": 86.4602585, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 2727662, "cg_sample_valid": 1, "cg_theta_rad": 2.23466635, "cg_vd_req_v": 3.6397779, "cg_vd_v": 3.6397779, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1306629, "cg_vq_v": -29.1306629, "cg_vu_v": 76.9812012, "cg_vv_v": 38.7105446, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 63.8988914, "dclink_p_w": 9585.04883, "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": 28.0807495, "temp_inv2_c": 30.1159668, "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": 0.0906385854, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 142.074051, "values": {"Elec_RPM": -12969.3867, "EncoderCos": 42119, "EncoderSin": 13895, "GapTicks": 36354, "Mech_RPM": -2593.87744, "cg_du": 50.4402275, "cg_dv": 66.9503784, "cg_dw": 33.0496216, "cg_id_a": 1.29015636, "cg_id_raw_a": 4.58192873, "cg_iq_a": 227.112244, "cg_iq_raw_a": 225.307724, "cg_iu_a": 88.877121, "cg_iv_a": -223.14299, "cg_iw_a": 134.265869, "cg_sample_age_us": 23.863636, "cg_sample_seq": 2732812, "cg_sample_valid": 1, "cg_theta_rad": 5.18176889, "cg_vd_req_v": 3.56867838, "cg_vd_v": 3.56867838, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1452026, "cg_vq_v": -29.1452026, "cg_vu_v": 0, "cg_vv_v": 43.9892578, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 64.6473236, "dclink_p_w": 9697.31641, "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": 28.1709595, "temp_inv2_c": 30.1159668, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 142.93544, "values": {"Elec_RPM": -12969.9512, "EncoderCos": 11658, "EncoderSin": 30800, "GapTicks": 37661, "Mech_RPM": -2593.99023, "cg_du": 39.3500786, "cg_dv": 34.237999, "cg_dw": 65.762001, "cg_id_a": 1.94962502, "cg_id_raw_a": 7.69299841, "cg_iq_a": 223.44046, "cg_iq_raw_a": 228.860977, "cg_iu_a": -3.90708923, "cg_iv_a": 193.91481, "cg_iw_a": -190.007721, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 2737012, "cg_sample_valid": 1, "cg_theta_rad": 3.22669911, "cg_vd_req_v": 3.54756308, "cg_vd_v": 3.54756308, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0894566, "cg_vq_v": -29.0894566, "cg_vu_v": 142.525192, "cg_vv_v": 73.9019547, "cg_vw_v": 117.011421, "control_outputs_enabled": 1, "dclink_i_a": 65.7436981, "dclink_p_w": 9861.77637, "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": 28.283844, "temp_inv2_c": 30.1404419, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898832679, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 143.952805, "values": {"Elec_RPM": -12970.3574, "EncoderCos": 44383, "EncoderSin": 15275, "GapTicks": 38092, "Mech_RPM": -2594.07153, "cg_du": 34.6291122, "cg_dv": 65.3708878, "cg_dw": 37.7461967, "cg_id_a": 4.31142569, "cg_id_raw_a": -8.16853046, "cg_iq_a": 225.979782, "cg_iq_raw_a": 225.198975, "cg_iu_a": 216.672882, "cg_iv_a": -169.792068, "cg_iw_a": -46.8808136, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 2742063, "cg_sample_valid": 1, "cg_theta_rad": 5.3490262, "cg_vd_req_v": 3.53343368, "cg_vd_v": 3.53343368, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0947018, "cg_vq_v": -29.0947018, "cg_vu_v": 107.333786, "cg_vv_v": 151.323044, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 64.8231049, "dclink_p_w": 9723.68457, "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": 28.3968201, "temp_inv2_c": 30.2023315, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0904875249, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 144.970169, "values": {"Elec_RPM": -12971.7725, "EncoderCos": 23579, "EncoderSin": 51614, "GapTicks": 36744, "Mech_RPM": -2594.35449, "cg_du": 45.4048843, "cg_dv": 33.4039421, "cg_dw": 66.5960541, "cg_id_a": -3.51624608, "cg_id_raw_a": 3.19324899, "cg_iq_a": 217.036087, "cg_iq_raw_a": 216.969131, "cg_iu_a": -113.363464, "cg_iv_a": 222.873627, "cg_iw_a": -109.510162, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 2747213, "cg_sample_valid": 1, "cg_theta_rad": 2.05297852, "cg_vd_req_v": 3.64611173, "cg_vd_v": 3.64611173, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9676361, "cg_vq_v": -28.9676361, "cg_vu_v": 151.323044, "cg_vv_v": 104.694435, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 64.2577057, "dclink_p_w": 9638.87207, "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": 28.5099487, "temp_inv2_c": 30.3421631, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0945159048, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 145.987595, "values": {"Elec_RPM": -12968.3877, "EncoderCos": 34272, "EncoderSin": 53620, "GapTicks": 37698, "Mech_RPM": -2593.67749, "cg_du": 39.6009941, "cg_dv": 65.7287445, "cg_dw": 34.2712555, "cg_id_a": -10.9750147, "cg_id_raw_a": -4.26308584, "cg_iq_a": 216.19577, "cg_iq_raw_a": 220.985565, "cg_iu_a": 185.466934, "cg_iv_a": -187.624039, "cg_iw_a": 2.15710449, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 2752312, "cg_sample_valid": 1, "cg_theta_rad": 1.52902055, "cg_vd_req_v": 3.81050467, "cg_vd_v": 3.81050467, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.910862, "cg_vq_v": -28.910862, "cg_vu_v": 12.7568836, "cg_vv_v": 76.9812012, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 64.8919678, "dclink_p_w": 9734.01367, "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": 28.6231995, "temp_inv2_c": 30.4417725, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0895811394, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 147.005051, "values": {"Elec_RPM": -12967.4785, "EncoderCos": 46312, "EncoderSin": 48607, "GapTicks": 37570, "Mech_RPM": -2593.49561, "cg_du": 60.0447922, "cg_dv": 34.1553421, "cg_dw": 65.8446579, "cg_id_a": -8.0531683, "cg_id_raw_a": -0.423036903, "cg_iq_a": 221.003616, "cg_iq_raw_a": 225.928955, "cg_iu_a": -186.249817, "cg_iv_a": 194.5672, "cg_iw_a": -8.31737518, "cg_sample_age_us": 23.5945454, "cg_sample_seq": 2757413, "cg_sample_valid": 1, "cg_theta_rad": 0.899258852, "cg_vd_req_v": 3.8085556, "cg_vd_v": 3.8085556, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9756966, "cg_vq_v": -28.9756966, "cg_vu_v": 151.323044, "cg_vv_v": 104.694435, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": 64.3773117, "dclink_p_w": 9628.49414, "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": 28.7366028, "temp_inv2_c": 30.4952393, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935088098, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 147.995697, "values": {"Elec_RPM": -12968.4512, "EncoderCos": 34580, "EncoderSin": 11695, "GapTicks": 36752, "Mech_RPM": -2593.69019, "cg_du": 66.5883026, "cg_dv": 33.4116974, "cg_dw": 44.1383438, "cg_id_a": -3.06328201, "cg_id_raw_a": 2.11118102, "cg_iq_a": 225.288696, "cg_iq_raw_a": 229.994019, "cg_iu_a": -131.485382, "cg_iv_a": -89.5844727, "cg_iw_a": 221.069855, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 2762314, "cg_sample_valid": 1, "cg_theta_rad": 4.96052217, "cg_vd_req_v": 3.67279363, "cg_vd_v": 3.67279363, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0933647, "cg_vq_v": -29.0933647, "cg_vu_v": 72.5822754, "cg_vv_v": 63.7844238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 64.7959213, "dclink_p_w": 9719.60645, "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": 28.8728027, "temp_inv2_c": 30.5487061, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0913939103, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 149.016525, "values": {"Elec_RPM": -12968.752, "EncoderCos": 23856, "EncoderSin": 13492, "GapTicks": 37400, "Mech_RPM": -2593.75049, "cg_du": 34.0008507, "cg_dv": 59.5639648, "cg_dw": 65.9991455, "cg_id_a": 5.67324734, "cg_id_raw_a": 8.41379738, "cg_iq_a": 226.204987, "cg_iq_raw_a": 226.679688, "cg_iu_a": 140.488342, "cg_iv_a": 76.847229, "cg_iw_a": -217.335571, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 2767413, "cg_sample_valid": 1, "cg_theta_rad": 4.33556318, "cg_vd_req_v": 3.49763036, "cg_vd_v": 3.49763036, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1065826, "cg_vq_v": -29.1065826, "cg_vu_v": 104.694435, "cg_vv_v": 73.9019547, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 65.0876846, "dclink_p_w": 9763.37207, "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": 29.0319824, "temp_inv2_c": 30.6311951, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923506469, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 150.03389, "values": {"Elec_RPM": -12970.8115, "EncoderCos": 29286, "EncoderSin": 11845, "GapTicks": 36393, "Mech_RPM": -2594.16235, "cg_du": 49.4610291, "cg_dv": 33.0847092, "cg_dw": 66.9152908, "cg_id_a": -2.30878448, "cg_id_raw_a": 2.82572341, "cg_iq_a": 224.560135, "cg_iq_raw_a": 223.000595, "cg_iu_a": -137.501862, "cg_iv_a": 230.267365, "cg_iw_a": -128.610657, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 2772613, "cg_sample_valid": 1, "cg_theta_rad": 4.58538342, "cg_vd_req_v": 3.64823556, "cg_vd_v": 3.64823556, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0757713, "cg_vq_v": -29.0757713, "cg_vu_v": 151.323044, "cg_vv_v": 78.7407684, "cg_vw_v": 148.24379, "control_outputs_enabled": 1, "dclink_i_a": 64.0891724, "dclink_p_w": 9613.5918, "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": 29.1002808, "temp_inv2_c": 30.7224426, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0933073908, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 151.051346, "values": {"Elec_RPM": -12969.6592, "EncoderCos": 51297, "EncoderSin": 42088, "GapTicks": 38461, "Mech_RPM": -2593.93188, "cg_du": 34.96492, "cg_dv": 65.03508, "cg_dw": 63.3682365, "cg_id_a": 2.90183115, "cg_id_raw_a": -15.7782497, "cg_iq_a": 225.91568, "cg_iq_raw_a": 226.391556, "cg_iu_a": 185.684402, "cg_iv_a": 18.8933258, "cg_iw_a": -204.577728, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 2777662, "cg_sample_valid": 1, "cg_theta_rad": 0.500559628, "cg_vd_req_v": 3.58106112, "cg_vd_v": 3.58106112, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0531483, "cg_vq_v": -29.0531483, "cg_vu_v": 27.7132301, "cg_vv_v": 37.3908691, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 64.1091003, "dclink_p_w": 9616.58105, "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": 29.23703, "temp_inv2_c": 30.780426, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 152.068741, "values": {"Elec_RPM": -12967.2705, "EncoderCos": 14571, "EncoderSin": 43340, "GapTicks": 37456, "Mech_RPM": -2593.4541, "cg_du": 59.7727318, "cg_dv": 65.9490051, "cg_dw": 34.0509911, "cg_id_a": -2.22942424, "cg_id_raw_a": -8.12362671, "cg_iq_a": 224.507355, "cg_iq_raw_a": 223.699722, "cg_iu_a": 14.9397039, "cg_iv_a": -199.222046, "cg_iw_a": 184.282349, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 2782712, "cg_sample_valid": 1, "cg_theta_rad": 2.604213, "cg_vd_req_v": 3.63592505, "cg_vd_v": 3.63592505, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0764065, "cg_vq_v": -29.0764065, "cg_vu_v": 0, "cg_vv_v": 44.4291458, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 63.9605064, "dclink_p_w": 9594.29199, "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": 29.3283081, "temp_inv2_c": 30.9125061, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0914442614, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 152.930099, "values": {"Elec_RPM": -12969.1289, "EncoderCos": 35132, "EncoderSin": 53531, "GapTicks": 36672, "Mech_RPM": -2593.82568, "cg_du": 45.4040108, "cg_dv": 66.6612778, "cg_dw": 33.3387222, "cg_id_a": -8.1426487, "cg_id_raw_a": -13.4442625, "cg_iq_a": 219.796661, "cg_iq_raw_a": 214.062561, "cg_iu_a": 169.37468, "cg_iv_a": -203.027664, "cg_iw_a": 33.6529846, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 2787013, "cg_sample_valid": 1, "cg_theta_rad": 1.48022246, "cg_vd_req_v": 3.79682827, "cg_vd_v": 3.79682827, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9748192, "cg_vq_v": -28.9748192, "cg_vu_v": 99.8556061, "cg_vv_v": 151.762939, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 64.5585251, "dclink_p_w": 9683.99609, "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": 29.4196777, "temp_inv2_c": 30.9560852, "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": 0.0940627158, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 153.94751, "values": {"Elec_RPM": -12966.7764, "EncoderCos": 45157, "EncoderSin": 49464, "GapTicks": 37605, "Mech_RPM": -2593.35522, "cg_du": 65.8132172, "cg_dv": 34.186779, "cg_dw": 60.1284943, "cg_id_a": -6.87602282, "cg_id_raw_a": -16.847599, "cg_iq_a": 220.744064, "cg_iq_raw_a": 217.556656, "cg_iu_a": -196.615555, "cg_iv_a": 184.128967, "cg_iw_a": 12.4865875, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 2792112, "cg_sample_valid": 1, "cg_theta_rad": 0.922888756, "cg_vd_req_v": 3.7883327, "cg_vd_v": 3.7883327, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9559517, "cg_vq_v": -28.9559517, "cg_vu_v": 129.328415, "cg_vv_v": 73.0221634, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 64.4951019, "dclink_p_w": 9674.48242, "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": 29.5797729, "temp_inv2_c": 30.9517212, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0899839774, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 154.964905, "values": {"Elec_RPM": -12964.4961, "EncoderCos": 50950, "EncoderSin": 22623, "GapTicks": 36603, "Mech_RPM": -2592.89917, "cg_du": 45.4586754, "cg_dv": 33.2763214, "cg_dw": 66.7236786, "cg_id_a": 8.07131577, "cg_id_raw_a": 16.5039482, "cg_iq_a": 227.727646, "cg_iq_raw_a": 229.231201, "cg_iu_a": -118.147652, "cg_iv_a": 224.395874, "cg_iw_a": -106.248215, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 2797112, "cg_sample_valid": 1, "cg_theta_rad": 5.82863903, "cg_vd_req_v": 3.50838804, "cg_vd_v": 3.50838804, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1100979, "cg_vq_v": -29.1100979, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 23.3143044, "control_outputs_enabled": 1, "dclink_i_a": 64.2178345, "dclink_p_w": 9632.8916, "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": 29.7172241, "temp_inv2_c": 31.0375061, "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": 0.0917463973, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 155.982315, "values": {"Elec_RPM": -12972.5859, "EncoderCos": 52992, "EncoderSin": 28046, "GapTicks": 36714, "Mech_RPM": -2594.51709, "cg_du": 66.6234283, "cg_dv": 33.3765717, "cg_dw": 44.5328751, "cg_id_a": -0.700915575, "cg_id_raw_a": 3.80283356, "cg_iq_a": 230.836975, "cg_iq_raw_a": 235.717407, "cg_iu_a": -223.037323, "cg_iv_a": 53.1075134, "cg_iw_a": 169.92981, "cg_sample_age_us": 24.1145458, "cg_sample_seq": 2802312, "cg_sample_valid": 1, "cg_theta_rad": 6.10660219, "cg_vd_req_v": 3.67005348, "cg_vd_v": 3.67005348, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.1636543, "cg_vq_v": -29.1636543, "cg_vu_v": 41.3499031, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 64.1091003, "dclink_p_w": 9616.58105, "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": 29.8319092, "temp_inv2_c": 31.2312012, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988967717, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 156.999695, "values": {"Elec_RPM": -12971.832, "EncoderCos": 26575, "EncoderSin": 52770, "GapTicks": 36598, "Mech_RPM": -2594.36646, "cg_du": 33.2715225, "cg_dv": 46.3866615, "cg_dw": 66.7284775, "cg_id_a": -4.86820889, "cg_id_raw_a": -5.52276039, "cg_iq_a": 219.367416, "cg_iq_raw_a": 212.298462, "cg_iu_a": 39.0418549, "cg_iv_a": 163.578705, "cg_iw_a": -202.62056, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 2807363, "cg_sample_valid": 1, "cg_theta_rad": 1.90250802, "cg_vd_req_v": 3.71095848, "cg_vd_v": 3.71095848, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9628944, "cg_vq_v": -28.9628944, "cg_vu_v": 115.69175, "cg_vv_v": 106.453995, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 65.0750046, "dclink_p_w": 9761.46973, "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": 29.9237976, "temp_inv2_c": 31.2239075, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 157.998856, "values": {"Elec_RPM": -12970.5361, "EncoderCos": 18235, "EncoderSin": 47947, "GapTicks": 37799, "Mech_RPM": -2594.10718, "cg_du": 65.6371613, "cg_dv": 34.3628426, "cg_dw": 39.5856857, "cg_id_a": -1.90703237, "cg_id_raw_a": -14.2887735, "cg_iq_a": 242.105438, "cg_iq_raw_a": 237.312347, "cg_iu_a": -210.714401, "cg_iv_a": 9.7598877, "cg_iw_a": 166.994049, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 2812213, "cg_sample_valid": 1, "cg_theta_rad": 2.35383964, "cg_vd_req_v": 4.25345325, "cg_vd_v": 4.25345325, "cg_vdc_v": 152.202835, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0488739, "cg_vq_v": -29.0488739, "cg_vu_v": 153.082611, "cg_vv_v": 150.883148, "cg_vw_v": 98.9758301, "control_outputs_enabled": 1, "dclink_i_a": 66.6389236, "dclink_p_w": 10084.0049, "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": 30.0387573, "temp_inv2_c": 31.3596191, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917463973, "tim_isr_running": 1, "vdc_v": 151.762939}}
{"type": "telemetry", "t": 159.02034, "values": {"Elec_RPM": -12975.5479, "EncoderCos": 14102, "EncoderSin": 22725, "GapTicks": 37928, "Mech_RPM": -2595.10962, "cg_du": 65.5194321, "cg_dv": 38.1715698, "cg_dw": 34.4805679, "cg_id_a": 8.34072971, "cg_id_raw_a": -4.72380543, "cg_iq_a": 251.852524, "cg_iq_raw_a": 249.745453, "cg_iu_a": -188.569427, "cg_iv_a": -48.8101501, "cg_iw_a": 237.379578, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 2817513, "cg_sample_valid": 1, "cg_theta_rad": 3.66938782, "cg_vd_req_v": 4.45663309, "cg_vd_v": 4.45663309, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0283852, "cg_vq_v": -29.0283852, "cg_vu_v": 151.762939, "cg_vv_v": 150.443253, "cg_vw_v": 104.254532, "control_outputs_enabled": 1, "dclink_i_a": 70.3847198, "dclink_p_w": 10557.9453, "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": 30.1538696, "temp_inv2_c": 31.4048767, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0870634019, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 160.037735, "values": {"Elec_RPM": -12977.8525, "EncoderCos": 11842, "EncoderSin": 29513, "GapTicks": 36366, "Mech_RPM": -2595.57056, "cg_du": 49.2375145, "cg_dv": 33.0604095, "cg_dw": 66.9395905, "cg_id_a": -1.36116862, "cg_id_raw_a": 5.22610664, "cg_iq_a": 249.111038, "cg_iq_raw_a": 246.844742, "cg_iu_a": -156.602356, "cg_iv_a": 243.641327, "cg_iw_a": -87.0389786, "cg_sample_age_us": 23.8199997, "cg_sample_seq": 2822612, "cg_sample_valid": 1, "cg_theta_rad": 3.33063221, "cg_vd_req_v": 4.63754034, "cg_vd_v": 4.63754034, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.982111, "cg_vq_v": -28.982111, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 7.47817326, "control_outputs_enabled": 1, "dclink_i_a": 70.4843903, "dclink_p_w": 10603.9014, "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": 30.2691345, "temp_inv2_c": 31.4911499, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 161.05513, "values": {"Elec_RPM": -12973.2246, "EncoderCos": 48173, "EncoderSin": 18647, "GapTicks": 36853, "Mech_RPM": -2594.64502, "cg_du": 33.5029755, "cg_dv": 56.840126, "cg_dw": 66.4970245, "cg_id_a": 8.51346016, "cg_id_raw_a": 16.1901722, "cg_iq_a": 253.013596, "cg_iq_raw_a": 252.473465, "cg_iu_a": 144.982574, "cg_iv_a": 102.217896, "cg_iw_a": -247.20047, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 2827663, "cg_sample_valid": 1, "cg_theta_rad": 5.58715868, "cg_vd_req_v": 4.46146393, "cg_vd_v": 4.46146393, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0409508, "cg_vq_v": -29.0409508, "cg_vu_v": 117.011421, "cg_vv_v": 91.0577545, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 71.0951004, "dclink_p_w": 10664.5049, "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": 30.384552, "temp_inv2_c": 31.4926147, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0927031338, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 162.07254, "values": {"Elec_RPM": -12982.8174, "EncoderCos": 41560, "EncoderSin": 13717, "GapTicks": 36480, "Mech_RPM": -2596.56348, "cg_du": 53.4803658, "cg_dv": 66.8355637, "cg_dw": 33.1644363, "cg_id_a": 2.66344357, "cg_id_raw_a": 9.64768791, "cg_iq_a": 251.91272, "cg_iq_raw_a": 250.290588, "cg_iu_a": 132.36972, "cg_iv_a": -247.897522, "cg_iw_a": 185.840851, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 2832763, "cg_sample_valid": 1, "cg_theta_rad": 5.18627071, "cg_vd_req_v": 4.59141493, "cg_vd_v": 4.59141493, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0065384, "cg_vq_v": -29.0065384, "cg_vu_v": 101.615181, "cg_vv_v": 151.762939, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 70.7145386, "dclink_p_w": 10607.4189, "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": 30.5001221, "temp_inv2_c": 31.5848389, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0900846869, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 162.933899, "values": {"Elec_RPM": -12978.3018, "EncoderCos": 12384, "EncoderSin": 27168, "GapTicks": 38589, "Mech_RPM": -2595.6604, "cg_du": 64.9184036, "cg_dv": 35.0815964, "cg_dw": 64.1093521, "cg_id_a": -1.27698874, "cg_id_raw_a": -16.7562809, "cg_iq_a": 254.291946, "cg_iq_raw_a": 250.227402, "cg_iu_a": -238.078491, "cg_iv_a": 203.084473, "cg_iw_a": 34.9940109, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 2836962, "cg_sample_valid": 1, "cg_theta_rad": 3.44443202, "cg_vd_req_v": 4.64559269, "cg_vd_v": 4.64559269, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0724583, "cg_vq_v": -29.0724583, "cg_vu_v": 68.6232376, "cg_vv_v": 36.9509773, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 70.9320068, "dclink_p_w": 10640.04, "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": 30.5927124, "temp_inv2_c": 31.6478271, "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": 0.0884733349, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 163.95134, "values": {"Elec_RPM": -12976.1074, "EncoderCos": 41187, "EncoderSin": 51788, "GapTicks": 37172, "Mech_RPM": -2595.22144, "cg_du": 66.2069855, "cg_dv": 42.1584435, "cg_dw": 33.7930145, "cg_id_a": -0.68307972, "cg_id_raw_a": 4.33162785, "cg_iq_a": 240.659088, "cg_iq_raw_a": 246.18898, "cg_iu_a": -95.205307, "cg_iv_a": -146.813461, "cg_iw_a": 242.018768, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 2842212, "cg_sample_valid": 1, "cg_theta_rad": 1.23205209, "cg_vd_req_v": 4.66309547, "cg_vd_v": 4.66309547, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7712116, "cg_vq_v": -28.7712116, "cg_vu_v": 151.323044, "cg_vv_v": 151.323044, "cg_vw_v": 88.8582916, "control_outputs_enabled": 1, "dclink_i_a": 70.4409027, "dclink_p_w": 10566.373, "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": 30.7549744, "temp_inv2_c": 31.7255554, "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": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 164.968735, "values": {"Elec_RPM": -12977.8711, "EncoderCos": 53190, "EncoderSin": 29411, "GapTicks": 38614, "Mech_RPM": -2595.57422, "cg_du": 64.8957901, "cg_dv": 35.8223038, "cg_dw": 35.1042099, "cg_id_a": 6.90692329, "cg_id_raw_a": -7.05729389, "cg_iq_a": 256.440399, "cg_iq_raw_a": 253.58606, "cg_iu_a": -205.241577, "cg_iv_a": -26.5202026, "cg_iw_a": 231.76178, "cg_sample_age_us": 24.0381813, "cg_sample_seq": 2847213, "cg_sample_valid": 1, "cg_theta_rad": 6.17549133, "cg_vd_req_v": 4.51090288, "cg_vd_v": 4.51090288, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0921211, "cg_vq_v": -29.0921211, "cg_vu_v": 72.5822754, "cg_vv_v": 68.6232376, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 71.2600098, "dclink_p_w": 10689.2422, "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": 30.8710632, "temp_inv2_c": 31.89151, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0885740444, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 165.98613, "values": {"Elec_RPM": -12976.71, "EncoderCos": 50934, "EncoderSin": 22672, "GapTicks": 36434, "Mech_RPM": -2595.34204, "cg_du": 46.7234726, "cg_dv": 33.1222534, "cg_dw": 66.8777466, "cg_id_a": 5.18128252, "cg_id_raw_a": 13.1845713, "cg_iq_a": 255.167816, "cg_iq_raw_a": 254.5578, "cg_iu_a": -135.32724, "cg_iv_a": 252.158646, "cg_iw_a": -116.831406, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 2852312, "cg_sample_valid": 1, "cg_theta_rad": 5.81908274, "cg_vd_req_v": 4.55731487, "cg_vd_v": 4.55731487, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0616646, "cg_vq_v": -29.0616646, "cg_vu_v": 46.6286087, "cg_vv_v": 0, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 70.6583633, "dclink_p_w": 10598.9932, "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": 30.9407654, "temp_inv2_c": 31.9253235, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 167.003571, "values": {"Elec_RPM": -12979.2539, "EncoderCos": 13884, "EncoderSin": 42036, "GapTicks": 36365, "Mech_RPM": -2595.85083, "cg_du": 48.7955475, "cg_dv": 66.9405594, "cg_dw": 33.0594406, "cg_id_a": 4.54757881, "cg_id_raw_a": 13.7211742, "cg_iq_a": 251.843323, "cg_iq_raw_a": 252.650436, "cg_iu_a": 103.229683, "cg_iv_a": -247.462585, "cg_iw_a": 144.23291, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 2857462, "cg_sample_valid": 1, "cg_theta_rad": 2.67347765, "cg_vd_req_v": 4.50682592, "cg_vd_v": 4.50682592, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0193958, "cg_vq_v": -29.0193958, "cg_vu_v": 84.4593658, "cg_vv_v": 138.566162, "cg_vw_v": 88.8582916, "control_outputs_enabled": 1, "dclink_i_a": 70.7181625, "dclink_p_w": 10607.9629, "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": 31.1036987, "temp_inv2_c": 31.9959717, "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": 0.0934081003, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 167.989609, "values": {"Elec_RPM": -12976.4102, "EncoderCos": 41306, "EncoderSin": 13589, "GapTicks": 36736, "Mech_RPM": -2595.28198, "cg_du": 55.4083557, "cg_dv": 66.602951, "cg_dw": 33.397049, "cg_id_a": 1.98430896, "cg_id_raw_a": 5.00468683, "cg_iq_a": 250.482086, "cg_iq_raw_a": 250.918854, "cg_iu_a": 110.550941, "cg_iv_a": -256.052399, "cg_iw_a": 145.50145, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 2862162, "cg_sample_valid": 1, "cg_theta_rad": 5.18084335, "cg_vd_req_v": 4.60714865, "cg_vd_v": 4.60714865, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9839001, "cg_vq_v": -28.9839001, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 18.9153805, "control_outputs_enabled": 1, "dclink_i_a": 70.8722, "dclink_p_w": 10662.2441, "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": 31.1969604, "temp_inv2_c": 32.0666809, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 169.015091, "values": {"Elec_RPM": -12974.3506, "EncoderCos": 15348, "EncoderSin": 20730, "GapTicks": 36586, "Mech_RPM": -2594.87012, "cg_du": 66.739769, "cg_dv": 54.4045944, "cg_dw": 33.260231, "cg_id_a": 2.63787651, "cg_id_raw_a": 0.924761534, "cg_iq_a": 250.014618, "cg_iq_raw_a": 247.469803, "cg_iu_a": -55.3008461, "cg_iv_a": -179.831604, "cg_iw_a": 235.132446, "cg_sample_age_us": 24.0163631, "cg_sample_seq": 2867512, "cg_sample_valid": 1, "cg_theta_rad": 3.78394938, "cg_vd_req_v": 4.57503033, "cg_vd_v": 4.57503033, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9683952, "cg_vq_v": -28.9683952, "cg_vu_v": 38.2706528, "cg_vv_v": 76.9812012, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 69.8899918, "dclink_p_w": 10483.7344, "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": 31.3603821, "temp_inv2_c": 32.1654663, "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": 0.0904371738, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 170.032532, "values": {"Elec_RPM": -12976.5645, "EncoderCos": 11894, "EncoderSin": 29360, "GapTicks": 36402, "Mech_RPM": -2595.31299, "cg_du": 50.2656555, "cg_dv": 33.0931702, "cg_dw": 66.9068298, "cg_id_a": 2.73579645, "cg_id_raw_a": 12.1789103, "cg_iq_a": 251.584381, "cg_iq_raw_a": 250.751419, "cg_iu_a": -149.136139, "cg_iv_a": 257.01532, "cg_iw_a": -107.879166, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 2872613, "cg_sample_valid": 1, "cg_theta_rad": 3.3441751, "cg_vd_req_v": 4.56353712, "cg_vd_v": 4.56353712, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.014534, "cg_vq_v": -29.014534, "cg_vu_v": 135.047012, "cg_vv_v": 72.1423798, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 70.428215, "dclink_p_w": 10564.4697, "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": 31.5007324, "temp_inv2_c": 32.2525635, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0888258219, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 171.049896, "values": {"Elec_RPM": -12973.7637, "EncoderCos": 22025, "EncoderSin": 50658, "GapTicks": 37329, "Mech_RPM": -2594.75269, "cg_du": 58.9814262, "cg_dv": 33.936161, "cg_dw": 66.0638428, "cg_id_a": -5.36708832, "cg_id_raw_a": -14.9646921, "cg_iq_a": 247.837555, "cg_iq_raw_a": 241.897339, "cg_iu_a": -232.569427, "cg_iv_a": 188.623199, "cg_iw_a": 43.9462357, "cg_sample_age_us": 23.692728, "cg_sample_seq": 2877612, "cg_sample_valid": 1, "cg_theta_rad": 2.18780375, "cg_vd_req_v": 4.69402122, "cg_vd_v": 4.69402122, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9453316, "cg_vq_v": -28.9453316, "cg_vu_v": 151.762939, "cg_vv_v": 106.893898, "cg_vw_v": 104.694435, "control_outputs_enabled": 1, "dclink_i_a": 69.6471634, "dclink_p_w": 10477.9453, "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": 31.6178894, "temp_inv2_c": 32.2895203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0941634253, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 172.067291, "values": {"Elec_RPM": -12972.4551, "EncoderCos": 42768, "EncoderSin": 14353, "GapTicks": 36754, "Mech_RPM": -2594.49097, "cg_du": 43.9013863, "cg_dv": 66.5867767, "cg_dw": 33.4132195, "cg_id_a": 1.06710351, "cg_id_raw_a": -3.22643495, "cg_iq_a": 251.872086, "cg_iq_raw_a": 246.914078, "cg_iu_a": 189.163803, "cg_iv_a": -233.472488, "cg_iw_a": 44.3086853, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 2882763, "cg_sample_valid": 1, "cg_theta_rad": 5.27293682, "cg_vd_req_v": 4.62020779, "cg_vd_v": 4.62020779, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0043011, "cg_vq_v": -29.0043011, "cg_vu_v": 17.5957031, "cg_vv_v": 66.4237747, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 70.7797775, "dclink_p_w": 10617.2051, "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": 31.7352295, "temp_inv2_c": 32.4685669, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0888258219, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 172.92868, "values": {"Elec_RPM": -12975.7471, "EncoderCos": 47761, "EncoderSin": 47080, "GapTicks": 36574, "Mech_RPM": -2595.14941, "cg_du": 46.5734711, "cg_dv": 33.2490921, "cg_dw": 66.7509079, "cg_id_a": -2.48016906, "cg_id_raw_a": 6.90959311, "cg_iq_a": 245.169434, "cg_iq_raw_a": 246.917923, "cg_iu_a": -135.580933, "cg_iv_a": 240.27066, "cg_iw_a": -104.68972, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 2887012, "cg_sample_valid": 1, "cg_theta_rad": 0.790832937, "cg_vd_req_v": 4.73792553, "cg_vd_v": 4.73792553, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8289795, "cg_vq_v": -28.8289795, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 31.2323723, "control_outputs_enabled": 1, "dclink_i_a": 70.3031769, "dclink_p_w": 10576.6387, "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": 31.8762512, "temp_inv2_c": 32.5930786, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0957244262, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 173.946075, "values": {"Elec_RPM": -12980.0918, "EncoderCos": 11783, "EncoderSin": 34997, "GapTicks": 37213, "Mech_RPM": -2596.01831, "cg_du": 33.8304901, "cg_dv": 58.5499344, "cg_dw": 66.1695099, "cg_id_a": 10.0513382, "cg_id_raw_a": 16.0435295, "cg_iq_a": 253.414307, "cg_iq_raw_a": 255.771149, "cg_iu_a": 158.863953, "cg_iv_a": 84.3497009, "cg_iw_a": -243.213654, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 2892063, "cg_sample_valid": 1, "cg_theta_rad": 3.05872512, "cg_vd_req_v": 4.40900993, "cg_vd_v": 4.40900993, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0361137, "cg_vq_v": -29.0361137, "cg_vu_v": 112.172607, "cg_vv_v": 84.4593658, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 70.3647842, "dclink_p_w": 10554.9551, "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": 31.9703979, "temp_inv2_c": 32.6420898, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0922499448, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 174.963531, "values": {"Elec_RPM": -12978.2383, "EncoderCos": 53484, "EncoderSin": 32107, "GapTicks": 36570, "Mech_RPM": -2595.64771, "cg_du": 66.7538986, "cg_dv": 54.3823471, "cg_dw": 33.2461014, "cg_id_a": 0.834843397, "cg_id_raw_a": 0.349642783, "cg_iq_a": 252.331375, "cg_iq_raw_a": 251.463211, "cg_iu_a": -135.001038, "cg_iv_a": -119.956802, "cg_iw_a": 254.95784, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 2897212, "cg_sample_valid": 1, "cg_theta_rad": 6.25338125, "cg_vd_req_v": 4.65401697, "cg_vd_v": 4.65401697, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9769402, "cg_vq_v": -28.9769402, "cg_vu_v": 113.492287, "cg_vv_v": 150.883148, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 70.7344742, "dclink_p_w": 10610.4092, "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": 32.1354675, "temp_inv2_c": 32.7163391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0909910724, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 175.980911, "values": {"Elec_RPM": -12978.0908, "EncoderCos": 18755, "EncoderSin": 48330, "GapTicks": 36819, "Mech_RPM": -2595.61816, "cg_du": 66.5274658, "cg_dv": 33.4725342, "cg_dw": 43.3082962, "cg_id_a": -6.61904764, "cg_id_raw_a": -5.27637434, "cg_iq_a": 252.042068, "cg_iq_raw_a": 256.324158, "cg_iu_a": -242.101563, "cg_iv_a": 95.4765625, "cg_iw_a": 151.191742, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 2902262, "cg_sample_valid": 1, "cg_theta_rad": 2.3220613, "cg_vd_req_v": 4.72633505, "cg_vd_v": 4.72633505, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.0163879, "cg_vq_v": -29.0163879, "cg_vu_v": 43.9892578, "cg_vv_v": 2.19946289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 70.7000427, "dclink_p_w": 10605.2451, "enc_isr_hz": 4999, "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": 32.2062988, "temp_inv2_c": 32.6881409, "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": 0.0961272642, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 176.998337, "values": {"Elec_RPM": -12977.7061, "EncoderCos": 25815, "EncoderSin": 52476, "GapTicks": 37599, "Mech_RPM": -2595.54126, "cg_du": 34.1810303, "cg_dv": 39.8237534, "cg_dw": 65.8189697, "cg_id_a": -8.41471672, "cg_id_raw_a": -5.14799929, "cg_iq_a": 247.183472, "cg_iq_raw_a": 254.614883, "cg_iu_a": 20.1225719, "cg_iv_a": 205.476578, "cg_iw_a": -234.297668, "cg_sample_age_us": 26.3909092, "cg_sample_seq": 2907362, "cg_sample_valid": 1, "cg_theta_rad": 1.93012691, "cg_vd_req_v": 4.81401062, "cg_vd_v": 4.81401062, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.916378, "cg_vq_v": -28.916378, "cg_vu_v": 20.6749516, "cg_vv_v": 0, "cg_vw_v": 67.303566, "control_outputs_enabled": 1, "dclink_i_a": 70.0095978, "dclink_p_w": 10532.4717, "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": 32.3482056, "temp_inv2_c": 32.9009094, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0947676748, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 177.959641, "values": {"Elec_RPM": -12977.6816, "EncoderCos": 47071, "EncoderSin": 47763, "GapTicks": 36482, "Mech_RPM": -2595.53638, "cg_du": 53.4228897, "cg_dv": 33.1657028, "cg_dw": 66.8342972, "cg_id_a": -6.80322886, "cg_id_raw_a": -4.85243893, "cg_iq_a": 247.69516, "cg_iq_raw_a": 242.856842, "cg_iu_a": -178.856079, "cg_iv_a": 233.493073, "cg_iw_a": -54.6369858, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 2912012, "cg_sample_valid": 1, "cg_theta_rad": 0.836674213, "cg_vd_req_v": 4.82535124, "cg_vd_v": 4.82535124, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8721924, "cg_vq_v": -28.8721924, "cg_vu_v": 76.5413055, "cg_vv_v": 34.3116188, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": 70.6511154, "dclink_p_w": 10597.9053, "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": 32.4666138, "temp_inv2_c": 32.8710938, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0925520733, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 179.009811, "values": {"Elec_RPM": -12978.2617, "EncoderCos": 12174, "EncoderSin": 37154, "GapTicks": 36881, "Mech_RPM": -2595.65234, "cg_du": 33.5286713, "cg_dv": 66.4713287, "cg_dw": 56.83564, "cg_id_a": -0.612345695, "cg_id_raw_a": 8.13612652, "cg_iq_a": 253.565628, "cg_iq_raw_a": 257.511414, "cg_iu_a": 240.883759, "cg_iv_a": -55.4427795, "cg_iw_a": -185.440979, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 2917413, "cg_sample_valid": 1, "cg_theta_rad": 2.96678925, "cg_vd_req_v": 4.63020277, "cg_vd_v": 4.63020277, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -29.056757, "cg_vq_v": -29.056757, "cg_vu_v": 73.9019547, "cg_vv_v": 91.0577545, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 70.7580338, "dclink_p_w": 10645.0684, "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": 32.5378113, "temp_inv2_c": 33.0022888, "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": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 180.036316, "values": {"Elec_RPM": -12975.0723, "EncoderCos": 53424, "EncoderSin": 32006, "GapTicks": 36571, "Mech_RPM": -2595.0144, "cg_du": 66.7536011, "cg_dv": 54.5332947, "cg_dw": 33.2463989, "cg_id_a": 6.13835478, "cg_id_raw_a": 5.38159943, "cg_iq_a": 280.445801, "cg_iq_raw_a": 279.841187, "cg_iu_a": -160.589188, "cg_iv_a": -122.63884, "cg_iw_a": 283.228027, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 2922562, "cg_sample_valid": 1, "cg_theta_rad": 6.24948597, "cg_vd_req_v": 5.51652384, "cg_vd_v": 5.51652384, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9356785, "cg_vq_v": -28.9356785, "cg_vu_v": 22.4345207, "cg_vv_v": 52.7871094, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.6400757, "dclink_p_w": 11379.5391, "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": 32.6802979, "temp_inv2_c": 32.9858704, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0969832912, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 181.053757, "values": {"Elec_RPM": -12969.7461, "EncoderCos": 52780, "EncoderSin": 27576, "GapTicks": 36467, "Mech_RPM": -2593.94922, "cg_du": 66.8474579, "cg_dv": 33.1525421, "cg_dw": 46.115284, "cg_id_a": 1.24645305, "cg_id_raw_a": 5.3032465, "cg_iq_a": 282.710876, "cg_iq_raw_a": 285.983734, "cg_iu_a": -284.108154, "cg_iv_a": 97.2162323, "cg_iw_a": 129.626663, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 2927662, "cg_sample_valid": 1, "cg_theta_rad": 6.06766319, "cg_vd_req_v": 5.59558105, "cg_vd_v": 5.59558105, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9900093, "cg_vq_v": -28.9900093, "cg_vu_v": 77.4210892, "cg_vv_v": 69.9429169, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.6890106, "dclink_p_w": 11386.9014, "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": 32.7754822, "temp_inv2_c": 33.1247864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0928542018, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 182.071152, "values": {"Elec_RPM": -12963.2178, "EncoderCos": 51736, "EncoderSin": 24457, "GapTicks": 36409, "Mech_RPM": -2592.64355, "cg_du": 52.9226379, "cg_dv": 33.0991898, "cg_dw": 66.9008102, "cg_id_a": 3.26412702, "cg_id_raw_a": 15.3983421, "cg_iq_a": 281.405121, "cg_iq_raw_a": 287.069214, "cg_iu_a": -188.605667, "cg_iv_a": 271.802795, "cg_iw_a": -83.1971283, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 2932762, "cg_sample_valid": 1, "cg_theta_rad": 5.87459517, "cg_vd_req_v": 5.45795631, "cg_vd_v": 5.45795631, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9963341, "cg_vq_v": -28.9963341, "cg_vu_v": 151.323044, "cg_vv_v": 101.175293, "cg_vw_v": 138.566162, "control_outputs_enabled": 1, "dclink_i_a": 75.3899994, "dclink_p_w": 11308.7539, "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": 32.918457, "temp_inv2_c": 33.1711121, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917967483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 182.932556, "values": {"Elec_RPM": -12968.0313, "EncoderCos": 20824, "EncoderSin": 15303, "GapTicks": 36349, "Mech_RPM": -2593.6062, "cg_du": 33.044632, "cg_dv": 66.955368, "cg_dw": 48.2798386, "cg_id_a": 2.89439297, "cg_id_raw_a": 10.6894245, "cg_iq_a": 277.062317, "cg_iq_raw_a": 277.975922, "cg_iu_a": 281.223145, "cg_iv_a": -144.965027, "cg_iw_a": -136.258118, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 2936963, "cg_sample_valid": 1, "cg_theta_rad": 4.15252733, "cg_vd_req_v": 5.54893827, "cg_vd_v": 5.54893827, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8904934, "cg_vq_v": -28.8904934, "cg_vu_v": 91.9375458, "cg_vv_v": 150.003372, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.426239, "dclink_p_w": 11314.1904, "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": 33.013916, "temp_inv2_c": 33.2669067, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0937605873, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 183.949936, "values": {"Elec_RPM": -12968.127, "EncoderCos": 34684, "EncoderSin": 11859, "GapTicks": 37083, "Mech_RPM": -2593.62549, "cg_du": 66.2874985, "cg_dv": 33.7125015, "cg_dw": 41.4163132, "cg_id_a": -2.70398855, "cg_id_raw_a": 1.10280275, "cg_iq_a": 278.711975, "cg_iq_raw_a": 285.382904, "cg_iu_a": -264.681458, "cg_iv_a": 48.613266, "cg_iw_a": 216.068192, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 2942162, "cg_sample_valid": 1, "cg_theta_rad": 4.85200071, "cg_vd_req_v": 5.60438538, "cg_vd_v": 5.60438538, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.9509506, "cg_vq_v": -28.9509506, "cg_vu_v": 42.6695786, "cg_vv_v": 2.63935518, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.4428787, "dclink_p_w": 11466.6895, "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": 33.1334534, "temp_inv2_c": 33.3688049, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938612968, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 184.967926, "values": {"Elec_RPM": -12969.0977, "EncoderCos": 15416, "EncoderSin": 20680, "GapTicks": 36945, "Mech_RPM": -2593.81958, "cg_du": 66.4131775, "cg_dv": 56.0941772, "cg_dw": 33.5868225, "cg_id_a": 2.39775467, "cg_id_raw_a": -1.3316009, "cg_iq_a": 279.373962, "cg_iq_raw_a": 278.352081, "cg_iu_a": -57.1130371, "cg_iv_a": -204.187469, "cg_iw_a": 261.300507, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 2947162, "cg_sample_valid": 1, "cg_theta_rad": 3.78807497, "cg_vd_req_v": 5.76225901, "cg_vd_v": 5.76225901, "cg_vdc_v": 151.323044, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7591763, "cg_vq_v": -28.7591763, "cg_vu_v": 10.5574207, "cg_vv_v": 55.4264603, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.9970779, "dclink_p_w": 11466.6787, "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": 33.2531738, "temp_inv2_c": 33.4588623, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0899336189, "tim_isr_running": 1, "vdc_v": 151.323044}}
{"type": "telemetry", "t": 185.985352, "values": {"Elec_RPM": -12969.9229, "EncoderCos": 44996, "EncoderSin": 49505, "GapTicks": 36832, "Mech_RPM": -2593.98462, "cg_du": 66.5157623, "cg_dv": 33.4842377, "cg_dw": 56.5087051, "cg_id_a": -1.68127203, "cg_id_raw_a": 1.08759713, "cg_iq_a": 296.80722, "cg_iq_raw_a": 296.518738, "cg_iu_a": -289.907196, "cg_iv_a": 179.670975, "cg_iw_a": 110.236221, "cg_sample_age_us": 23.954546, "cg_sample_seq": 2952313, "cg_sample_valid": 1, "cg_theta_rad": 0.969170034, "cg_vd_req_v": 6.538095, "cg_vd_v": 6.538095, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6883564, "cg_vq_v": -28.6883564, "cg_vu_v": 142.085297, "cg_vv_v": 95.0167923, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 82.1838989, "dclink_p_w": 12364.0127, "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": 33.3970947, "temp_inv2_c": 33.5715942, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0955229998, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 187.002747, "values": {"Elec_RPM": -12965.1855, "EncoderCos": 45562, "EncoderSin": 49108, "GapTicks": 37713, "Mech_RPM": -2593.03711, "cg_du": 65.7149963, "cg_dv": 34.2850037, "cg_dw": 61.1274872, "cg_id_a": -0.946185708, "cg_id_raw_a": 3.25449276, "cg_iq_a": 296.772186, "cg_iq_raw_a": 301.227875, "cg_iu_a": -278.12793, "cg_iv_a": 221.278885, "cg_iw_a": 56.8490448, "cg_sample_age_us": 23.4599991, "cg_sample_seq": 2957413, "cg_sample_valid": 1, "cg_theta_rad": 0.946939766, "cg_vd_req_v": 6.55652237, "cg_vd_v": 6.55652237, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6662788, "cg_vq_v": -28.6662788, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.8414001, "dclink_p_w": 12312.4863, "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": 33.4931946, "temp_inv2_c": 33.6889954, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940627158, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 187.998016, "values": {"Elec_RPM": -12963.2344, "EncoderCos": 26769, "EncoderSin": 52761, "GapTicks": 36616, "Mech_RPM": -2592.64697, "cg_du": 33.2876511, "cg_dv": 44.6758804, "cg_dw": 66.7123489, "cg_id_a": -9.39738655, "cg_id_raw_a": -10.6959267, "cg_iq_a": 294.269196, "cg_iq_raw_a": 285.811279, "cg_iu_a": 66.9133606, "cg_iv_a": 210.441986, "cg_iw_a": -277.355347, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 2962263, "cg_sample_valid": 1, "cg_theta_rad": 1.88549268, "cg_vd_req_v": 6.68662453, "cg_vd_v": 6.68662453, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6632519, "cg_vq_v": -28.6632519, "cg_vu_v": 125.369385, "cg_vv_v": 100.295509, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 82.0715485, "dclink_p_w": 12347.1104, "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": 33.6617126, "temp_inv2_c": 33.7326965, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0845456645, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 189.014252, "values": {"Elec_RPM": -12958.9531, "EncoderCos": 13383, "EncoderSin": 40832, "GapTicks": 37903, "Mech_RPM": -2591.79053, "cg_du": 37.9800529, "cg_dv": 65.5423813, "cg_dw": 34.4576187, "cg_id_a": -0.0694479942, "cg_id_raw_a": 9.4218359, "cg_iq_a": 302.491302, "cg_iq_raw_a": 309.203918, "cg_iu_a": 251.648178, "cg_iv_a": -271.637238, "cg_iw_a": 85.1192322, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 2967462, "cg_sample_valid": 1, "cg_theta_rad": 2.76912808, "cg_vd_req_v": 6.47749567, "cg_vd_v": 6.47749567, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8506889, "cg_vq_v": -28.8506889, "cg_vu_v": 19.795166, "cg_vv_v": 69.0631332, "cg_vw_v": 36.5110817, "control_outputs_enabled": 1, "dclink_i_a": 82.5554047, "dclink_p_w": 12419.9033, "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": 33.8064575, "temp_inv2_c": 33.7885132, "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": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 190.031647, "values": {"Elec_RPM": -12963.8877, "EncoderCos": 13662, "EncoderSin": 41425, "GapTicks": 36881, "Mech_RPM": -2592.77759, "cg_du": 42.2639008, "cg_dv": 66.4710007, "cg_dw": 33.5289993, "cg_id_a": -3.11638212, "cg_id_raw_a": 6.38074875, "cg_iq_a": 302.182678, "cg_iq_raw_a": 306.474487, "cg_iu_a": 266.689362, "cg_iv_a": -263.119934, "cg_iw_a": -3.56941223, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 2972562, "cg_sample_valid": 1, "cg_theta_rad": 2.80297947, "cg_vd_req_v": 6.52420282, "cg_vd_v": 6.52420282, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8305893, "cg_vq_v": -28.8305893, "cg_vu_v": 79.6205521, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 82.3796158, "dclink_p_w": 12357.2197, "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": 33.9273376, "temp_inv2_c": 33.9652405, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918471068, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 191.049057, "values": {"Elec_RPM": -12961.5137, "EncoderCos": 14517, "EncoderSin": 43025, "GapTicks": 36606, "Mech_RPM": -2592.30273, "cg_du": 55.1776009, "cg_dv": 66.7216949, "cg_dw": 33.2783089, "cg_id_a": 7.17864704, "cg_id_raw_a": 11.9817381, "cg_iq_a": 302.650208, "cg_iq_raw_a": 301.46524, "cg_iu_a": 123.816185, "cg_iv_a": -296.97168, "cg_iw_a": 173.155487, "cg_sample_age_us": 23.7909088, "cg_sample_seq": 2977663, "cg_sample_valid": 1, "cg_theta_rad": 2.6678021, "cg_vd_req_v": 6.31880569, "cg_vd_v": 6.31880569, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8244457, "cg_vq_v": -28.8244457, "cg_vu_v": 24.6339836, "cg_vv_v": 71.7024918, "cg_vw_v": 29.912693, "control_outputs_enabled": 1, "dclink_i_a": 82.4303589, "dclink_p_w": 12364.832, "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": 34.0969238, "temp_inv2_c": 34.018219, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0900846869, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 192.086563, "values": {"Elec_RPM": -12963.4434, "EncoderCos": 52860, "EncoderSin": 27885, "GapTicks": 36660, "Mech_RPM": -2592.68872, "cg_du": 66.6720963, "cg_dv": 33.3279037, "cg_dw": 43.6468468, "cg_id_a": 1.17898941, "cg_id_raw_a": -4.16532326, "cg_iq_a": 306.25946, "cg_iq_raw_a": 299.172791, "cg_iu_a": -125.650124, "cg_iv_a": -172.909027, "cg_iw_a": 298.559143, "cg_sample_age_us": 27.0090904, "cg_sample_seq": 2982815, "cg_sample_valid": 1, "cg_theta_rad": 6.26082897, "cg_vd_req_v": 6.52749872, "cg_vd_v": 6.52749872, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8386879, "cg_vq_v": -28.8386879, "cg_vu_v": 42.2296829, "cg_vv_v": 78.7407684, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 81.6311874, "dclink_p_w": 12280.8613, "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": 34.2669067, "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": 0.086056307, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 192.927856, "values": {"Elec_RPM": -12963.0332, "EncoderCos": 32528, "EncoderSin": 11780, "GapTicks": 36643, "Mech_RPM": -2592.60669, "cg_du": 66.687912, "cg_dv": 33.3120842, "cg_dw": 55.551693, "cg_id_a": -2.69109321, "cg_id_raw_a": -5.37351084, "cg_iq_a": 301.318726, "cg_iq_raw_a": 296.463226, "cg_iu_a": -307.666687, "cg_iv_a": 193.588623, "cg_iw_a": 114.078072, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 2987012, "cg_sample_valid": 1, "cg_theta_rad": 4.75672102, "cg_vd_req_v": 6.56994534, "cg_vd_v": 6.56994534, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7792282, "cg_vq_v": -28.7792282, "cg_vu_v": 74.3418427, "cg_vv_v": 37.830761, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.8250885, "dclink_p_w": 12274.0391, "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": 34.4129333, "temp_inv2_c": 34.3155518, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902861059, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 193.945251, "values": {"Elec_RPM": -12958.832, "EncoderCos": 30747, "EncoderSin": 11836, "GapTicks": 38050, "Mech_RPM": -2591.76636, "cg_du": 62.2926483, "cg_dv": 34.5910797, "cg_dw": 65.4089203, "cg_id_a": -6.18988609, "cg_id_raw_a": 3.05462623, "cg_iq_a": 298.363037, "cg_iq_raw_a": 304.788818, "cg_iu_a": -250.002716, "cg_iv_a": 267.7435, "cg_iw_a": -17.7407761, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 2992113, "cg_sample_valid": 1, "cg_theta_rad": 4.6650033, "cg_vd_req_v": 6.65017843, "cg_vd_v": 6.65017843, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7106133, "cg_vq_v": -28.7106133, "cg_vu_v": 151.762939, "cg_vv_v": 105.134323, "cg_vw_v": 136.366699, "control_outputs_enabled": 1, "dclink_i_a": 81.3937836, "dclink_p_w": 12245.1455, "enc_isr_hz": 4998, "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": 34.5837402, "temp_inv2_c": 34.3901062, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 194.962723, "values": {"Elec_RPM": -12960.6631, "EncoderCos": 30096, "EncoderSin": 11870, "GapTicks": 36996, "Mech_RPM": -2592.13257, "cg_du": 58.0658875, "cg_dv": 33.6336288, "cg_dw": 66.3663712, "cg_id_a": -10.4613152, "cg_id_raw_a": -3.02029681, "cg_iq_a": 297.616211, "cg_iq_raw_a": 301.579102, "cg_iu_a": -224.450821, "cg_iv_a": 292.280579, "cg_iw_a": -114.113121, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 2997213, "cg_sample_valid": 1, "cg_theta_rad": 4.62347841, "cg_vd_req_v": 6.70676851, "cg_vd_v": 6.70676851, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7000237, "cg_vq_v": -28.7000237, "cg_vu_v": 131.087982, "cg_vv_v": 72.5822754, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 82.2038345, "dclink_p_w": 12330.8525, "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": 34.7549438, "temp_inv2_c": 34.4936829, "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": 0.0944655538, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 195.980118, "values": {"Elec_RPM": -12960.8799, "EncoderCos": 43033, "EncoderSin": 50729, "GapTicks": 37336, "Mech_RPM": -2592.17603, "cg_du": 66.0574799, "cg_dv": 33.9425201, "cg_dw": 40.3387642, "cg_id_a": -6.56998777, "cg_id_raw_a": -1.91928303, "cg_iq_a": 297.54007, "cg_iq_raw_a": 304.019653, "cg_iu_a": -281.317383, "cg_iv_a": 47.8158875, "cg_iw_a": 233.501495, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 3002262, "cg_sample_valid": 1, "cg_theta_rad": 1.08766937, "cg_vd_req_v": 6.66833448, "cg_vd_v": 6.66833448, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.678215, "cg_vq_v": -28.678215, "cg_vu_v": 76.9812012, "cg_vv_v": 74.7817383, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.9972458, "dclink_p_w": 12299.8633, "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": 34.9020691, "temp_inv2_c": 34.5242004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0952712297, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 196.997528, "values": {"Elec_RPM": -12964.0244, "EncoderCos": 29961, "EncoderSin": 11894, "GapTicks": 36814, "Mech_RPM": -2592.80493, "cg_du": 57.0048866, "cg_dv": 33.4677048, "cg_dw": 66.5322952, "cg_id_a": -3.04957986, "cg_id_raw_a": -8.53154373, "cg_iq_a": 299.342346, "cg_iq_raw_a": 294.6745, "cg_iu_a": -221.478821, "cg_iv_a": 280.283875, "cg_iw_a": -58.8050385, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 3007412, "cg_sample_valid": 1, "cg_theta_rad": 4.62059879, "cg_vd_req_v": 6.58550119, "cg_vd_v": 6.58550119, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7348099, "cg_vq_v": -28.7348099, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 42.2296829, "control_outputs_enabled": 1, "dclink_i_a": 81.9483185, "dclink_p_w": 12292.5244, "enc_isr_hz": 4999, "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": 35.0741272, "temp_inv2_c": 34.6829834, "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": 0.0986450016, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 197.98819, "values": {"Elec_RPM": -12964.1064, "EncoderCos": 46392, "EncoderSin": 17019, "GapTicks": 37107, "Mech_RPM": -2592.82129, "cg_du": 33.7341766, "cg_dv": 66.2658234, "cg_dw": 58.7728767, "cg_id_a": 6.116436, "cg_id_raw_a": -7.49892282, "cg_iq_a": 304.262848, "cg_iq_raw_a": 299.866974, "cg_iu_a": 244.471893, "cg_iv_a": 27.4468689, "cg_iw_a": -271.918762, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 3012264, "cg_sample_valid": 1, "cg_theta_rad": 5.52583742, "cg_vd_req_v": 6.39533281, "cg_vd_v": 6.39533281, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8068218, "cg_vq_v": -28.8068218, "cg_vu_v": 109.973145, "cg_vv_v": 110.852921, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 82.0769806, "dclink_p_w": 12311.8242, "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": 35.2219543, "temp_inv2_c": 34.8360596, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950194523, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 199.009018, "values": {"Elec_RPM": -12959.5898, "EncoderCos": 53356, "EncoderSin": 33527, "GapTicks": 38551, "Mech_RPM": -2591.91797, "cg_du": 64.0195084, "cg_dv": 64.9530792, "cg_dw": 35.046917, "cg_id_a": 3.75533009, "cg_id_raw_a": 12.2201204, "cg_iq_a": 301.867157, "cg_iq_raw_a": 307.998322, "cg_iu_a": 101.707443, "cg_iv_a": -300.559814, "cg_iw_a": 198.852356, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 3017463, "cg_sample_valid": 1, "cg_theta_rad": 0.134697959, "cg_vd_req_v": 6.48083353, "cg_vd_v": 6.48083353, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7292271, "cg_vq_v": -28.7292271, "cg_vu_v": 0, "cg_vv_v": 49.2679672, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 82.2781372, "dclink_p_w": 12341.998, "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": 35.4196167, "temp_inv2_c": 34.9756165, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0868619829, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 200.026413, "values": {"Elec_RPM": -12956.3711, "EncoderCos": 53310, "EncoderSin": 34077, "GapTicks": 37530, "Mech_RPM": -2591.27417, "cg_du": 60.5077286, "cg_dv": 65.8811188, "cg_dw": 34.118885, "cg_id_a": 5.48846149, "cg_id_raw_a": -5.28523445, "cg_iq_a": 302.33667, "cg_iq_raw_a": 303.025787, "cg_iu_a": 56.7288437, "cg_iv_a": -288.816803, "cg_iw_a": 232.087967, "cg_sample_age_us": 23.3981819, "cg_sample_seq": 3022562, "cg_sample_valid": 1, "cg_theta_rad": 0.114068314, "cg_vd_req_v": 6.45020342, "cg_vd_v": 6.45020342, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7310905, "cg_vq_v": -28.7310905, "cg_vu_v": 14.9563465, "cg_vv_v": 77.8609848, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 81.8776398, "dclink_p_w": 12281.9219, "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": 35.5930786, "temp_inv2_c": 35.0432434, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970336422, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 201.043793, "values": {"Elec_RPM": -12960.2168, "EncoderCos": 13824, "EncoderSin": 41608, "GapTicks": 36734, "Mech_RPM": -2592.04346, "cg_du": 43.9470139, "cg_dv": 66.6047363, "cg_dw": 33.3952637, "cg_id_a": 1.09517431, "cg_id_raw_a": -3.92928815, "cg_iq_a": 299.911926, "cg_iq_raw_a": 293.830536, "cg_iu_a": 216.31044, "cg_iv_a": -283.452728, "cg_iw_a": 67.1422882, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 3027613, "cg_sample_valid": 1, "cg_theta_rad": 2.74625421, "cg_vd_req_v": 6.4742775, "cg_vd_v": 6.4742775, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7573814, "cg_vq_v": -28.7573814, "cg_vu_v": 73.9019547, "cg_vv_v": 121.850235, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": 82.1096039, "dclink_p_w": 12352.8359, "enc_isr_hz": 5001, "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": 35.7172241, "temp_inv2_c": 35.0263062, "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": 0.0999542177, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 202.061203, "values": {"Elec_RPM": -12964.2637, "EncoderCos": 53324, "EncoderSin": 31753, "GapTicks": 36472, "Mech_RPM": -2592.85278, "cg_du": 66.8434143, "cg_dv": 53.7001877, "cg_dw": 33.1565857, "cg_id_a": 5.12795448, "cg_id_raw_a": 14.9934855, "cg_iq_a": 304.401978, "cg_iq_raw_a": 306.521881, "cg_iu_a": -114.197075, "cg_iv_a": -188.638855, "cg_iw_a": 302.835938, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 3032763, "cg_sample_valid": 1, "cg_theta_rad": 0.00907512102, "cg_vd_req_v": 6.45851088, "cg_vd_v": 6.45851088, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7784538, "cg_vq_v": -28.7784538, "cg_vu_v": 35.6312981, "cg_vv_v": 59.825386, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.9555664, "dclink_p_w": 12329.6621, "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": 35.8914795, "temp_inv2_c": 35.1878662, "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": 0.0921492353, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 202.922638, "values": {"Elec_RPM": -12957.0664, "EncoderCos": 49396, "EncoderSin": 20431, "GapTicks": 37390, "Mech_RPM": -2591.41333, "cg_du": 33.9909668, "cg_dv": 39.8322792, "cg_dw": 66.0090332, "cg_id_a": 1.6598649, "cg_id_raw_a": 7.19305182, "cg_iq_a": 305.559143, "cg_iq_raw_a": 314.663177, "cg_iu_a": 49.8062744, "cg_iv_a": 238.49472, "cg_iw_a": -288.300995, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 3037062, "cg_sample_valid": 1, "cg_theta_rad": 5.70547485, "cg_vd_req_v": 6.49927235, "cg_vd_v": 6.49927235, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8105621, "cg_vq_v": -28.8105621, "cg_vu_v": 150.443253, "cg_vv_v": 102.93486, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 82.037117, "dclink_p_w": 12305.8438, "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": 36.0162659, "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": 0.0922499448, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 203.940002, "values": {"Elec_RPM": -12962.6465, "EncoderCos": 32571, "EncoderSin": 11811, "GapTicks": 36633, "Mech_RPM": -2592.5293, "cg_du": 66.6966476, "cg_dv": 33.3033524, "cg_dw": 55.4121628, "cg_id_a": 5.34783602, "cg_id_raw_a": 7.97388268, "cg_iq_a": 303.682678, "cg_iq_raw_a": 301.836029, "cg_iu_a": -298.89563, "cg_iv_a": 178.474915, "cg_iw_a": 120.420715, "cg_sample_age_us": 24.1145458, "cg_sample_seq": 3042063, "cg_sample_valid": 1, "cg_theta_rad": 4.76227188, "cg_vd_req_v": 6.40486145, "cg_vd_v": 6.40486145, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8049831, "cg_vq_v": -28.8049831, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 82.0606766, "dclink_p_w": 12345.4746, "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": 36.1663208, "temp_inv2_c": 35.4379272, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0946166143, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 204.957397, "values": {"Elec_RPM": -12964.209, "EncoderCos": 33169, "EncoderSin": 11813, "GapTicks": 36236, "Mech_RPM": -2592.8418, "cg_du": 67.0574799, "cg_dv": 32.9425201, "cg_dw": 51.1126976, "cg_id_a": 0.710744977, "cg_id_raw_a": 6.74074984, "cg_iq_a": 301.628998, "cg_iq_raw_a": 301.206665, "cg_iu_a": -310.095001, "cg_iv_a": 156.36618, "cg_iw_a": 153.728821, "cg_sample_age_us": 24.0636368, "cg_sample_seq": 3047162, "cg_sample_valid": 1, "cg_theta_rad": 4.77492857, "cg_vd_req_v": 6.50235176, "cg_vd_v": 6.50235176, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7532654, "cg_vq_v": -28.7532654, "cg_vu_v": 77.4210892, "cg_vv_v": 44.4291458, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.9428787, "dclink_p_w": 12291.708, "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": 36.3167114, "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": 0.0884229839, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 205.974792, "values": {"Elec_RPM": -12964.7939, "EncoderCos": 31505, "EncoderSin": 11841, "GapTicks": 38171, "Mech_RPM": -2592.95874, "cg_du": 65.2990723, "cg_dv": 34.7009239, "cg_dw": 62.4198036, "cg_id_a": 0.427334666, "cg_id_raw_a": 5.72339296, "cg_iq_a": 299.579712, "cg_iq_raw_a": 304.040222, "cg_iu_a": -276.569458, "cg_iv_a": 234.254181, "cg_iw_a": 42.3152695, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 3052263, "cg_sample_valid": 1, "cg_theta_rad": 4.69691706, "cg_vd_req_v": 6.50785828, "cg_vd_v": 6.50785828, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7088699, "cg_vq_v": -28.7088699, "cg_vu_v": 113.932175, "cg_vv_v": 73.0221634, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 82.9142151, "dclink_p_w": 12473.8838, "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": 36.4927063, "temp_inv2_c": 35.6020813, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 206.992203, "values": {"Elec_RPM": -12961.1338, "EncoderCos": 32079, "EncoderSin": 11816, "GapTicks": 37216, "Mech_RPM": -2592.22681, "cg_du": 66.1672516, "cg_dv": 33.8327484, "cg_dw": 58.5809097, "cg_id_a": -2.12986994, "cg_id_raw_a": -11.979311, "cg_iq_a": 299.629944, "cg_iq_raw_a": 295.196106, "cg_iu_a": -297.917053, "cg_iv_a": 212.109192, "cg_iw_a": 85.8078613, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 3057362, "cg_sample_valid": 1, "cg_theta_rad": 4.73570538, "cg_vd_req_v": 6.56782389, "cg_vd_v": 6.56782389, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7187443, "cg_vq_v": -28.7187443, "cg_vu_v": 152.202835, "cg_vv_v": 118.770996, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": 82.1295395, "dclink_p_w": 12355.835, "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": 36.6186829, "temp_inv2_c": 35.6781006, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0957244262, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 207.958115, "values": {"Elec_RPM": -12967.1914, "EncoderCos": 17063, "EncoderSin": 18698, "GapTicks": 36714, "Mech_RPM": -2593.43823, "cg_du": 55.6884384, "cg_dv": 66.6230164, "cg_dw": 33.3769875, "cg_id_a": 3.88990831, "cg_id_raw_a": 10.2492781, "cg_iq_a": 299.791138, "cg_iq_raw_a": 298.733215, "cg_iu_a": 120.771698, "cg_iv_a": -274.645477, "cg_iw_a": 246.875458, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 3062013, "cg_sample_valid": 1, "cg_theta_rad": 3.90240836, "cg_vd_req_v": 6.47163105, "cg_vd_v": 6.47163105, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7149448, "cg_vq_v": -28.7149448, "cg_vu_v": 98.9758301, "cg_vv_v": 151.762939, "cg_vw_v": 139.445938, "control_outputs_enabled": 1, "dclink_i_a": 81.5423889, "dclink_p_w": 12267.502, "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": 36.7449341, "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": 0.0976882577, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 209.003662, "values": {"Elec_RPM": -12962.0977, "EncoderCos": 52890, "EncoderSin": 36880, "GapTicks": 37250, "Mech_RPM": -2592.41943, "cg_du": 40.6518478, "cg_dv": 66.1356583, "cg_dw": 33.8643417, "cg_id_a": -4.21933699, "cg_id_raw_a": 4.23964405, "cg_iq_a": 302.608063, "cg_iq_raw_a": 307.187378, "cg_iu_a": 184.669571, "cg_iv_a": -296.826721, "cg_iw_a": 112.157135, "cg_sample_age_us": 23.3909092, "cg_sample_seq": 3067412, "cg_sample_valid": 1, "cg_theta_rad": 0.199928194, "cg_vd_req_v": 6.66498184, "cg_vd_v": 6.66498184, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7068539, "cg_vq_v": -28.7068539, "cg_vu_v": 0, "cg_vv_v": 50.1477547, "cg_vw_v": 9.23774433, "control_outputs_enabled": 1, "dclink_i_a": 82.5825882, "dclink_p_w": 12387.667, "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": 36.8967896, "temp_inv2_c": 35.9223022, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0929045528, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 210.021072, "values": {"Elec_RPM": -12964.0801, "EncoderCos": 53009, "EncoderSin": 36378, "GapTicks": 36693, "Mech_RPM": -2592.81592, "cg_du": 44.1511955, "cg_dv": 66.6418839, "cg_dw": 33.3581161, "cg_id_a": -4.58427, "cg_id_raw_a": 5.18459463, "cg_iq_a": 299.721222, "cg_iq_raw_a": 302.651306, "cg_iu_a": 207.285721, "cg_iv_a": -295.159485, "cg_iw_a": 87.873764, "cg_sample_age_us": 23.48909, "cg_sample_seq": 3072512, "cg_sample_valid": 1, "cg_theta_rad": 0.21940349, "cg_vd_req_v": 6.68828011, "cg_vd_v": 6.68828011, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.642128, "cg_vq_v": -28.642128, "cg_vu_v": 0, "cg_vv_v": 46.6286087, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": 82.3016968, "dclink_p_w": 12381.7354, "enc_isr_hz": 5001, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2613, "hz_tim_isr": 4998, "hz_vsense": 2613, "pwm_moe": 1, "temp_inv1_c": 37.0236206, "temp_inv2_c": 36.0440063, "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": 0.0914946198, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 211.038559, "values": {"Elec_RPM": -12961.9443, "EncoderCos": 53088, "EncoderSin": 35878, "GapTicks": 36351, "Mech_RPM": -2592.38892, "cg_du": 47.8794136, "cg_dv": 66.953476, "cg_dw": 33.0465202, "cg_id_a": 3.39380288, "cg_id_raw_a": 13.1432047, "cg_iq_a": 302.225098, "cg_iq_raw_a": 305.500214, "cg_iu_a": 177.819489, "cg_iv_a": -305.887665, "cg_iw_a": 128.068176, "cg_sample_age_us": 23.4599991, "cg_sample_seq": 3077612, "cg_sample_valid": 1, "cg_theta_rad": 0.187080473, "cg_vd_req_v": 6.50382519, "cg_vd_v": 6.50382519, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7140656, "cg_vq_v": -28.7140656, "cg_vu_v": 0, "cg_vv_v": 63.7844238, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": 81.6873627, "dclink_p_w": 12289.3125, "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": 37.2016602, "temp_inv2_c": 36.1440125, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0972854197, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 212.055908, "values": {"Elec_RPM": -12962.3877, "EncoderCos": 12738, "EncoderSin": 38753, "GapTicks": 36418, "Mech_RPM": -2592.47754, "cg_du": 33.1077003, "cg_dv": 66.8923035, "cg_dw": 46.8529396, "cg_id_a": 4.3663435, "cg_id_raw_a": 10.1744137, "cg_iq_a": 304.132751, "cg_iq_raw_a": 302.130127, "cg_iu_a": 301.193512, "cg_iv_a": -156.128143, "cg_iw_a": -145.065369, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 3082662, "cg_sample_valid": 1, "cg_theta_rad": 2.88390207, "cg_vd_req_v": 6.44174719, "cg_vd_v": 6.44174719, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.8024788, "cg_vq_v": -28.8024788, "cg_vu_v": 0, "cg_vv_v": 25.0738773, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": 82.0914764, "dclink_p_w": 12350.1084, "enc_isr_hz": 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": 37.3036194, "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": 0.0882215574, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 213.073334, "values": {"Elec_RPM": -12964.8457, "EncoderCos": 12899, "EncoderSin": 39224, "GapTicks": 36787, "Mech_RPM": -2592.96924, "cg_du": 33.4433136, "cg_dv": 66.5566864, "cg_dw": 43.3578033, "cg_id_a": 4.66613293, "cg_id_raw_a": 4.26171398, "cg_iq_a": 304.297729, "cg_iq_raw_a": 302.52298, "cg_iu_a": 271.546021, "cg_iv_a": -258.118286, "cg_iw_a": -13.4277496, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3087762, "cg_sample_valid": 1, "cg_theta_rad": 2.81711674, "cg_vd_req_v": 6.42716169, "cg_vd_v": 6.42716169, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.815115, "cg_vq_v": -28.815115, "cg_vu_v": 73.462059, "cg_vv_v": 113.052383, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 81.1400757, "dclink_p_w": 12206.9766, "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": 37.4569092, "temp_inv2_c": 36.3382568, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902357474, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 213.934677, "values": {"Elec_RPM": -12964.1943, "EncoderCos": 50468, "EncoderSin": 22202, "GapTicks": 36653, "Mech_RPM": -2592.83887, "cg_du": 44.0853996, "cg_dv": 33.321434, "cg_dw": 66.678566, "cg_id_a": 8.73672199, "cg_id_raw_a": 15.3181896, "cg_iq_a": 305.918732, "cg_iq_raw_a": 310.958679, "cg_iu_a": -114.994431, "cg_iv_a": 297.572174, "cg_iw_a": -182.577744, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 3092112, "cg_sample_valid": 1, "cg_theta_rad": 5.79359865, "cg_vd_req_v": 6.38098049, "cg_vd_v": 6.38098049, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.789381, "cg_vq_v": -28.789381, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 77.4210892, "control_outputs_enabled": 1, "dclink_i_a": 82.040741, "dclink_p_w": 12306.3877, "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": 37.5593262, "temp_inv2_c": 36.4151917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918974578, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 214.952072, "values": {"Elec_RPM": -12966.8262, "EncoderCos": 34704, "EncoderSin": 11956, "GapTicks": 37364, "Mech_RPM": -2593.36523, "cg_du": 66.0326309, "cg_dv": 33.9673691, "cg_dw": 40.3657074, "cg_id_a": 1.78314948, "cg_id_raw_a": -6.468328, "cg_iq_a": 302.73938, "cg_iq_raw_a": 296.328156, "cg_iu_a": -277.040619, "cg_iv_a": 46.0037231, "cg_iw_a": 231.036896, "cg_sample_age_us": 24.0563641, "cg_sample_seq": 3097113, "cg_sample_valid": 1, "cg_theta_rad": 4.84755707, "cg_vd_req_v": 6.5059123, "cg_vd_v": 6.5059123, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7531223, "cg_vq_v": -28.7531223, "cg_vu_v": 113.932175, "cg_vv_v": 110.413033, "cg_vw_v": 67.303566, "control_outputs_enabled": 1, "dclink_i_a": 81.8921356, "dclink_p_w": 12284.0967, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2587, "hz_tim_isr": 4997, "hz_vsense": 2587, "pwm_moe": 1, "temp_inv1_c": 37.6875916, "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": 0.0917967483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 215.969574, "values": {"Elec_RPM": -12961.2588, "EncoderCos": 34229, "EncoderSin": 11913, "GapTicks": 36805, "Mech_RPM": -2592.25171, "cg_du": 66.5405502, "cg_dv": 33.4594498, "cg_dw": 43.5863266, "cg_id_a": 0.478445172, "cg_id_raw_a": -3.49096322, "cg_iq_a": 301.588928, "cg_iq_raw_a": 297.069397, "cg_iu_a": -279.650177, "cg_iv_a": 66.4089966, "cg_iw_a": 213.24118, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 3102213, "cg_sample_valid": 1, "cg_theta_rad": 4.84238148, "cg_vd_req_v": 6.53261089, "cg_vd_v": 6.53261089, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7111626, "cg_vq_v": -28.7111626, "cg_vu_v": 74.3418427, "cg_vv_v": 37.3908691, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.5750046, "dclink_p_w": 12236.5254, "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": 37.8161621, "temp_inv2_c": 36.6465454, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950194523, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 216.986908, "values": {"Elec_RPM": -12965.6582, "EncoderCos": 21900, "EncoderSin": 50394, "GapTicks": 38155, "Mech_RPM": -2593.13159, "cg_du": 62.3655586, "cg_dv": 34.6868629, "cg_dw": 65.3131332, "cg_id_a": -2.06649637, "cg_id_raw_a": -13.151413, "cg_iq_a": 295.437531, "cg_iq_raw_a": 291.098145, "cg_iu_a": -197.77536, "cg_iv_a": 292.244324, "cg_iw_a": -94.4689636, "cg_sample_age_us": 23.6054554, "cg_sample_seq": 3107362, "cg_sample_valid": 1, "cg_theta_rad": 2.10860372, "cg_vd_req_v": 6.58316946, "cg_vd_v": 6.58316946, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6026955, "cg_vq_v": -28.6026955, "cg_vu_v": 44.4291458, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 81.8758316, "dclink_p_w": 12317.666, "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": 37.9707947, "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": 0.0874662399, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 217.972961, "values": {"Elec_RPM": -12960.7324, "EncoderCos": 25020, "EncoderSin": 52001, "GapTicks": 37936, "Mech_RPM": -2592.14648, "cg_du": 38.3124237, "cg_dv": 34.4878731, "cg_dw": 65.5121307, "cg_id_a": -3.43366671, "cg_id_raw_a": -18.9724312, "cg_iq_a": 297.181885, "cg_iq_raw_a": 291.335907, "cg_iu_a": -281.788574, "cg_iv_a": 218.379395, "cg_iw_a": 63.4091873, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 3112117, "cg_sample_valid": 1, "cg_theta_rad": 2.19953752, "cg_vd_req_v": 6.61989641, "cg_vd_v": 6.61989641, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6310291, "cg_vq_v": -28.6310291, "cg_vu_v": 143.404984, "cg_vv_v": 82.6998062, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 82.0226135, "dclink_p_w": 12303.6689, "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": 38.0741272, "temp_inv2_c": 36.7980957, "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": 0.100105286, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 218.998428, "values": {"Elec_RPM": -12962.3447, "EncoderCos": 16994, "EncoderSin": 18868, "GapTicks": 36892, "Mech_RPM": -2592.46899, "cg_du": 56.8183899, "cg_dv": 66.4616241, "cg_dw": 33.5383797, "cg_id_a": 2.02080822, "cg_id_raw_a": 3.41753244, "cg_iq_a": 299.687256, "cg_iq_raw_a": 298.03421, "cg_iu_a": 108.303818, "cg_iv_a": -293.492249, "cg_iw_a": 185.188446, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 3117413, "cg_sample_valid": 1, "cg_theta_rad": 3.90200067, "cg_vd_req_v": 6.51496696, "cg_vd_v": 6.51496696, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6720657, "cg_vq_v": -28.6720657, "cg_vu_v": 104.694435, "cg_vv_v": 151.762939, "cg_vw_v": 123.60981, "control_outputs_enabled": 1, "dclink_i_a": 82.0099335, "dclink_p_w": 12337.8408, "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": 38.2035522, "temp_inv2_c": 36.8534546, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0907392949, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 220.015808, "values": {"Elec_RPM": -12962.1436, "EncoderCos": 52221, "EncoderSin": 39278, "GapTicks": 36444, "Mech_RPM": -2592.42871, "cg_du": 33.131649, "cg_dv": 66.8683472, "cg_dw": 46.108181, "cg_id_a": 5.73969936, "cg_id_raw_a": 4.70400572, "cg_iq_a": 306.293915, "cg_iq_raw_a": 305.924133, "cg_iu_a": 301.628418, "cg_iv_a": -163.014465, "cg_iw_a": -138.613953, "cg_sample_age_us": 23.4272728, "cg_sample_seq": 3122462, "cg_sample_valid": 1, "cg_theta_rad": 0.371614188, "cg_vd_req_v": 6.48302364, "cg_vd_v": 6.48302364, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7537785, "cg_vq_v": -28.7537785, "cg_vu_v": 0, "cg_vv_v": 34.3116188, "cg_vw_v": 61.5849609, "control_outputs_enabled": 1, "dclink_i_a": 81.7743454, "dclink_p_w": 12266.4277, "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": 38.3852539, "temp_inv2_c": 37.0134888, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0880201459, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 221.033218, "values": {"Elec_RPM": -12961.3242, "EncoderCos": 17177, "EncoderSin": 18688, "GapTicks": 36600, "Mech_RPM": -2592.26489, "cg_du": 55.0824318, "cg_dv": 66.7271729, "cg_dw": 33.2728271, "cg_id_a": 1.94249153, "cg_id_raw_a": 2.59883642, "cg_iq_a": 299.731079, "cg_iq_raw_a": 299.288055, "cg_iu_a": 116.3862, "cg_iv_a": -303.966736, "cg_iw_a": 187.580536, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 3127612, "cg_sample_valid": 1, "cg_theta_rad": 3.92715263, "cg_vd_req_v": 6.50070143, "cg_vd_v": 6.50070143, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.688076, "cg_vq_v": -28.688076, "cg_vu_v": 76.5413055, "cg_vv_v": 151.762939, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 82.0226135, "dclink_p_w": 12303.6689, "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": 38.4372864, "temp_inv2_c": 37.1007996, "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": 0.0952712297, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 222.050598, "values": {"Elec_RPM": -12962.7002, "EncoderCos": 16221, "EncoderSin": 19875, "GapTicks": 38793, "Mech_RPM": -2592.54004, "cg_du": 64.7330399, "cg_dv": 64.2017212, "cg_dw": 35.2669601, "cg_id_a": 2.07918262, "cg_id_raw_a": 12.2965031, "cg_iq_a": 294.426239, "cg_iq_raw_a": 301.586945, "cg_iu_a": 7.69093752, "cg_iv_a": -255.544968, "cg_iw_a": 247.854034, "cg_sample_age_us": 23.954546, "cg_sample_seq": 3132713, "cg_sample_valid": 1, "cg_theta_rad": 3.83749557, "cg_vd_req_v": 6.51156473, "cg_vd_v": 6.51156473, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5573711, "cg_vq_v": -28.5573711, "cg_vu_v": 114.37207, "cg_vv_v": 151.762939, "cg_vw_v": 84.0194778, "control_outputs_enabled": 1, "dclink_i_a": 82.0443649, "dclink_p_w": 12306.9316, "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": 38.5675354, "temp_inv2_c": 37.1914368, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0924513638, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 223.068024, "values": {"Elec_RPM": -12958.6445, "EncoderCos": 12148, "EncoderSin": 36052, "GapTicks": 38538, "Mech_RPM": -2591.729, "cg_du": 35.0353317, "cg_dv": 63.7865639, "cg_dw": 64.9646683, "cg_id_a": 4.8982172, "cg_id_raw_a": -16.3438396, "cg_iq_a": 302.243652, "cg_iq_raw_a": 300.397522, "cg_iu_a": 256.831055, "cg_iv_a": 15.5951538, "cg_iw_a": -272.426208, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 3137712, "cg_sample_valid": 1, "cg_theta_rad": 3.01154733, "cg_vd_req_v": 6.42507553, "cg_vd_v": 6.42507553, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7352257, "cg_vq_v": -28.7352257, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 46.6286087, "control_outputs_enabled": 1, "dclink_i_a": 81.609436, "dclink_p_w": 12277.5889, "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": 38.6980896, "temp_inv2_c": 37.2041931, "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": 0.0957747772, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 223.929398, "values": {"Elec_RPM": -12960.8594, "EncoderCos": 39466, "EncoderSin": 13072, "GapTicks": 38404, "Mech_RPM": -2592.17188, "cg_du": 65.0867004, "cg_dv": 63.3512001, "cg_dw": 34.9132957, "cg_id_a": 0.917855978, "cg_id_raw_a": -16.5071049, "cg_iq_a": 301.416962, "cg_iq_raw_a": 298.328888, "cg_iu_a": -9.77859116, "cg_iv_a": -256.813507, "cg_iw_a": 266.592102, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3141962, "cg_sample_valid": 1, "cg_theta_rad": 5.09130573, "cg_vd_req_v": 6.56077385, "cg_vd_v": 6.56077385, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6903019, "cg_vq_v": -28.6903019, "cg_vu_v": 0.87978512, "cg_vv_v": 67.303566, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 82.0298691, "dclink_p_w": 12304.7568, "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": 38.8027649, "temp_inv2_c": 37.3635559, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918471068, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 224.946777, "values": {"Elec_RPM": -12962.3193, "EncoderCos": 19282, "EncoderSin": 48526, "GapTicks": 36664, "Mech_RPM": -2592.46387, "cg_du": 66.6682587, "cg_dv": 33.3317413, "cg_dw": 45.0966797, "cg_id_a": -4.70994329, "cg_id_raw_a": -3.35376024, "cg_iq_a": 300.547211, "cg_iq_raw_a": 295.08139, "cg_iu_a": -283.419556, "cg_iv_a": 166.586945, "cg_iw_a": 140.318604, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 3147113, "cg_sample_valid": 1, "cg_theta_rad": 2.29583669, "cg_vd_req_v": 6.61568546, "cg_vd_v": 6.61568546, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7035713, "cg_vq_v": -28.7035713, "cg_vu_v": 151.762939, "cg_vv_v": 123.169922, "cg_vw_v": 102.055069, "control_outputs_enabled": 1, "dclink_i_a": 81.9374466, "dclink_p_w": 12362.9795, "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": 38.9076538, "temp_inv2_c": 37.3571777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0885236934, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 225.964203, "values": {"Elec_RPM": -12967.6553, "EncoderCos": 36546, "EncoderSin": 12267, "GapTicks": 37045, "Mech_RPM": -2593.53101, "cg_du": 66.3224335, "cg_dv": 42.3618011, "cg_dw": 33.6775627, "cg_id_a": 6.60311174, "cg_id_raw_a": 7.1724577, "cg_iq_a": 300.044403, "cg_iq_raw_a": 305.392731, "cg_iu_a": -139.712738, "cg_iv_a": -161.745941, "cg_iw_a": 301.458679, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 3152164, "cg_sample_valid": 1, "cg_theta_rad": 4.99780798, "cg_vd_req_v": 6.43609333, "cg_vd_v": 6.43609333, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6576443, "cg_vq_v": -28.6576443, "cg_vu_v": 151.323044, "cg_vv_v": 151.762939, "cg_vw_v": 84.4593658, "control_outputs_enabled": 1, "dclink_i_a": 81.7018585, "dclink_p_w": 12291.4932, "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": 39.0126953, "temp_inv2_c": 37.4961853, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0945662633, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 226.981644, "values": {"Elec_RPM": -12966.127, "EncoderCos": 19051, "EncoderSin": 48294, "GapTicks": 36908, "Mech_RPM": -2593.22534, "cg_du": 66.4464951, "cg_dv": 33.5535049, "cg_dw": 42.6749077, "cg_id_a": -10.3461781, "cg_id_raw_a": -8.46888351, "cg_iq_a": 301.096985, "cg_iq_raw_a": 303.653595, "cg_iu_a": -296.213623, "cg_iv_a": 126.501282, "cg_iw_a": 169.712341, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 3157312, "cg_sample_valid": 1, "cg_theta_rad": 2.28300023, "cg_vd_req_v": 6.75735378, "cg_vd_v": 6.75735378, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7154503, "cg_vq_v": -28.7154503, "cg_vu_v": 46.1887207, "cg_vv_v": 3.51914048, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.9769821, "dclink_p_w": 12182.4404, "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": 39.117981, "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": 0.0927031338, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 227.963058, "values": {"Elec_RPM": -12963.7656, "EncoderCos": 11982, "EncoderSin": 34780, "GapTicks": 36652, "Mech_RPM": -2592.75317, "cg_du": 33.320488, "cg_dv": 55.2938843, "cg_dw": 66.679512, "cg_id_a": 7.04081535, "cg_id_raw_a": 0.366803288, "cg_iq_a": 304.583466, "cg_iq_raw_a": 305.387726, "cg_iu_a": -37.3963928, "cg_iv_a": 275.318451, "cg_iw_a": -237.922058, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 3162166, "cg_sample_valid": 1, "cg_theta_rad": 3.235497, "cg_vd_req_v": 6.39128733, "cg_vd_v": 6.39128733, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7558842, "cg_vq_v": -28.7558842, "cg_vu_v": 123.169922, "cg_vv_v": 92.3774414, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 82.1494675, "dclink_p_w": 12322.6973, "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": 39.3291321, "temp_inv2_c": 37.72052, "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": 0.0914442614, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 228.993118, "values": {"Elec_RPM": -12964.3184, "EncoderCos": 11908, "EncoderSin": 31768, "GapTicks": 38668, "Mech_RPM": -2592.86377, "cg_du": 35.996788, "cg_dv": 35.1532936, "cg_dw": 64.8467026, "cg_id_a": 3.85346818, "cg_id_raw_a": -11.7567873, "cg_iq_a": 299.74649, "cg_iq_raw_a": 294.238892, "cg_iu_a": -12.5331221, "cg_iv_a": 264.807739, "cg_iw_a": -252.274612, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 3167263, "cg_sample_valid": 1, "cg_theta_rad": 3.21551275, "cg_vd_req_v": 6.45829582, "cg_vd_v": 6.45829582, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6483669, "cg_vq_v": -28.6483669, "cg_vu_v": 120.090675, "cg_vv_v": 72.5822754, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 80.7196503, "dclink_p_w": 12143.7266, "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": 39.3291321, "temp_inv2_c": 37.6868286, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940123573, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 230.01062, "values": {"Elec_RPM": -12961.4707, "EncoderCos": 19445, "EncoderSin": 16546, "GapTicks": 38353, "Mech_RPM": -2592.29419, "cg_du": 34.8664017, "cg_dv": 65.1335983, "cg_dw": 36.7572746, "cg_id_a": 2.55526519, "cg_id_raw_a": -17.412735, "cg_iq_a": 302.428711, "cg_iq_raw_a": 296.180481, "cg_iu_a": 276.257751, "cg_iv_a": -253.841537, "cg_iw_a": -22.416214, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 3172463, "cg_sample_valid": 1, "cg_theta_rad": 4.077353, "cg_vd_req_v": 6.54146814, "cg_vd_v": 6.54146814, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7186508, "cg_vq_v": -28.7186508, "cg_vu_v": 80.5003433, "cg_vv_v": 113.932175, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 81.48983, "dclink_p_w": 12223.749, "enc_isr_hz": 5000, "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": 39.4614868, "temp_inv2_c": 37.7783813, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908903629, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 231.027954, "values": {"Elec_RPM": -12959.9277, "EncoderCos": 50815, "EncoderSin": 42428, "GapTicks": 37441, "Mech_RPM": -2591.9856, "cg_du": 34.0374832, "cg_dv": 59.8513565, "cg_dw": 65.9625168, "cg_id_a": 0.702064633, "cg_id_raw_a": -14.0806866, "cg_iq_a": 300.686005, "cg_iq_raw_a": 299.891815, "cg_iu_a": 224.718994, "cg_iv_a": 69.7796631, "cg_iw_a": -294.498657, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 3177512, "cg_sample_valid": 1, "cg_theta_rad": 0.53361851, "cg_vd_req_v": 6.62085056, "cg_vd_v": 6.62085056, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5947247, "cg_vq_v": -28.5947247, "cg_vu_v": 36.9509773, "cg_vv_v": 28.5930176, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 82.0117416, "dclink_p_w": 12302.0381, "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": 39.6207886, "temp_inv2_c": 37.8877869, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0951201618, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 232.045364, "values": {"Elec_RPM": -12965.6641, "EncoderCos": 50948, "EncoderSin": 42088, "GapTicks": 38064, "Mech_RPM": -2593.13281, "cg_du": 34.6041183, "cg_dv": 62.3707352, "cg_dw": 65.3958817, "cg_id_a": 6.63353825, "cg_id_raw_a": -13.6601315, "cg_iq_a": 303.040741, "cg_iq_raw_a": 302.521149, "cg_iu_a": 246.537796, "cg_iv_a": 35.7466888, "cg_iw_a": -282.284485, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 3182612, "cg_sample_valid": 1, "cg_theta_rad": 0.521059155, "cg_vd_req_v": 6.50558996, "cg_vd_v": 6.50558996, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6679363, "cg_vq_v": -28.6679363, "cg_vu_v": 18.9153805, "cg_vv_v": 19.795166, "cg_vw_v": 42.2296829, "control_outputs_enabled": 1, "dclink_i_a": 81.6801147, "dclink_p_w": 12252.293, "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": 39.6473694, "temp_inv2_c": 38.0054626, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0914442614, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 233.062775, "values": {"Elec_RPM": -12958.1914, "EncoderCos": 19568, "EncoderSin": 16511, "GapTicks": 38136, "Mech_RPM": -2591.63818, "cg_du": 34.669323, "cg_dv": 65.3306732, "cg_dw": 37.5303535, "cg_id_a": 1.79890585, "cg_id_raw_a": 6.31497717, "cg_iq_a": 301.821625, "cg_iq_raw_a": 306.624359, "cg_iu_a": 277.09137, "cg_iv_a": -237.568054, "cg_iw_a": -39.5233154, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3187762, "cg_sample_valid": 1, "cg_theta_rad": 4.07235241, "cg_vd_req_v": 6.5398097, "cg_vd_v": 6.5398097, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6863289, "cg_vq_v": -28.6863289, "cg_vu_v": 0, "cg_vv_v": 40.0302238, "cg_vw_v": 41.3499031, "control_outputs_enabled": 1, "dclink_i_a": 81.8722076, "dclink_p_w": 12317.1211, "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": 39.8071899, "temp_inv2_c": 38.0409546, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0886747539, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 233.924133, "values": {"Elec_RPM": -12960.6367, "EncoderCos": 15560, "EncoderSin": 44375, "GapTicks": 38314, "Mech_RPM": -2592.12744, "cg_du": 65.1684341, "cg_dv": 63.2454376, "cg_dw": 34.831562, "cg_id_a": 3.29850602, "cg_id_raw_a": -17.2437763, "cg_iq_a": 302.743195, "cg_iq_raw_a": 300.649261, "cg_iu_a": -12.1706829, "cg_iv_a": -255.436249, "cg_iw_a": 267.606934, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 3191962, "cg_sample_valid": 1, "cg_theta_rad": 2.58590364, "cg_vd_req_v": 6.46008396, "cg_vd_v": 6.46008396, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.705265, "cg_vq_v": -28.705265, "cg_vu_v": 37.830761, "cg_vv_v": 78.7407684, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 81.7870331, "dclink_p_w": 12268.3311, "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": 39.8338928, "temp_inv2_c": 38.1007385, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940627158, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 234.941635, "values": {"Elec_RPM": -12958.252, "EncoderCos": 15756, "EncoderSin": 44607, "GapTicks": 37774, "Mech_RPM": -2591.65039, "cg_du": 65.6599274, "cg_dv": 61.2178574, "cg_dw": 34.3400764, "cg_id_a": 6.92753839, "cg_id_raw_a": -10.2979174, "cg_iq_a": 303.534119, "cg_iq_raw_a": 301.255737, "cg_iu_a": -31.4161606, "cg_iv_a": -243.439545, "cg_iw_a": 274.855713, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 3197062, "cg_sample_valid": 1, "cg_theta_rad": 2.57163215, "cg_vd_req_v": 6.41430902, "cg_vd_v": 6.41430902, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7314453, "cg_vq_v": -28.7314453, "cg_vu_v": 16.7159176, "cg_vv_v": 76.9812012, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.5895004, "dclink_p_w": 12274.5898, "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": 39.9674988, "temp_inv2_c": 38.2383118, "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": 0.0915953293, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 235.958969, "values": {"Elec_RPM": -12956.0264, "EncoderCos": 12457, "EncoderSin": 27923, "GapTicks": 38206, "Mech_RPM": -2591.20532, "cg_du": 62.5894814, "cg_dv": 34.7329636, "cg_dw": 65.2670364, "cg_id_a": 0.119240232, "cg_id_raw_a": -13.2669153, "cg_iq_a": 299.481323, "cg_iq_raw_a": 293.034119, "cg_iu_a": -253.047211, "cg_iv_a": 265.641357, "cg_iw_a": -12.5941391, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 3202262, "cg_sample_valid": 1, "cg_theta_rad": 3.41831875, "cg_vd_req_v": 6.59812975, "cg_vd_v": 6.59812975, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6231327, "cg_vq_v": -28.6231327, "cg_vu_v": 65.1041031, "cg_vv_v": 23.3143044, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 81.3811035, "dclink_p_w": 12243.2383, "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": 40.074646, "temp_inv2_c": 38.269104, "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": 0.0979903862, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 236.976364, "values": {"Elec_RPM": -12958.7773, "EncoderCos": 16150, "EncoderSin": 45144, "GapTicks": 36907, "Mech_RPM": -2591.75537, "cg_du": 66.447464, "cg_dv": 56.9011955, "cg_dw": 33.552536, "cg_id_a": -1.85542202, "cg_id_raw_a": -10.3817987, "cg_iq_a": 299.309082, "cg_iq_raw_a": 297.467285, "cg_iu_a": -60.04879, "cg_iv_a": -221.149567, "cg_iw_a": 281.198364, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 3207262, "cg_sample_valid": 1, "cg_theta_rad": 2.52746153, "cg_vd_req_v": 6.5984354, "cg_vd_v": 6.5984354, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6483841, "cg_vq_v": -28.6483841, "cg_vu_v": 39.1504402, "cg_vv_v": 78.7407684, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 81.6493073, "dclink_p_w": 12283.5869, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 40.1551514, "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": 0.0920485258, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 237.933105, "values": {"Elec_RPM": -12957.5342, "EncoderCos": 44255, "EncoderSin": 15572, "GapTicks": 37317, "Mech_RPM": -2591.50684, "cg_du": 33.9248009, "cg_dv": 66.0751953, "cg_dw": 40.8650818, "cg_id_a": 9.09383678, "cg_id_raw_a": 11.1024609, "cg_iq_a": 302.031311, "cg_iq_raw_a": 306.270111, "cg_iu_a": 288.218201, "cg_iv_a": -207.63063, "cg_iw_a": -80.5875702, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3211962, "cg_sample_valid": 1, "cg_theta_rad": 5.35148239, "cg_vd_req_v": 6.4108448, "cg_vd_v": 6.4108448, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6821575, "cg_vq_v": -28.6821575, "cg_vu_v": 19.795166, "cg_vv_v": 76.5413055, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 81.6511154, "dclink_p_w": 12283.8594, "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": 40.2895813, "temp_inv2_c": 38.5242004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 238.987808, "values": {"Elec_RPM": -12958.126, "EncoderCos": 24510, "EncoderSin": 13543, "GapTicks": 36498, "Mech_RPM": -2591.62524, "cg_du": 33.1802063, "cg_dv": 52.5476646, "cg_dw": 66.8197937, "cg_id_a": 2.88736868, "cg_id_raw_a": 8.14650917, "cg_iq_a": 298.039276, "cg_iq_raw_a": 299.678467, "cg_iu_a": 214.135803, "cg_iv_a": 65.394165, "cg_iw_a": -279.529968, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 3217312, "cg_sample_valid": 1, "cg_theta_rad": 4.30832767, "cg_vd_req_v": 6.55639362, "cg_vd_v": 6.55639362, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.58815, "cg_vq_v": -28.58815, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 57.1860352, "control_outputs_enabled": 1, "dclink_i_a": 81.3647919, "dclink_p_w": 12204.9932, "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": 40.3703918, "temp_inv2_c": 38.6170959, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0972854197, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 240.005249, "values": {"Elec_RPM": -12961.3379, "EncoderCos": 48028, "EncoderSin": 46386, "GapTicks": 36807, "Mech_RPM": -2592.26758, "cg_du": 43.697731, "cg_dv": 33.4611664, "cg_dw": 66.5388336, "cg_id_a": -0.6629107, "cg_id_raw_a": 4.54639196, "cg_iq_a": 299.780945, "cg_iq_raw_a": 303.746124, "cg_iu_a": -115.211899, "cg_iv_a": 292.60675, "cg_iw_a": -177.394852, "cg_sample_age_us": 23.4236355, "cg_sample_seq": 3222362, "cg_sample_valid": 1, "cg_theta_rad": 0.771291256, "cg_vd_req_v": 6.6705184, "cg_vd_v": 6.6705184, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5632706, "cg_vq_v": -28.5632706, "cg_vu_v": 40.0302238, "cg_vv_v": 0.43989256, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 81.4409027, "dclink_p_w": 12252.2344, "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": 40.478363, "temp_inv2_c": 38.5861206, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0933073908, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 241.022705, "values": {"Elec_RPM": -12957.2666, "EncoderCos": 32531, "EncoderSin": 53286, "GapTicks": 36736, "Mech_RPM": -2591.45337, "cg_du": 33.396389, "cg_dv": 66.6036072, "cg_dw": 45.1565361, "cg_id_a": -4.88174963, "cg_id_raw_a": -1.50613344, "cg_iq_a": 293.595093, "cg_iq_raw_a": 293.035522, "cg_iu_a": 290.936493, "cg_iv_a": -160.513641, "cg_iw_a": -130.422852, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3227562, "cg_sample_valid": 1, "cg_theta_rad": 1.61044502, "cg_vd_req_v": 6.69717407, "cg_vd_v": 6.69717407, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4724503, "cg_vq_v": -28.4724503, "cg_vu_v": 0, "cg_vv_v": 7.91806602, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 82.2908249, "dclink_p_w": 12380.0996, "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": 40.5594788, "temp_inv2_c": 38.6595459, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932066813, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 242.040085, "values": {"Elec_RPM": -12955.3027, "EncoderCos": 23782, "EncoderSin": 13908, "GapTicks": 37188, "Mech_RPM": -2591.06055, "cg_du": 33.8074036, "cg_dv": 58.1698799, "cg_dw": 66.1925964, "cg_id_a": 0.849896729, "cg_id_raw_a": -6.23393965, "cg_iq_a": 296.160278, "cg_iq_raw_a": 295.1586, "cg_iu_a": 209.025421, "cg_iv_a": 86.3068542, "cg_iw_a": -295.332275, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 3232612, "cg_sample_valid": 1, "cg_theta_rad": 4.30678558, "cg_vd_req_v": 6.57043743, "cg_vd_v": 6.57043743, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5521946, "cg_vq_v": -28.5521946, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 81.8323364, "dclink_p_w": 12311.123, "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": 40.6678467, "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": 0.0925520733, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 243.057465, "values": {"Elec_RPM": -12961.9883, "EncoderCos": 23523, "EncoderSin": 14047, "GapTicks": 37567, "Mech_RPM": -2592.39771, "cg_du": 34.1521683, "cg_dv": 60.1837006, "cg_dw": 65.8478317, "cg_id_a": 0.849158466, "cg_id_raw_a": -15.1484003, "cg_iq_a": 299.764832, "cg_iq_raw_a": 297.450958, "cg_iu_a": 227.727249, "cg_iv_a": 67.2063446, "cg_iw_a": -294.933594, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3237712, "cg_sample_valid": 1, "cg_theta_rad": 4.30059147, "cg_vd_req_v": 6.57036161, "cg_vd_v": 6.57036161, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6194515, "cg_vq_v": -28.6194515, "cg_vu_v": 32.5520515, "cg_vv_v": 22.4345207, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 82.4285507, "dclink_p_w": 12364.5605, "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": 40.7221069, "temp_inv2_c": 38.8180847, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0974364802, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 244.07489, "values": {"Elec_RPM": -12956.002, "EncoderCos": 22336, "EncoderSin": 14680, "GapTicks": 37609, "Mech_RPM": -2591.20044, "cg_du": 34.1903305, "cg_dv": 65.8096695, "cg_dw": 60.4684219, "cg_id_a": 1.83899522, "cg_id_raw_a": 10.6354418, "cg_iq_a": 302.203369, "cg_iq_raw_a": 308.718445, "cg_iu_a": 279.012268, "cg_iv_a": -48.2302551, "cg_iw_a": -230.782013, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 3242813, "cg_sample_valid": 1, "cg_theta_rad": 4.24148655, "cg_vd_req_v": 6.55250883, "cg_vd_v": 6.55250883, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6631508, "cg_vq_v": -28.6631508, "cg_vu_v": 89.7380829, "cg_vv_v": 89.2981949, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 81.4445267, "dclink_p_w": 12216.9541, "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": 40.83078, "temp_inv2_c": 38.9082031, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917967483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 244.936249, "values": {"Elec_RPM": -12960.3311, "EncoderCos": 53173, "EncoderSin": 32516, "GapTicks": 37249, "Mech_RPM": -2592.06616, "cg_du": 66.136673, "cg_dv": 59.1151161, "cg_dw": 33.8633308, "cg_id_a": -0.481818438, "cg_id_raw_a": 3.76467443, "cg_iq_a": 303.70166, "cg_iq_raw_a": 307.931274, "cg_iu_a": -61.172348, "cg_iv_a": -227.093582, "cg_iw_a": 288.26593, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 3247063, "cg_sample_valid": 1, "cg_theta_rad": 0.0314045511, "cg_vd_req_v": 6.64214563, "cg_vd_v": 6.64214563, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6388264, "cg_vq_v": -28.6388264, "cg_vu_v": 118.3311, "cg_vv_v": 151.323044, "cg_vw_v": 100.735397, "control_outputs_enabled": 1, "dclink_i_a": 82.6333237, "dclink_p_w": 12431.626, "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": 40.9396973, "temp_inv2_c": 38.9098511, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0947173238, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 245.953705, "values": {"Elec_RPM": -12963.3096, "EncoderCos": 53140, "EncoderSin": 33416, "GapTicks": 38824, "Mech_RPM": -2592.66187, "cg_du": 64.5704193, "cg_dv": 64.7051086, "cg_dw": 35.2948952, "cg_id_a": 8.86646271, "cg_id_raw_a": -6.20889759, "cg_iq_a": 302.513763, "cg_iq_raw_a": 302.191406, "cg_iu_a": -78.7143555, "cg_iv_a": -214.190765, "cg_iw_a": 292.905121, "cg_sample_age_us": 23.3945446, "cg_sample_seq": 3252162, "cg_sample_valid": 1, "cg_theta_rad": 0.0315252282, "cg_vd_req_v": 6.49209166, "cg_vd_v": 6.49209166, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6165848, "cg_vq_v": -28.6165848, "cg_vu_v": 113.492287, "cg_vv_v": 150.443253, "cg_vw_v": 101.175293, "control_outputs_enabled": 1, "dclink_i_a": 81.3756638, "dclink_p_w": 12242.4199, "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": 41.0488586, "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": 0.08796978, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 246.971069, "values": {"Elec_RPM": -12958.3027, "EncoderCos": 53176, "EncoderSin": 33205, "GapTicks": 38418, "Mech_RPM": -2591.66064, "cg_du": 65.074028, "cg_dv": 63.4663277, "cg_dw": 34.925972, "cg_id_a": 9.07710743, "cg_id_raw_a": -4.2992053, "cg_iq_a": 304.655518, "cg_iq_raw_a": 303.457977, "cg_iu_a": -96.9087677, "cg_iv_a": -203.317612, "cg_iw_a": 300.226379, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 3257262, "cg_sample_valid": 1, "cg_theta_rad": 0.0234249476, "cg_vd_req_v": 6.47299004, "cg_vd_v": 6.47299004, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6558914, "cg_vq_v": -28.6558914, "cg_vu_v": 106.014107, "cg_vv_v": 120.530563, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 81.6855469, "dclink_p_w": 12253.1074, "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": 41.1035156, "temp_inv2_c": 39.1365967, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0890775919, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 247.923218, "values": {"Elec_RPM": -12957.0234, "EncoderCos": 24344, "EncoderSin": 51572, "GapTicks": 36831, "Mech_RPM": -2591.40479, "cg_du": 43.6375999, "cg_dv": 33.4829865, "cg_dw": 66.5170135, "cg_id_a": -3.33026528, "cg_id_raw_a": 1.69783747, "cg_iq_a": 296.262115, "cg_iq_raw_a": 298.694458, "cg_iu_a": -115.320633, "cg_iv_a": 289.163574, "cg_iw_a": -173.842957, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 3261862, "cg_sample_valid": 1, "cg_theta_rad": 2.02602053, "cg_vd_req_v": 6.62255001, "cg_vd_v": 6.62255001, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.549881, "cg_vq_v": -28.549881, "cg_vu_v": 76.5413055, "cg_vv_v": 34.3116188, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 81.6909866, "dclink_p_w": 12289.8574, "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": 41.2130127, "temp_inv2_c": 39.223938, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943144858, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 248.982574, "values": {"Elec_RPM": -12957.3525, "EncoderCos": 28035, "EncoderSin": 52764, "GapTicks": 36491, "Mech_RPM": -2591.47046, "cg_du": 33.1736526, "cg_dv": 53.2853661, "cg_dw": 66.8263474, "cg_id_a": -4.36602402, "cg_id_raw_a": 3.29337788, "cg_iq_a": 298.716644, "cg_iq_raw_a": 293.561768, "cg_iu_a": 151.796417, "cg_iv_a": 141.035034, "cg_iw_a": -292.831451, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 3267313, "cg_sample_valid": 1, "cg_theta_rad": 1.83420444, "cg_vd_req_v": 6.70867252, "cg_vd_v": 6.70867252, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.551775, "cg_vq_v": -28.551775, "cg_vu_v": 117.451309, "cg_vv_v": 81.820015, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 81.4209671, "dclink_p_w": 12249.2354, "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": 41.2952881, "temp_inv2_c": 39.3444519, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0928038433, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 249.999969, "values": {"Elec_RPM": -12959.0244, "EncoderCos": 27187, "EncoderSin": 52565, "GapTicks": 36487, "Mech_RPM": -2591.80493, "cg_du": 33.1704941, "cg_dv": 47.031456, "cg_dw": 66.8295059, "cg_id_a": -8.0188036, "cg_id_raw_a": -2.17116809, "cg_iq_a": 295.396484, "cg_iq_raw_a": 300.094788, "cg_iu_a": 112.906792, "cg_iv_a": 187.3909, "cg_iw_a": -300.297699, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 3272412, "cg_sample_valid": 1, "cg_theta_rad": 1.86686337, "cg_vd_req_v": 6.76712465, "cg_vd_v": 6.76712465, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5088406, "cg_vq_v": -28.5088406, "cg_vu_v": 40.0302238, "cg_vv_v": 20.2350578, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 81.6801147, "dclink_p_w": 12288.2217, "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": 41.3776855, "temp_inv2_c": 39.3973694, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0978896767, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 251.017365, "values": {"Elec_RPM": -12957.5537, "EncoderCos": 28992, "EncoderSin": 12271, "GapTicks": 36451, "Mech_RPM": -2591.51074, "cg_du": 50.1018257, "cg_dv": 33.1380234, "cg_dw": 66.8619766, "cg_id_a": -8.08413887, "cg_id_raw_a": -2.88348389, "cg_iq_a": 298.23288, "cg_iq_raw_a": 295.060394, "cg_iu_a": -174.361847, "cg_iv_a": 293.077942, "cg_iw_a": -118.716087, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 3277462, "cg_sample_valid": 1, "cg_theta_rad": 4.57663965, "cg_vd_req_v": 6.78082371, "cg_vd_v": 6.78082371, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5846729, "cg_vq_v": -28.5846729, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 24.1940918, "control_outputs_enabled": 1, "dclink_i_a": 81.411911, "dclink_p_w": 12212.0615, "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": 41.4602356, "temp_inv2_c": 39.5166321, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0911924914, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 252.03476, "values": {"Elec_RPM": -12955.2451, "EncoderCos": 27628, "EncoderSin": 52679, "GapTicks": 36481, "Mech_RPM": -2591.04907, "cg_du": 33.1649475, "cg_dv": 50.3166962, "cg_dw": 66.8350525, "cg_id_a": -3.76600814, "cg_id_raw_a": 2.63979745, "cg_iq_a": 293.415283, "cg_iq_raw_a": 295.515198, "cg_iu_a": 143.13414, "cg_iv_a": 160.171768, "cg_iw_a": -303.305908, "cg_sample_age_us": 23.863636, "cg_sample_seq": 3282612, "cg_sample_valid": 1, "cg_theta_rad": 1.85298026, "cg_vd_req_v": 6.69865513, "cg_vd_v": 6.69865513, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4695988, "cg_vq_v": -28.4695988, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 60.7051735, "control_outputs_enabled": 1, "dclink_i_a": 81.6529312, "dclink_p_w": 12284.1328, "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": 41.598114, "temp_inv2_c": 39.5299072, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0895811394, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 253.052185, "values": {"Elec_RPM": -12960.3535, "EncoderCos": 27454, "EncoderSin": 12634, "GapTicks": 37766, "Mech_RPM": -2592.0708, "cg_du": 38.9549561, "cg_dv": 34.3329391, "cg_dw": 65.6670609, "cg_id_a": 1.00261235, "cg_id_raw_a": -13.8284159, "cg_iq_a": 300.971405, "cg_iq_raw_a": 294.967407, "cg_iu_a": -52.7637787, "cg_iv_a": 286.807739, "cg_iw_a": -234.043961, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 3287663, "cg_sample_valid": 1, "cg_theta_rad": 4.50856447, "cg_vd_req_v": 6.59319353, "cg_vd_v": 6.59319353, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6351852, "cg_vq_v": -28.6351852, "cg_vu_v": 136.366699, "cg_vv_v": 73.0221634, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 81.8196487, "dclink_p_w": 12273.2236, "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": 41.6809998, "temp_inv2_c": 39.5746765, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944151953, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 254.069763, "values": {"Elec_RPM": -12961.9521, "EncoderCos": 29084, "EncoderSin": 52948, "GapTicks": 37716, "Mech_RPM": -2592.39038, "cg_du": 34.2876625, "cg_dv": 60.653923, "cg_dw": 65.7123413, "cg_id_a": -0.122307777, "cg_id_raw_a": 6.49369287, "cg_iq_a": 293.851807, "cg_iq_raw_a": 298.006287, "cg_iu_a": 211.236298, "cg_iv_a": 61.0811462, "cg_iw_a": -272.317444, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 3292813, "cg_sample_valid": 1, "cg_theta_rad": 1.77799475, "cg_vd_req_v": 6.63210058, "cg_vd_v": 6.63210058, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4638805, "cg_vq_v": -28.4638805, "cg_vu_v": 110.852921, "cg_vv_v": 106.453995, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 81.917511, "dclink_p_w": 12323.9365, "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": 41.7363586, "temp_inv2_c": 39.6295166, "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": 0.0968825817, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 254.930969, "values": {"Elec_RPM": -12963.0254, "EncoderCos": 40590, "EncoderSin": 51676, "GapTicks": 36459, "Mech_RPM": -2592.60498, "cg_du": 66.8545532, "cg_dv": 47.7184258, "cg_dw": 33.1454468, "cg_id_a": -5.59880209, "cg_id_raw_a": -1.16874671, "cg_iq_a": 296.213867, "cg_iq_raw_a": 296.932709, "cg_iu_a": -142.46727, "cg_iv_a": -152.721237, "cg_iw_a": 295.188507, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 3297112, "cg_sample_valid": 1, "cg_theta_rad": 1.21039569, "cg_vd_req_v": 6.78884792, "cg_vd_v": 6.78884792, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4848022, "cg_vq_v": -28.4848022, "cg_vu_v": 29.4728031, "cg_vv_v": 69.5030289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.9156952, "dclink_p_w": 12323.6641, "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": 41.8194885, "temp_inv2_c": 39.730957, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917463973, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 255.948364, "values": {"Elec_RPM": -12956.9355, "EncoderCos": 17253, "EncoderSin": 18832, "GapTicks": 36735, "Mech_RPM": -2591.38721, "cg_du": 55.2947273, "cg_dv": 66.6042938, "cg_dw": 33.3957062, "cg_id_a": -0.370305777, "cg_id_raw_a": 1.8552072, "cg_iq_a": 298.291626, "cg_iq_raw_a": 297.750061, "cg_iu_a": 113.812881, "cg_iv_a": -302.553223, "cg_iw_a": 188.740326, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 3302162, "cg_sample_valid": 1, "cg_theta_rad": 3.91173744, "cg_vd_req_v": 6.62243557, "cg_vd_v": 6.62243557, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.571785, "cg_vq_v": -28.571785, "cg_vu_v": 21.9946289, "cg_vv_v": 63.7844238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.7417297, "dclink_p_w": 12297.4912, "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": 41.9583435, "temp_inv2_c": 39.8459167, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0911924914, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 256.96579, "values": {"Elec_RPM": -12959.9121, "EncoderCos": 12398, "EncoderSin": 36576, "GapTicks": 38040, "Mech_RPM": -2591.98242, "cg_du": 34.5826492, "cg_dv": 65.4173508, "cg_dw": 62.2081223, "cg_id_a": 0.566872358, "cg_id_raw_a": 9.23588848, "cg_iq_a": 304.286041, "cg_iq_raw_a": 309.74762, "cg_iu_a": 274.807983, "cg_iv_a": -28.2598877, "cg_iw_a": -246.548096, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 3307163, "cg_sample_valid": 1, "cg_theta_rad": 2.9938333, "cg_vd_req_v": 6.59649134, "cg_vd_v": 6.59649134, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7003708, "cg_vq_v": -28.7003708, "cg_vu_v": 73.462059, "cg_vv_v": 74.3418427, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 80.5982361, "dclink_p_w": 12125.4609, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 42.0139771, "temp_inv2_c": 39.9294128, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0868619829, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 257.913361, "values": {"Elec_RPM": -12961.0205, "EncoderCos": 12050, "EncoderSin": 33161, "GapTicks": 36830, "Mech_RPM": -2592.2041, "cg_du": 33.4827042, "cg_dv": 43.6623497, "cg_dw": 66.5172958, "cg_id_a": -1.80077147, "cg_id_raw_a": -0.878066301, "cg_iq_a": 302.57901, "cg_iq_raw_a": 310.81424, "cg_iu_a": 137.516342, "cg_iv_a": 158.939499, "cg_iw_a": -296.455841, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 3311912, "cg_sample_valid": 1, "cg_theta_rad": 3.1125505, "cg_vd_req_v": 6.63661051, "cg_vd_v": 6.63661051, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.629818, "cg_vq_v": -28.629818, "cg_vu_v": 108.21357, "cg_vv_v": 72.5822754, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 80.7432098, "dclink_p_w": 12147.2715, "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": 42.0975647, "temp_inv2_c": 39.987915, "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": 0.0915449709, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 258.977264, "values": {"Elec_RPM": -12955.8047, "EncoderCos": 22796, "EncoderSin": 50667, "GapTicks": 36940, "Mech_RPM": -2591.16089, "cg_du": 56.4627686, "cg_dv": 33.5823288, "cg_dw": 66.4176712, "cg_id_a": -10.6982126, "cg_id_raw_a": -1.04759109, "cg_iq_a": 291.806641, "cg_iq_raw_a": 297.065216, "cg_iu_a": -207.488708, "cg_iv_a": 284.814331, "cg_iw_a": -77.3256226, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 3317263, "cg_sample_valid": 1, "cg_theta_rad": 2.1125083, "cg_vd_req_v": 6.81603861, "cg_vd_v": 6.81603861, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4422569, "cg_vq_v": -28.4422569, "cg_vu_v": 138.126266, "cg_vv_v": 73.0221634, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": 81.2778091, "dclink_p_w": 12191.9453, "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": 42.2092285, "temp_inv2_c": 39.9962769, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950698107, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 259.99472, "values": {"Elec_RPM": -12953.4648, "EncoderCos": 21964, "EncoderSin": 50222, "GapTicks": 38313, "Mech_RPM": -2590.69287, "cg_du": 62.6361237, "cg_dv": 34.8301544, "cg_dw": 65.1698456, "cg_id_a": -1.6932888, "cg_id_raw_a": -13.384058, "cg_iq_a": 294.265167, "cg_iq_raw_a": 289.97937, "cg_iu_a": -247.900574, "cg_iv_a": 259.769836, "cg_iw_a": -11.8692551, "cg_sample_age_us": 23.5945454, "cg_sample_seq": 3322362, "cg_sample_valid": 1, "cg_theta_rad": 2.15927863, "cg_vd_req_v": 6.65629768, "cg_vd_v": 6.65629768, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4740105, "cg_vq_v": -28.4740105, "cg_vu_v": 73.462059, "cg_vv_v": 0, "cg_vw_v": 21.5547352, "control_outputs_enabled": 1, "dclink_i_a": 82.2183304, "dclink_p_w": 12333.0264, "enc_isr_hz": 4999, "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": 42.2931824, "temp_inv2_c": 39.9895935, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0931059718, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 261.012146, "values": {"Elec_RPM": -12961.2539, "EncoderCos": 24068, "EncoderSin": 51356, "GapTicks": 36642, "Mech_RPM": -2592.25073, "cg_du": 46.1128883, "cg_dv": 33.311554, "cg_dw": 66.688446, "cg_id_a": -3.73250437, "cg_id_raw_a": 4.51997852, "cg_iq_a": 294.150787, "cg_iq_raw_a": 296.518158, "cg_iu_a": -192.338776, "cg_iv_a": 292.969177, "cg_iw_a": -100.630409, "cg_sample_age_us": 23.863636, "cg_sample_seq": 3327464, "cg_sample_valid": 1, "cg_theta_rad": 2.08802223, "cg_vd_req_v": 6.6833539, "cg_vd_v": 6.6833539, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4778786, "cg_vq_v": -28.4778786, "cg_vu_v": 151.762939, "cg_vv_v": 104.254532, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 81.1165237, "dclink_p_w": 12203.4336, "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": 42.3772278, "temp_inv2_c": 40.0867004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0951201618, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 262.02948, "values": {"Elec_RPM": -12955.5322, "EncoderCos": 22206, "EncoderSin": 50370, "GapTicks": 37764, "Mech_RPM": -2591.10645, "cg_du": 60.8100243, "cg_dv": 34.331131, "cg_dw": 65.668869, "cg_id_a": -3.57989359, "cg_id_raw_a": -12.7739153, "cg_iq_a": 296.767181, "cg_iq_raw_a": 292.409576, "cg_iu_a": -241.521667, "cg_iv_a": 266.656189, "cg_iw_a": -25.1345062, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 3332562, "cg_sample_valid": 1, "cg_theta_rad": 2.14353275, "cg_vd_req_v": 6.67032051, "cg_vd_v": 6.67032051, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5298977, "cg_vq_v": -28.5298977, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 81.9446945, "dclink_p_w": 12291.9805, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2600, "hz_tim_isr": 5002, "hz_vsense": 2600, "pwm_moe": 1, "temp_inv1_c": 42.4333496, "temp_inv2_c": 40.2763977, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0898329094, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 263.046967, "values": {"Elec_RPM": -12956.9531, "EncoderCos": 49338, "EncoderSin": 20785, "GapTicks": 37935, "Mech_RPM": -2591.39063, "cg_du": 34.4863968, "cg_dv": 38.1167221, "cg_dw": 65.5136032, "cg_id_a": 1.72644258, "cg_id_raw_a": 4.82609177, "cg_iq_a": 307.937805, "cg_iq_raw_a": 315.644836, "cg_iu_a": 31.1769409, "cg_iv_a": 251.325012, "cg_iw_a": -282.501953, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 3337712, "cg_sample_valid": 1, "cg_theta_rad": 5.72033405, "cg_vd_req_v": 6.584867, "cg_vd_v": 6.584867, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7224102, "cg_vq_v": -28.7224102, "cg_vu_v": 44.8690414, "cg_vv_v": 10.5574207, "cg_vw_v": 77.4210892, "control_outputs_enabled": 1, "dclink_i_a": 82.0117416, "dclink_p_w": 12338.1133, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2593, "hz_tim_isr": 4997, "hz_vsense": 2593, "pwm_moe": 1, "temp_inv1_c": 42.5458069, "temp_inv2_c": 40.2763977, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0912428498, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 263.925323, "values": {"Elec_RPM": -12958.374, "EncoderCos": 18379, "EncoderSin": 47465, "GapTicks": 38810, "Mech_RPM": -2591.6748, "cg_du": 64.7173538, "cg_dv": 35.2826462, "cg_dw": 35.758728, "cg_id_a": -6.96755838, "cg_id_raw_a": -0.935600877, "cg_iq_a": 295.070313, "cg_iq_raw_a": 302.977509, "cg_iu_a": -251.307495, "cg_iv_a": -12.2038879, "cg_iw_a": 263.511383, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3342062, "cg_sample_valid": 1, "cg_theta_rad": 2.36735082, "cg_vd_req_v": 6.75495911, "cg_vd_v": 6.75495911, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4961777, "cg_vq_v": -28.4961777, "cg_vu_v": 46.1887207, "cg_vv_v": 26.8334465, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.9320068, "dclink_p_w": 12326.1172, "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": 42.5739441, "temp_inv2_c": 40.4532776, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902861059, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 264.942719, "values": {"Elec_RPM": -12954.6191, "EncoderCos": 34739, "EncoderSin": 53131, "GapTicks": 37573, "Mech_RPM": -2590.92383, "cg_du": 40.1098633, "cg_dv": 65.842514, "cg_dw": 34.157486, "cg_id_a": -8.66110802, "cg_id_raw_a": -2.94685698, "cg_iq_a": 294.012665, "cg_iq_raw_a": 299.506592, "cg_iu_a": 230.373047, "cg_iv_a": -273.848114, "cg_iw_a": 43.4750671, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 3347062, "cg_sample_valid": 1, "cg_theta_rad": 1.51181734, "cg_vd_req_v": 6.80651236, "cg_vd_v": 6.80651236, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4513206, "cg_vq_v": -28.4513206, "cg_vu_v": 33.871727, "cg_vv_v": 78.7407684, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 81.1364517, "dclink_p_w": 12206.4316, "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": 40.4245911, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0936095193, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 265.960144, "values": {"Elec_RPM": -12961.333, "EncoderCos": 19398, "EncoderSin": 48392, "GapTicks": 36671, "Mech_RPM": -2592.2666, "cg_du": 66.6627197, "cg_dv": 33.3372841, "cg_dw": 44.9274178, "cg_id_a": -8.57899857, "cg_id_raw_a": -8.56109142, "cg_iq_a": 300.242218, "cg_iq_raw_a": 292.279724, "cg_iu_a": -284.543091, "cg_iv_a": 75.977356, "cg_iw_a": 208.565735, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 3352263, "cg_sample_valid": 1, "cg_theta_rad": 2.30704999, "cg_vd_req_v": 6.78513718, "cg_vd_v": 6.78513718, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5956917, "cg_vq_v": -28.5956917, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 81.8921356, "dclink_p_w": 12284.0967, "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": 42.7714233, "temp_inv2_c": 40.4768982, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0941130668, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 266.977539, "values": {"Elec_RPM": -12960.2949, "EncoderCos": 38972, "EncoderSin": 13059, "GapTicks": 37585, "Mech_RPM": -2592.05908, "cg_du": 65.8314896, "cg_dv": 60.2983208, "cg_dw": 34.1685104, "cg_id_a": 3.34818411, "cg_id_raw_a": -8.69316578, "cg_iq_a": 302.980713, "cg_iq_raw_a": 298.695404, "cg_iu_a": -122.75061, "cg_iv_a": -180.846436, "cg_iw_a": 303.597046, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 3357312, "cg_sample_valid": 1, "cg_theta_rad": 5.02630377, "cg_vd_req_v": 6.58281994, "cg_vd_v": 6.58281994, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6305485, "cg_vq_v": -28.6305485, "cg_vu_v": 110.413033, "cg_vv_v": 126.689056, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 81.7888412, "dclink_p_w": 12268.6016, "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": 42.8562927, "temp_inv2_c": 40.5343323, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0903868154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 267.938843, "values": {"Elec_RPM": -12958.7344, "EncoderCos": 23063, "EncoderSin": 14391, "GapTicks": 38721, "Mech_RPM": -2591.74683, "cg_du": 35.200985, "cg_dv": 63.7102585, "cg_dw": 64.7990112, "cg_id_a": 2.62046075, "cg_id_raw_a": 12.9088326, "cg_iq_a": 296.436462, "cg_iq_raw_a": 303.58551, "cg_iu_a": 240.992493, "cg_iv_a": 20.7780151, "cg_iw_a": -261.770508, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 3361963, "cg_sample_valid": 1, "cg_theta_rad": 4.27592087, "cg_vd_req_v": 6.58025742, "cg_vd_v": 6.58025742, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4900589, "cg_vq_v": -28.4900589, "cg_vu_v": 108.653458, "cg_vv_v": 109.973145, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 81.2651215, "dclink_p_w": 12225.7891, "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": 40.5596924, "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": 0.0980910957, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 268.988983, "values": {"Elec_RPM": -12962.6455, "EncoderCos": 20794, "EncoderSin": 15750, "GapTicks": 36488, "Mech_RPM": -2592.52905, "cg_du": 33.1717834, "cg_dv": 66.8282166, "cg_dw": 47.4513512, "cg_id_a": -0.282114029, "cg_id_raw_a": 5.70033026, "cg_iq_a": 300.298737, "cg_iq_raw_a": 299.620056, "cg_iu_a": 305.615234, "cg_iv_a": -171.024353, "cg_iw_a": -134.590881, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 3367413, "cg_sample_valid": 1, "cg_theta_rad": 4.13267612, "cg_vd_req_v": 6.62839842, "cg_vd_v": 6.62839842, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5865936, "cg_vq_v": -28.5865936, "cg_vu_v": 100.735397, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.8465042, "dclink_p_w": 12127.248, "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": 40.6663208, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0912428498, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 270.006439, "values": {"Elec_RPM": -12957.0889, "EncoderCos": 12306, "EncoderSin": 29577, "GapTicks": 36466, "Mech_RPM": -2591.41772, "cg_du": 51.410984, "cg_dv": 33.1514587, "cg_dw": 66.8485413, "cg_id_a": -4.29595613, "cg_id_raw_a": 3.19488072, "cg_iq_a": 297.649933, "cg_iq_raw_a": 294.496887, "cg_iu_a": -184.437622, "cg_iv_a": 290.649597, "cg_iw_a": -106.211967, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 3372412, "cg_sample_valid": 1, "cg_theta_rad": 3.33001375, "cg_vd_req_v": 6.70967102, "cg_vd_v": 6.70967102, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.524435, "cg_vq_v": -28.524435, "cg_vu_v": 49.707859, "cg_vv_v": 0, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 81.671051, "dclink_p_w": 12286.8584, "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": 43.1118469, "temp_inv2_c": 40.7782593, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0961272642, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 271.023804, "values": {"Elec_RPM": -12959.8691, "EncoderCos": 12163, "EncoderSin": 30849, "GapTicks": 37140, "Mech_RPM": -2591.97388, "cg_du": 42.2816925, "cg_dv": 33.7643204, "cg_dw": 66.2356796, "cg_id_a": 3.89193678, "cg_id_raw_a": -6.06987047, "cg_iq_a": 297.301422, "cg_iq_raw_a": 294.285095, "cg_iu_a": -88.3189697, "cg_iv_a": 259.842316, "cg_iw_a": -254.014313, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3377513, "cg_sample_valid": 1, "cg_theta_rad": 3.26065779, "cg_vd_req_v": 6.55571651, "cg_vd_v": 6.55571651, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5029755, "cg_vq_v": -28.5029755, "cg_vu_v": 151.323044, "cg_vv_v": 85.7790527, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 81.9664383, "dclink_p_w": 12295.2422, "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": 43.1688232, "temp_inv2_c": 40.7867432, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0892790109, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 272.041199, "values": {"Elec_RPM": -12961.4863, "EncoderCos": 49802, "EncoderSin": 43812, "GapTicks": 36812, "Mech_RPM": -2592.29736, "cg_du": 33.4660721, "cg_dv": 55.861702, "cg_dw": 66.5339279, "cg_id_a": 0.691995502, "cg_id_raw_a": 10.5905123, "cg_iq_a": 298.221588, "cg_iq_raw_a": 303.3638, "cg_iu_a": 128.926559, "cg_iv_a": 176.409012, "cg_iw_a": -305.335571, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 3382663, "cg_sample_valid": 1, "cg_theta_rad": 0.616989732, "cg_vd_req_v": 6.57282543, "cg_vd_v": 6.57282543, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.483469, "cg_vq_v": -28.483469, "cg_vu_v": 36.0711899, "cg_vv_v": 5.71860361, "cg_vw_v": 62.4647446, "control_outputs_enabled": 1, "dclink_i_a": 82.0353012, "dclink_p_w": 12305.5723, "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": 43.282959, "temp_inv2_c": 40.9125671, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0881208554, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 273.058685, "values": {"Elec_RPM": -12954.751, "EncoderCos": 49846, "EncoderSin": 43708, "GapTicks": 36439, "Mech_RPM": -2590.9502, "cg_du": 33.1271133, "cg_dv": 48.6555481, "cg_dw": 66.8728867, "cg_id_a": 2.43307757, "cg_id_raw_a": 10.1303797, "cg_iq_a": 299.706543, "cg_iq_raw_a": 305.011475, "cg_iu_a": 137.915039, "cg_iv_a": 169.812622, "cg_iw_a": -307.727661, "cg_sample_age_us": 23.5581818, "cg_sample_seq": 3387762, "cg_sample_valid": 1, "cg_theta_rad": 0.605576336, "cg_vd_req_v": 6.65202665, "cg_vd_v": 6.65202665, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.489994, "cg_vq_v": -28.489994, "cg_vu_v": 0.43989256, "cg_vv_v": 0, "cg_vw_v": 57.6259232, "control_outputs_enabled": 1, "dclink_i_a": 81.2035065, "dclink_p_w": 12180.7998, "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": 43.3115234, "temp_inv2_c": 40.9807129, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0907896534, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 274.07605, "values": {"Elec_RPM": -12957.9873, "EncoderCos": 12279, "EncoderSin": 29872, "GapTicks": 36389, "Mech_RPM": -2591.59741, "cg_du": 49.2128487, "cg_dv": 33.0815201, "cg_dw": 66.9184799, "cg_id_a": 1.76190972, "cg_id_raw_a": 11.1371241, "cg_iq_a": 299.964264, "cg_iq_raw_a": 299.564087, "cg_iu_a": -163.959869, "cg_iv_a": 293.91156, "cg_iw_a": -129.951691, "cg_sample_age_us": 24.187273, "cg_sample_seq": 3392812, "cg_sample_valid": 1, "cg_theta_rad": 3.30886436, "cg_vd_req_v": 6.61718845, "cg_vd_v": 6.61718845, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5582962, "cg_vq_v": -28.5582962, "cg_vu_v": 68.6232376, "cg_vv_v": 0, "cg_vw_v": 9.67763615, "control_outputs_enabled": 1, "dclink_i_a": 81.7834091, "dclink_p_w": 12267.7871, "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": 40.9909363, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0897825584, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 274.937439, "values": {"Elec_RPM": -12957.8008, "EncoderCos": 15028, "EncoderSin": 43152, "GapTicks": 37041, "Mech_RPM": -2591.56006, "cg_du": 57.5582008, "cg_dv": 66.3262711, "cg_dw": 33.6737289, "cg_id_a": 11.6938753, "cg_id_raw_a": 12.5965052, "cg_iq_a": 300.007813, "cg_iq_raw_a": 302.383301, "cg_iu_a": 93.0089264, "cg_iv_a": -259.568054, "cg_iw_a": 265.830994, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 3397113, "cg_sample_valid": 1, "cg_theta_rad": 2.63171721, "cg_vd_req_v": 6.39887667, "cg_vd_v": 6.39887667, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5632801, "cg_vq_v": -28.5632801, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 81.4463425, "dclink_p_w": 12253.0527, "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": 43.4546814, "temp_inv2_c": 41.0335693, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0916456878, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 275.954803, "values": {"Elec_RPM": -12959.0713, "EncoderCos": 29250, "EncoderSin": 52860, "GapTicks": 37964, "Mech_RPM": -2591.81421, "cg_du": 34.5131683, "cg_dv": 61.5388222, "cg_dw": 65.4868317, "cg_id_a": -2.93402839, "cg_id_raw_a": -3.17982197, "cg_iq_a": 294.704437, "cg_iq_raw_a": 296.093994, "cg_iu_a": 219.644867, "cg_iv_a": 53.54245, "cg_iw_a": -273.187317, "cg_sample_age_us": 23.772728, "cg_sample_seq": 3402113, "cg_sample_valid": 1, "cg_theta_rad": 1.78111756, "cg_vd_req_v": 6.72242165, "cg_vd_v": 6.72242165, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4168568, "cg_vq_v": -28.4168568, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 61.5849609, "control_outputs_enabled": 1, "dclink_i_a": 81.5333252, "dclink_p_w": 12266.1387, "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": 43.5120544, "temp_inv2_c": 41.0643005, "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": 0.0948683918, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 276.972229, "values": {"Elec_RPM": -12958.5273, "EncoderCos": 44953, "EncoderSin": 16317, "GapTicks": 36408, "Mech_RPM": -2591.70557, "cg_du": 33.0986481, "cg_dv": 66.9013519, "cg_dw": 48.0618591, "cg_id_a": 1.97655106, "cg_id_raw_a": 4.34047699, "cg_iq_a": 306.101715, "cg_iq_raw_a": 302.427826, "cg_iu_a": 303.80304, "cg_iv_a": -148.082001, "cg_iw_a": -155.721039, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 3407262, "cg_sample_valid": 1, "cg_theta_rad": 5.40594244, "cg_vd_req_v": 6.63599873, "cg_vd_v": 6.63599873, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6667309, "cg_vq_v": -28.6667309, "cg_vu_v": 0, "cg_vv_v": 20.2350578, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": 81.5913162, "dclink_p_w": 12274.8633, "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": 41.2250366, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918974578, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 277.949036, "values": {"Elec_RPM": -12958.7539, "EncoderCos": 13208, "EncoderSin": 25947, "GapTicks": 36473, "Mech_RPM": -2591.75073, "cg_du": 66.8423691, "cg_dv": 33.1576309, "cg_dw": 52.6163635, "cg_id_a": 1.11925089, "cg_id_raw_a": 7.29584122, "cg_iq_a": 303.600586, "cg_iq_raw_a": 301.222992, "cg_iu_a": -266.421204, "cg_iv_a": 22.1552887, "cg_iw_a": 244.265915, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 3412165, "cg_sample_valid": 1, "cg_theta_rad": 3.61499929, "cg_vd_req_v": 6.63644648, "cg_vd_v": 6.63644648, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6160183, "cg_vq_v": -28.6160183, "cg_vu_v": 139.885834, "cg_vv_v": 112.172607, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 81.3629761, "dclink_p_w": 12204.7207, "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": 41.1856689, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0903868154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 278.983704, "values": {"Elec_RPM": -12957.2178, "EncoderCos": 44918, "EncoderSin": 49008, "GapTicks": 37019, "Mech_RPM": -2591.4436, "cg_du": 66.3458862, "cg_dv": 33.6541138, "cg_dw": 57.7568016, "cg_id_a": -6.32009792, "cg_id_raw_a": -16.3139744, "cg_iq_a": 297.795166, "cg_iq_raw_a": 292.858337, "cg_iu_a": -297.373413, "cg_iv_a": 205.259125, "cg_iw_a": 92.114296, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 3417312, "cg_sample_valid": 1, "cg_theta_rad": 0.962791145, "cg_vd_req_v": 6.8632865, "cg_vd_v": 6.8632865, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.453804, "cg_vq_v": -28.453804, "cg_vu_v": 76.9812012, "cg_vv_v": 37.830761, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.473526, "dclink_p_w": 12257.1426, "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": 43.7710876, "temp_inv2_c": 41.23703, "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": 0.0951201618, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 280.001099, "values": {"Elec_RPM": -12955.0625, "EncoderCos": 28118, "EncoderSin": 12599, "GapTicks": 36940, "Mech_RPM": -2591.01245, "cg_du": 43.4636002, "cg_dv": 33.5822487, "cg_dw": 66.4177551, "cg_id_a": 2.80719924, "cg_id_raw_a": 7.91149521, "cg_iq_a": 298.375427, "cg_iq_raw_a": 303.072327, "cg_iu_a": -111.080101, "cg_iv_a": 291.048279, "cg_iw_a": -179.96817, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 3422462, "cg_sample_valid": 1, "cg_theta_rad": 4.5301795, "cg_vd_req_v": 6.60156298, "cg_vd_v": 6.60156298, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5098343, "cg_vq_v": -28.5098343, "cg_vu_v": 47.9482918, "cg_vv_v": 0, "cg_vw_v": 19.3552723, "control_outputs_enabled": 1, "dclink_i_a": 81.2904892, "dclink_p_w": 12193.8477, "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": 43.7999573, "temp_inv2_c": 41.393158, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908400118, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 281.018555, "values": {"Elec_RPM": -12956.5, "EncoderCos": 44981, "EncoderSin": 49014, "GapTicks": 37204, "Mech_RPM": -2591.30005, "cg_du": 66.1779404, "cg_dv": 33.8220596, "cg_dw": 57.9609489, "cg_id_a": -8.72038841, "cg_id_raw_a": -17.559473, "cg_iq_a": 295.272369, "cg_iq_raw_a": 291.135895, "cg_iu_a": -290.342102, "cg_iv_a": 124.109177, "cg_iw_a": 166.232925, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 3427512, "cg_sample_valid": 1, "cg_theta_rad": 1.01160216, "cg_vd_req_v": 6.90153694, "cg_vd_v": 6.90153694, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3891716, "cg_vq_v": -28.3891716, "cg_vu_v": 136.366699, "cg_vv_v": 103.814644, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 81.1128998, "dclink_p_w": 12202.8887, "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": 43.9445801, "temp_inv2_c": 41.4481812, "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": 0.0943144858, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 282.035889, "values": {"Elec_RPM": -12956.9414, "EncoderCos": 44963, "EncoderSin": 48942, "GapTicks": 37201, "Mech_RPM": -2591.38818, "cg_du": 66.1806412, "cg_dv": 33.8193588, "cg_dw": 58.2230835, "cg_id_a": -6.87312174, "cg_id_raw_a": -14.6517477, "cg_iq_a": 294.401611, "cg_iq_raw_a": 290.475891, "cg_iu_a": -256.381653, "cg_iv_a": 251.071335, "cg_iw_a": 5.31031799, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 3432612, "cg_sample_valid": 1, "cg_theta_rad": 0.915770829, "cg_vd_req_v": 6.85876465, "cg_vd_v": 6.85876465, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3910961, "cg_vq_v": -28.3910961, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.1545792, "dclink_p_w": 12209.1592, "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": 43.9735718, "temp_inv2_c": 41.5653076, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902357474, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 283.053345, "values": {"Elec_RPM": -12960.5898, "EncoderCos": 45850, "EncoderSin": 48276, "GapTicks": 38717, "Mech_RPM": -2592.11792, "cg_du": 63.851326, "cg_dv": 35.1975899, "cg_dw": 64.8024139, "cg_id_a": -12.8281565, "cg_id_raw_a": -3.73352146, "cg_iq_a": 291.105286, "cg_iq_raw_a": 296.570221, "cg_iu_a": -257.142761, "cg_iv_a": 249.875275, "cg_iw_a": 7.26748657, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 3437713, "cg_sample_valid": 1, "cg_theta_rad": 0.912368953, "cg_vd_req_v": 6.97507238, "cg_vd_v": 6.97507238, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2945232, "cg_vq_v": -28.2945232, "cg_vu_v": 141.645401, "cg_vv_v": 88.4184036, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 81.9428787, "dclink_p_w": 12327.7529, "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": 44.0606079, "temp_inv2_c": 41.5997925, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0936598778, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 284.07074, "values": {"Elec_RPM": -12954.4717, "EncoderCos": 45032, "EncoderSin": 48974, "GapTicks": 37249, "Mech_RPM": -2590.89429, "cg_du": 66.1369476, "cg_dv": 33.8630486, "cg_dw": 58.5054474, "cg_id_a": -6.10074472, "cg_id_raw_a": -17.9887581, "cg_iq_a": 296.336426, "cg_iq_raw_a": 292.180237, "cg_iu_a": -294.655151, "cg_iv_a": 206.38269, "cg_iw_a": 88.2724609, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 3442812, "cg_sample_valid": 1, "cg_theta_rad": 0.963770092, "cg_vd_req_v": 6.82478714, "cg_vd_v": 6.82478714, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4078674, "cg_vq_v": -28.4078674, "cg_vu_v": 128.008743, "cg_vv_v": 111.292824, "cg_vw_v": 94.5769043, "control_outputs_enabled": 1, "dclink_i_a": 80.1016922, "dclink_p_w": 12050.7588, "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": 44.1187134, "temp_inv2_c": 41.6913147, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0889265314, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 284.932098, "values": {"Elec_RPM": -12956.1797, "EncoderCos": 52336, "EncoderSin": 37699, "GapTicks": 38669, "Mech_RPM": -2591.23584, "cg_du": 35.1537552, "cg_dv": 64.8462448, "cg_dw": 35.9745636, "cg_id_a": 1.50282598, "cg_id_raw_a": -16.7047958, "cg_iq_a": 301.918579, "cg_iq_raw_a": 296.471619, "cg_iu_a": 267.849182, "cg_iv_a": -258.625732, "cg_iw_a": -9.22344971, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 3447113, "cg_sample_valid": 1, "cg_theta_rad": 0.291445881, "cg_vd_req_v": 6.66419983, "cg_vd_v": 6.66419983, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.523201, "cg_vq_v": -28.523201, "cg_vu_v": 109.973145, "cg_vv_v": 150.003372, "cg_vw_v": 147.364014, "control_outputs_enabled": 1, "dclink_i_a": 81.555069, "dclink_p_w": 12161.7842, "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": 44.2060242, "temp_inv2_c": 41.6688538, "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": 0.0914442614, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 285.949554, "values": {"Elec_RPM": -12957.9209, "EncoderCos": 12207, "EncoderSin": 34092, "GapTicks": 37217, "Mech_RPM": -2591.58423, "cg_du": 33.8343468, "cg_dv": 58.357975, "cg_dw": 66.1656494, "cg_id_a": -0.0574986935, "cg_id_raw_a": 6.98904705, "cg_iq_a": 300.256012, "cg_iq_raw_a": 297.286133, "cg_iu_a": 215.041901, "cg_iv_a": 82.6462402, "cg_iw_a": -297.688141, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 3452162, "cg_sample_valid": 1, "cg_theta_rad": 3.06380844, "cg_vd_req_v": 6.6310873, "cg_vd_v": 6.6310873, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5468578, "cg_vq_v": -28.5468578, "cg_vu_v": 37.3908691, "cg_vv_v": 37.3908691, "cg_vw_v": 82.2599106, "control_outputs_enabled": 1, "dclink_i_a": 81.4028473, "dclink_p_w": 12246.5088, "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": 44.2642822, "temp_inv2_c": 41.7155457, "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": 0.0921492353, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 286.966949, "values": {"Elec_RPM": -12959.0449, "EncoderCos": 49284, "EncoderSin": 20933, "GapTicks": 38035, "Mech_RPM": -2591.80908, "cg_du": 34.5779877, "cg_dv": 37.6388969, "cg_dw": 65.4220123, "cg_id_a": 12.2373428, "cg_id_raw_a": -2.81479287, "cg_iq_a": 310.458435, "cg_iq_raw_a": 303.816742, "cg_iu_a": 30.9957218, "cg_iv_a": 249.041687, "cg_iw_a": -280.037415, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3457213, "cg_sample_valid": 1, "cg_theta_rad": 5.70319319, "cg_vd_req_v": 6.4342947, "cg_vd_v": 6.4342947, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.7219658, "cg_vq_v": -28.7219658, "cg_vu_v": 141.205521, "cg_vv_v": 107.773682, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 81.3811035, "dclink_p_w": 12243.2383, "enc_isr_hz": 4998, "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": 44.3226624, "temp_inv2_c": 41.7639771, "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": 0.0978896767, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 287.919128, "values": {"Elec_RPM": -12955.7959, "EncoderCos": 19376, "EncoderSin": 48174, "GapTicks": 36856, "Mech_RPM": -2591.15918, "cg_du": 66.4944458, "cg_dv": 33.5055504, "cg_dw": 43.7034454, "cg_id_a": -11.8126707, "cg_id_raw_a": -8.37710953, "cg_iq_a": 299.064789, "cg_iq_raw_a": 300.809235, "cg_iu_a": -295.9599, "cg_iv_a": 82.1388092, "cg_iw_a": 213.821091, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3461912, "cg_sample_valid": 1, "cg_theta_rad": 2.30810189, "cg_vd_req_v": 6.90090322, "cg_vd_v": 6.90090322, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5182419, "cg_vq_v": -28.5182419, "cg_vu_v": 71.7024918, "cg_vv_v": 33.871727, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.6348114, "dclink_p_w": 12281.4063, "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": 44.4103394, "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": 0.0904875249, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 288.978455, "values": {"Elec_RPM": -12958.1445, "EncoderCos": 39264, "EncoderSin": 52001, "GapTicks": 37110, "Mech_RPM": -2591.62891, "cg_du": 66.2633133, "cg_dv": 57.5263252, "cg_dw": 33.7366867, "cg_id_a": -14.6053476, "cg_id_raw_a": -4.84510946, "cg_iq_a": 291.228577, "cg_iq_raw_a": 293.071045, "cg_iu_a": -64.7967224, "cg_iv_a": -214.77066, "cg_iw_a": 279.567383, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3467263, "cg_sample_valid": 1, "cg_theta_rad": 1.28622687, "cg_vd_req_v": 7.01404953, "cg_vd_v": 7.01404953, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3014641, "cg_vq_v": -28.3014641, "cg_vu_v": 0.43989256, "cg_vv_v": 52.7871094, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.0911484, "dclink_p_w": 12163.9453, "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": 44.4396057, "temp_inv2_c": 41.8974304, "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": 0.0989974812, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 289.99585, "values": {"Elec_RPM": -12958.668, "EncoderCos": 38193, "EncoderSin": 52362, "GapTicks": 38900, "Mech_RPM": -2591.73364, "cg_du": 64.3801422, "cg_dv": 64.6354675, "cg_dw": 35.3645325, "cg_id_a": -7.21561003, "cg_id_raw_a": -24.1546955, "cg_iq_a": 292.333435, "cg_iq_raw_a": 289.28595, "cg_iu_a": 12.2214165, "cg_iv_a": -260.655334, "cg_iw_a": 248.433929, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 3472362, "cg_sample_valid": 1, "cg_theta_rad": 1.33158612, "cg_vd_req_v": 6.83437634, "cg_vd_v": 6.83437634, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3321114, "cg_vq_v": -28.3321114, "cg_vu_v": 25.5137672, "cg_vv_v": 77.8609848, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 81.8142166, "dclink_p_w": 12308.3965, "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": 44.5274963, "temp_inv2_c": 41.9721375, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0941130668, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 291.013245, "values": {"Elec_RPM": -12959.7227, "EncoderCos": 22260, "EncoderSin": 50250, "GapTicks": 37917, "Mech_RPM": -2591.94458, "cg_du": 61.0379791, "cg_dv": 34.4702835, "cg_dw": 65.5297165, "cg_id_a": -7.84945011, "cg_id_raw_a": -0.826943278, "cg_iq_a": 291.835938, "cg_iq_raw_a": 298.783173, "cg_iu_a": -238.440948, "cg_iv_a": 266.329987, "cg_iw_a": -27.8890457, "cg_sample_age_us": 23.692728, "cg_sample_seq": 3477563, "cg_sample_valid": 1, "cg_theta_rad": 2.15677571, "cg_vd_req_v": 6.83968735, "cg_vd_v": 6.83968735, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3474007, "cg_vq_v": -28.3474007, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.1237717, "dclink_p_w": 12204.5244, "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": 44.5862122, "temp_inv2_c": 42.0364685, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926024243, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 292.03067, "values": {"Elec_RPM": -12962.4072, "EncoderCos": 39171, "EncoderSin": 51976, "GapTicks": 37196, "Mech_RPM": -2592.48145, "cg_du": 66.1851578, "cg_dv": 58.0018387, "cg_dw": 33.8148422, "cg_id_a": -11.9561844, "cg_id_raw_a": -5.16145992, "cg_iq_a": 292.240997, "cg_iq_raw_a": 294.082794, "cg_iu_a": -60.9186401, "cg_iv_a": -217.307739, "cg_iw_a": 278.226379, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 3482563, "cg_sample_valid": 1, "cg_theta_rad": 1.28651881, "cg_vd_req_v": 6.94278288, "cg_vd_v": 6.94278288, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3150787, "cg_vq_v": -28.3150787, "cg_vu_v": 142.525192, "cg_vv_v": 151.762939, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 82.0896683, "dclink_p_w": 12349.8369, "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": 44.7038269, "temp_inv2_c": 42.1270752, "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": 0.0935591608, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 293.048065, "values": {"Elec_RPM": -12953.7656, "EncoderCos": 38056, "EncoderSin": 52372, "GapTicks": 38637, "Mech_RPM": -2590.75317, "cg_du": 63.5731392, "cg_dv": 64.8749237, "cg_dw": 35.1250763, "cg_id_a": -3.33956385, "cg_id_raw_a": -20.1868877, "cg_iq_a": 292.67038, "cg_iq_raw_a": 289.903473, "cg_iu_a": -57.4754753, "cg_iv_a": -220.026047, "cg_iw_a": 277.501526, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 3487662, "cg_sample_valid": 1, "cg_theta_rad": 1.29484439, "cg_vd_req_v": 6.76981831, "cg_vd_v": 6.76981831, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3236294, "cg_vq_v": -28.3236294, "cg_vu_v": 34.7515144, "cg_vv_v": 68.6232376, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.0005417, "dclink_p_w": 12150.3545, "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": 44.7332458, "temp_inv2_c": 42.1968384, "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": 0.0966308042, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 294.065491, "values": {"Elec_RPM": -12864.4248, "EncoderCos": 39063, "EncoderSin": 52045, "GapTicks": 37414, "Mech_RPM": -2572.88501, "cg_du": 65.9866714, "cg_dv": 58.8520813, "cg_dw": 34.0133286, "cg_id_a": -11.8805342, "cg_id_raw_a": -5.04965496, "cg_iq_a": 292.705231, "cg_iq_raw_a": 296.059845, "cg_iu_a": -53.0899734, "cg_iv_a": -222.164429, "cg_iw_a": 275.254395, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 3492763, "cg_sample_valid": 1, "cg_theta_rad": 1.28233707, "cg_vd_req_v": 6.88050318, "cg_vd_v": 6.88050318, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3326836, "cg_vq_v": -28.3326836, "cg_vu_v": 88.4184036, "cg_vv_v": 113.492287, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 81.3031769, "dclink_p_w": 12231.5146, "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": 44.8807678, "temp_inv2_c": 42.1968384, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932066813, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 294.926819, "values": {"Elec_RPM": -12829.7549, "EncoderCos": 52411, "EncoderSin": 28081, "GapTicks": 37034, "Mech_RPM": -2565.95093, "cg_du": 66.3325806, "cg_dv": 33.6674194, "cg_dw": 42.1362495, "cg_id_a": 0.155166388, "cg_id_raw_a": -2.09063554, "cg_iq_a": 306.475311, "cg_iq_raw_a": 301.329437, "cg_iu_a": -282.622192, "cg_iv_a": 57.6742554, "cg_iw_a": 224.947937, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 3496963, "cg_sample_valid": 1, "cg_theta_rad": 6.1042757, "cg_vd_req_v": 6.61293602, "cg_vd_v": 6.61293602, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6077995, "cg_vq_v": -28.6077995, "cg_vu_v": 151.762939, "cg_vv_v": 149.123581, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 81.5007019, "dclink_p_w": 12261.2305, "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": 44.8807678, "temp_inv2_c": 42.2475281, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982421637, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 295.944244, "values": {"Elec_RPM": -12814.3242, "EncoderCos": 12869, "EncoderSin": 27301, "GapTicks": 38068, "Mech_RPM": -2562.86475, "cg_du": 65.3920135, "cg_dv": 34.6079903, "cg_dw": 62.1767845, "cg_id_a": -0.237134218, "cg_id_raw_a": -16.0902977, "cg_iq_a": 302.721405, "cg_iq_raw_a": 296.927582, "cg_iu_a": -236.809967, "cg_iv_a": 282.132263, "cg_iw_a": -45.3223114, "cg_sample_age_us": 23.6963634, "cg_sample_seq": 3502112, "cg_sample_valid": 1, "cg_theta_rad": 3.40315533, "cg_vd_req_v": 6.54083538, "cg_vd_v": 6.54083538, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5704784, "cg_vq_v": -28.5704784, "cg_vu_v": 42.6695786, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.3901596, "dclink_p_w": 12208.7988, "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": 44.9399109, "temp_inv2_c": 42.2737427, "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": 0.0931563228, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 296.961731, "values": {"Elec_RPM": -12811.127, "EncoderCos": 12673, "EncoderSin": 28314, "GapTicks": 37665, "Mech_RPM": -2562.22534, "cg_du": 60.5386429, "cg_dv": 34.2416878, "cg_dw": 65.7583084, "cg_id_a": -2.76756096, "cg_id_raw_a": 5.72159815, "cg_iq_a": 298.622559, "cg_iq_raw_a": 304.969818, "cg_iu_a": -284.905518, "cg_iv_a": 236.972458, "cg_iw_a": 47.9330597, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 3507213, "cg_sample_valid": 1, "cg_theta_rad": 3.45089984, "cg_vd_req_v": 6.59204006, "cg_vd_v": 6.59204006, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.506485, "cg_vq_v": -28.506485, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.2614975, "dclink_p_w": 12189.499, "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": 45.0287781, "temp_inv2_c": 42.4190979, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.087516591, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 297.913788, "values": {"Elec_RPM": -12816.5332, "EncoderCos": 52923, "EncoderSin": 31970, "GapTicks": 36695, "Mech_RPM": -2563.30664, "cg_du": 66.6401596, "cg_dv": 55.2856941, "cg_dw": 33.3598404, "cg_id_a": 7.81473827, "cg_id_raw_a": 6.78852129, "cg_iq_a": 305.669189, "cg_iq_raw_a": 304.105621, "cg_iu_a": -86.5792694, "cg_iv_a": -206.325851, "cg_iw_a": 292.905121, "cg_sample_age_us": 24.0854549, "cg_sample_seq": 3511912, "cg_sample_valid": 1, "cg_theta_rad": 6.28089285, "cg_vd_req_v": 6.4628706, "cg_vd_v": 6.4628706, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5813427, "cg_vq_v": -28.5813427, "cg_vu_v": 7.47817326, "cg_vv_v": 63.7844238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.7341461, "dclink_p_w": 12110.3945, "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": 45.0584412, "temp_inv2_c": 42.4278564, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0959258378, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 298.973114, "values": {"Elec_RPM": -12808.335, "EncoderCos": 15652, "EncoderSin": 43912, "GapTicks": 38628, "Mech_RPM": -2561.66699, "cg_du": 63.7977638, "cg_dv": 64.8830872, "cg_dw": 35.1169128, "cg_id_a": 1.37563753, "cg_id_raw_a": -16.3299103, "cg_iq_a": 298.497101, "cg_iq_raw_a": 296.624054, "cg_iu_a": 16.1719952, "cg_iv_a": -267.7229, "cg_iw_a": 251.550919, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 3517312, "cg_sample_valid": 1, "cg_theta_rad": 2.60045266, "cg_vd_req_v": 6.51296902, "cg_vd_v": 6.51296902, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5046768, "cg_vq_v": -28.5046768, "cg_vu_v": 22.8744144, "cg_vv_v": 77.8609848, "cg_vw_v": 38.7105446, "control_outputs_enabled": 1, "dclink_i_a": 80.9081192, "dclink_p_w": 12172.0811, "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": 45.147522, "temp_inv2_c": 42.5314636, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0902861059, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 299.99054, "values": {"Elec_RPM": -12807.623, "EncoderCos": 43355, "EncoderSin": 15341, "GapTicks": 38913, "Mech_RPM": -2561.52466, "cg_du": 35.3758698, "cg_dv": 64.6241302, "cg_dw": 35.5241241, "cg_id_a": -1.24813938, "cg_id_raw_a": 5.91400385, "cg_iq_a": 299.053894, "cg_iq_raw_a": 305.087524, "cg_iu_a": 265.094666, "cg_iv_a": -251.920624, "cg_iw_a": 61.3070221, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 3522362, "cg_sample_valid": 1, "cg_theta_rad": 5.30050373, "cg_vd_req_v": 6.5974369, "cg_vd_v": 6.5974369, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5071564, "cg_vq_v": -28.5071564, "cg_vu_v": 0, "cg_vv_v": 44.8690414, "cg_vw_v": 32.5520515, "control_outputs_enabled": 1, "dclink_i_a": 80.7921371, "dclink_p_w": 12154.6318, "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": 45.2070007, "temp_inv2_c": 42.5156555, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0907896534, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 301.007904, "values": {"Elec_RPM": -12807.3291, "EncoderCos": 43418, "EncoderSin": 15427, "GapTicks": 38727, "Mech_RPM": -2561.46582, "cg_du": 35.2068405, "cg_dv": 64.7931595, "cg_dw": 36.1492462, "cg_id_a": -0.131410003, "cg_id_raw_a": 6.81966591, "cg_iq_a": 297.247498, "cg_iq_raw_a": 304.012207, "cg_iu_a": 269.008972, "cg_iv_a": -241.62735, "cg_iw_a": -27.3816223, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3527462, "cg_sample_valid": 1, "cg_theta_rad": 5.31585598, "cg_vd_req_v": 6.56677532, "cg_vd_v": 6.56677532, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4649754, "cg_vq_v": -28.4649754, "cg_vu_v": 0, "cg_vv_v": 40.9100075, "cg_vw_v": 45.3089333, "control_outputs_enabled": 1, "dclink_i_a": 81.1871948, "dclink_p_w": 12178.3525, "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": 45.2367554, "temp_inv2_c": 42.6035767, "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": 0.0980407372, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 302.02536, "values": {"Elec_RPM": -12814.5039, "EncoderCos": 43544, "EncoderSin": 15484, "GapTicks": 38419, "Mech_RPM": -2562.90088, "cg_du": 34.9271126, "cg_dv": 65.0728836, "cg_dw": 36.9721832, "cg_id_a": 1.22079921, "cg_id_raw_a": 6.55351114, "cg_iq_a": 299.965637, "cg_iq_raw_a": 305.191833, "cg_iu_a": 272.887085, "cg_iv_a": -240.829987, "cg_iw_a": -32.0570908, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 3532562, "cg_sample_valid": 1, "cg_theta_rad": 5.32721424, "cg_vd_req_v": 6.55904675, "cg_vd_v": 6.55904675, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5187168, "cg_vq_v": -28.5187168, "cg_vu_v": 24.6339836, "cg_vv_v": 69.0631332, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 81.0839005, "dclink_p_w": 12198.5254, "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": 45.3560486, "temp_inv2_c": 42.7269897, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938109383, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 303.042786, "values": {"Elec_RPM": -12814.1035, "EncoderCos": 30775, "EncoderSin": 52905, "GapTicks": 37270, "Mech_RPM": -2562.8208, "cg_du": 33.8818283, "cg_dv": 66.1181717, "cg_dw": 57.8405533, "cg_id_a": -7.88883114, "cg_id_raw_a": 2.35911942, "cg_iq_a": 290.218994, "cg_iq_raw_a": 296.336792, "cg_iu_a": 275.351624, "cg_iv_a": -62.8365021, "cg_iw_a": -212.515121, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 3537613, "cg_sample_valid": 1, "cg_theta_rad": 1.70227981, "cg_vd_req_v": 6.7334795, "cg_vd_v": 6.7334795, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2930698, "cg_vq_v": -28.2930698, "cg_vu_v": 73.0221634, "cg_vv_v": 75.2216263, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 81.4100952, "dclink_p_w": 12247.5996, "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": 45.4457092, "temp_inv2_c": 42.7040405, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0882215574, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 304.06012, "values": {"Elec_RPM": -12811.376, "EncoderCos": 29569, "EncoderSin": 52738, "GapTicks": 38614, "Mech_RPM": -2562.27515, "cg_du": 35.1042252, "cg_dv": 63.309639, "cg_dw": 64.8957748, "cg_id_a": -3.99579883, "cg_id_raw_a": -20.6263828, "cg_iq_a": 291.857727, "cg_iq_raw_a": 289.666992, "cg_iu_a": 242.406006, "cg_iv_a": 26.6857605, "cg_iw_a": -269.091766, "cg_sample_age_us": 23.863636, "cg_sample_seq": 3542712, "cg_sample_valid": 1, "cg_theta_rad": 1.76389325, "cg_vd_req_v": 6.64551687, "cg_vd_v": 6.64551687, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3482685, "cg_vq_v": -28.3482685, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 50.1477547, "control_outputs_enabled": 1, "dclink_i_a": 82.1947784, "dclink_p_w": 12365.6494, "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": 45.4457092, "temp_inv2_c": 42.8577271, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0896818489, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 305.077576, "values": {"Elec_RPM": -12808.2998, "EncoderCos": 29447, "EncoderSin": 52790, "GapTicks": 38309, "Mech_RPM": -2561.65991, "cg_du": 34.826561, "cg_dv": 62.6481476, "cg_dw": 65.173439, "cg_id_a": -3.9648149, "cg_id_raw_a": -20.5230541, "cg_iq_a": 294.32724, "cg_iq_raw_a": 291.597107, "cg_iu_a": 240.340103, "cg_iv_a": 36.8340302, "cg_iw_a": -277.174133, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 3547812, "cg_sample_valid": 1, "cg_theta_rad": 1.76237369, "cg_vd_req_v": 6.65777874, "cg_vd_v": 6.65777874, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3969631, "cg_vq_v": -28.3969631, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 60.7051735, "control_outputs_enabled": 1, "dclink_i_a": 80.745018, "dclink_p_w": 12147.543, "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": 45.5055847, "temp_inv2_c": 42.8860779, "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": 0.0970336422, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 305.938934, "values": {"Elec_RPM": -12813.6367, "EncoderCos": 52204, "EncoderSin": 37787, "GapTicks": 38433, "Mech_RPM": -2562.72729, "cg_du": 34.9394913, "cg_dv": 65.0605087, "cg_dw": 36.8124466, "cg_id_a": 1.96667409, "cg_id_raw_a": 9.44209099, "cg_iq_a": 301.951111, "cg_iq_raw_a": 308.028259, "cg_iu_a": 274.228088, "cg_iv_a": -242.352219, "cg_iw_a": 51.956131, "cg_sample_age_us": 23.4563637, "cg_sample_seq": 3552012, "cg_sample_valid": 1, "cg_theta_rad": 0.284991533, "cg_vd_req_v": 6.58878517, "cg_vd_v": 6.58878517, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4779663, "cg_vq_v": -28.4779663, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 42.2296829, "control_outputs_enabled": 1, "dclink_i_a": 82.1512833, "dclink_p_w": 12359.1064, "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": 45.535553, "temp_inv2_c": 42.9143982, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0921492353, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 306.95636, "values": {"Elec_RPM": -12816.1611, "EncoderCos": 32274, "EncoderSin": 12283, "GapTicks": 38979, "Mech_RPM": -2563.23218, "cg_du": 64.5638428, "cg_dv": 35.4361572, "cg_dw": 64.5248947, "cg_id_a": -7.22658634, "cg_id_raw_a": -13.0253763, "cg_iq_a": 294.354065, "cg_iq_raw_a": 291.250397, "cg_iu_a": -263.195465, "cg_iv_a": 247.301971, "cg_iw_a": 15.8935013, "cg_sample_age_us": 23.6090908, "cg_sample_seq": 3557263, "cg_sample_valid": 1, "cg_theta_rad": 4.69181347, "cg_vd_req_v": 6.71687412, "cg_vd_v": 6.71687412, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4110489, "cg_vq_v": -28.4110489, "cg_vu_v": 129.768311, "cg_vv_v": 73.462059, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 81.4572144, "dclink_p_w": 12290.5205, "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": 45.6556091, "temp_inv2_c": 42.9711304, "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": 0.0971343517, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 307.903931, "values": {"Elec_RPM": -12807.0596, "EncoderCos": 12359, "EncoderSin": 34536, "GapTicks": 36562, "Mech_RPM": -2561.41187, "cg_du": 33.2385406, "cg_dv": 53.6074066, "cg_dw": 66.7614594, "cg_id_a": 7.34464645, "cg_id_raw_a": 13.3944597, "cg_iq_a": 305.923889, "cg_iq_raw_a": 302.329315, "cg_iu_a": 165.605316, "cg_iv_a": 131.756622, "cg_iw_a": -297.361938, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 3561813, "cg_sample_valid": 1, "cg_theta_rad": 3.09521127, "cg_vd_req_v": 6.4447875, "cg_vd_v": 6.4447875, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6248703, "cg_vq_v": -28.6248703, "cg_vu_v": 16.2760258, "cg_vv_v": 0, "cg_vw_v": 58.0658188, "control_outputs_enabled": 1, "dclink_i_a": 81.3955994, "dclink_p_w": 12245.4189, "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": 45.6856689, "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": 0.0893293694, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 308.967865, "values": {"Elec_RPM": -12808.1846, "EncoderCos": 49457, "EncoderSin": 21372, "GapTicks": 38641, "Mech_RPM": -2561.63696, "cg_du": 36.158165, "cg_dv": 35.1281891, "cg_dw": 64.8718109, "cg_id_a": 3.56641817, "cg_id_raw_a": 6.21563482, "cg_iq_a": 305.417938, "cg_iq_raw_a": 313.829376, "cg_iu_a": -20.6154976, "cg_iv_a": 272.672638, "cg_iw_a": -252.057129, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 3567212, "cg_sample_valid": 1, "cg_theta_rad": 5.73151588, "cg_vd_req_v": 6.50661469, "cg_vd_v": 6.50661469, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5977955, "cg_vq_v": -28.5977955, "cg_vu_v": 51.9073219, "cg_vv_v": 0, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 81.4698944, "dclink_p_w": 12220.7588, "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": 45.7458801, "temp_inv2_c": 43.019043, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0931563228, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 309.98526, "values": {"Elec_RPM": -12805.5293, "EncoderCos": 52052, "EncoderSin": 38347, "GapTicks": 37422, "Mech_RPM": -2561.10596, "cg_du": 34.0203171, "cg_dv": 65.9796829, "cg_dw": 40.6164665, "cg_id_a": 4.72649145, "cg_id_raw_a": 5.6336441, "cg_iq_a": 303.030121, "cg_iq_raw_a": 305.58432, "cg_iu_a": 290.429077, "cg_iv_a": -211.834915, "cg_iw_a": -78.594162, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 3572412, "cg_sample_valid": 1, "cg_theta_rad": 0.322843969, "cg_vd_req_v": 6.54254675, "cg_vd_v": 6.54254675, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4839478, "cg_vq_v": -28.4839478, "cg_vu_v": 0, "cg_vv_v": 38.7105446, "cg_vw_v": 60.2652817, "control_outputs_enabled": 1, "dclink_i_a": 81.8377762, "dclink_p_w": 12311.9414, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2612, "hz_tim_isr": 5000, "hz_vsense": 2612, "pwm_moe": 1, "temp_inv1_c": 45.8363037, "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": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 311.002777, "values": {"Elec_RPM": -12809.96, "EncoderCos": 49626, "EncoderSin": 21653, "GapTicks": 37990, "Mech_RPM": -2561.99194, "cg_du": 38.100914, "cg_dv": 34.5370522, "cg_dw": 65.462944, "cg_id_a": 12.6180649, "cg_id_raw_a": 14.0238752, "cg_iq_a": 307.276917, "cg_iq_raw_a": 316.615356, "cg_iu_a": 46.399353, "cg_iv_a": 237.987305, "cg_iw_a": -284.386658, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 3577412, "cg_sample_valid": 1, "cg_theta_rad": 5.71097136, "cg_vd_req_v": 6.34032393, "cg_vd_v": 6.34032393, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6135521, "cg_vq_v": -28.6135521, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 46.1887207, "control_outputs_enabled": 1, "dclink_i_a": 80.5257492, "dclink_p_w": 12079.1338, "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": 45.896698, "temp_inv2_c": 43.1808777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 312.020111, "values": {"Elec_RPM": -12820.2793, "EncoderCos": 12474, "EncoderSin": 35304, "GapTicks": 37376, "Mech_RPM": -2564.05591, "cg_du": 33.978653, "cg_dv": 58.9771004, "cg_dw": 66.021347, "cg_id_a": 4.85414886, "cg_id_raw_a": -9.55715656, "cg_iq_a": 302.417328, "cg_iq_raw_a": 302.17749, "cg_iu_a": 265.674561, "cg_iv_a": -13.3274536, "cg_iw_a": -252.347107, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 3582562, "cg_sample_valid": 1, "cg_theta_rad": 3.00659156, "cg_vd_req_v": 6.47673035, "cg_vd_v": 6.47673035, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5258732, "cg_vq_v": -28.5258732, "cg_vu_v": 94.1370087, "cg_vv_v": 76.5413055, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 81.48983, "dclink_p_w": 12259.5947, "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": 45.9874268, "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": 0.0898832679, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 313.037506, "values": {"Elec_RPM": -12818.5439, "EncoderCos": 12638, "EncoderSin": 36286, "GapTicks": 38649, "Mech_RPM": -2563.70874, "cg_du": 35.1358414, "cg_dv": 64.8641586, "cg_dw": 63.8609505, "cg_id_a": -1.45392644, "cg_id_raw_a": 4.65380764, "cg_iq_a": 299.587646, "cg_iq_raw_a": 304.221832, "cg_iu_a": 256.613586, "cg_iv_a": 0.517700195, "cg_iw_a": -257.131287, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 3587663, "cg_sample_valid": 1, "cg_theta_rad": 3.00390625, "cg_vd_req_v": 6.60038376, "cg_vd_v": 6.60038376, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4855938, "cg_vq_v": -28.4855938, "cg_vu_v": 109.093361, "cg_vv_v": 116.571533, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 81.0150375, "dclink_p_w": 12152.5293, "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": 46.0177002, "temp_inv2_c": 43.2789612, "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": 0.0963790342, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 314.054932, "values": {"Elec_RPM": -12820.3828, "EncoderCos": 49891, "EncoderSin": 22054, "GapTicks": 37268, "Mech_RPM": -2564.07666, "cg_du": 41.3589668, "cg_dv": 33.8808899, "cg_dw": 66.1191101, "cg_id_a": 13.4001541, "cg_id_raw_a": 12.2969875, "cg_iq_a": 306.75293, "cg_iq_raw_a": 313.618652, "cg_iu_a": -82.5199585, "cg_iv_a": 292.280579, "cg_iw_a": -209.760605, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3592712, "cg_sample_valid": 1, "cg_theta_rad": 5.78328371, "cg_vd_req_v": 6.34494829, "cg_vd_v": 6.34494829, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6171513, "cg_vq_v": -28.6171513, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 35.1914063, "control_outputs_enabled": 1, "dclink_i_a": 80.9063034, "dclink_p_w": 12136.2188, "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": 46.0480347, "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": 0.0953215882, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 315.072296, "values": {"Elec_RPM": -12817.4912, "EncoderCos": 49380, "EncoderSin": 21322, "GapTicks": 38799, "Mech_RPM": -2563.49829, "cg_du": 35.4551926, "cg_dv": 35.2719765, "cg_dw": 64.7280273, "cg_id_a": 10.3273258, "cg_id_raw_a": -8.15874672, "cg_iq_a": 309.730408, "cg_iq_raw_a": 303.93338, "cg_iu_a": 2.54431295, "cg_iv_a": 266.148743, "cg_iw_a": -268.693054, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 3597813, "cg_sample_valid": 1, "cg_theta_rad": 5.74025345, "cg_vd_req_v": 6.39999294, "cg_vd_v": 6.39999294, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6596279, "cg_vq_v": -28.6596279, "cg_vu_v": 70.3828125, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 80.8936234, "dclink_p_w": 12134.3164, "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": 46.1390686, "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": 0.0958251283, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 315.933777, "values": {"Elec_RPM": -12812.1631, "EncoderCos": 39915, "EncoderSin": 13677, "GapTicks": 38072, "Mech_RPM": -2562.43262, "cg_du": 61.853714, "cg_dv": 65.3883896, "cg_dw": 34.6116104, "cg_id_a": 6.01405096, "cg_id_raw_a": 12.1845055, "cg_iq_a": 301.637695, "cg_iq_raw_a": 306.11557, "cg_iu_a": 46.1456451, "cg_iv_a": -276.421448, "cg_iw_a": 230.275787, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3602113, "cg_sample_valid": 1, "cg_theta_rad": 5.11629248, "cg_vd_req_v": 6.45529509, "cg_vd_v": 6.45529509, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5356541, "cg_vq_v": -28.5356541, "cg_vu_v": 111.292824, "cg_vv_v": 151.762939, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": 81.4463425, "dclink_p_w": 12253.0527, "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": 46.1998596, "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": 0.0897825584, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 316.951172, "values": {"Elec_RPM": -12815.3535, "EncoderCos": 23158, "EncoderSin": 14633, "GapTicks": 38744, "Mech_RPM": -2563.0708, "cg_du": 35.2221298, "cg_dv": 63.8393097, "cg_dw": 64.7778702, "cg_id_a": 3.53040624, "cg_id_raw_a": 10.8773727, "cg_iq_a": 298.377472, "cg_iq_raw_a": 304.944733, "cg_iu_a": 245.994141, "cg_iv_a": 14.5440674, "cg_iw_a": -260.538208, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3607113, "cg_sample_valid": 1, "cg_theta_rad": 4.2670784, "cg_vd_req_v": 6.50695753, "cg_vd_v": 6.50695753, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4491463, "cg_vq_v": -28.4491463, "cg_vu_v": 106.453995, "cg_vv_v": 113.052383, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 82.3651199, "dclink_p_w": 12391.2764, "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": 46.2607422, "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": 0.0954726487, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 317.898773, "values": {"Elec_RPM": -12810.4014, "EncoderCos": 46899, "EncoderSin": 47088, "GapTicks": 36567, "Mech_RPM": -2562.08032, "cg_du": 53.0176125, "cg_dv": 33.2427292, "cg_dw": 66.7572708, "cg_id_a": -1.70667434, "cg_id_raw_a": 5.96196365, "cg_iq_a": 298.574341, "cg_iq_raw_a": 299.754303, "cg_iu_a": -181.71933, "cg_iv_a": 302.356323, "cg_iw_a": -120.637001, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 3611813, "cg_sample_valid": 1, "cg_theta_rad": 0.826690793, "cg_vd_req_v": 6.69371223, "cg_vd_v": 6.69371223, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4034672, "cg_vq_v": -28.4034672, "cg_vu_v": 128.008743, "cg_vv_v": 80.0604477, "cg_vw_v": 122.290138, "control_outputs_enabled": 1, "dclink_i_a": 80.8718719, "dclink_p_w": 12166.6279, "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": 46.2912292, "temp_inv2_c": 43.6571045, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917967483, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 318.962646, "values": {"Elec_RPM": -12799.2031, "EncoderCos": 13237, "EncoderSin": 26680, "GapTicks": 37154, "Mech_RPM": -2559.84058, "cg_du": 66.2235947, "cg_dv": 33.7764053, "cg_dw": 57.1896286, "cg_id_a": -5.23373556, "cg_id_raw_a": -14.3013973, "cg_iq_a": 297.289185, "cg_iq_raw_a": 291.938843, "cg_iu_a": -300.925293, "cg_iv_a": 200.692383, "cg_iw_a": 16.002243, "cg_sample_age_us": 24.1218185, "cg_sample_seq": 3617212, "cg_sample_valid": 1, "cg_theta_rad": 3.47213387, "cg_vd_req_v": 6.66845083, "cg_vd_v": 6.66845083, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.403759, "cg_vq_v": -28.403759, "cg_vu_v": 40.4701157, "cg_vv_v": 4.39892578, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 81.4590225, "dclink_p_w": 12219.1279, "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": 46.3217163, "temp_inv2_c": 43.5941467, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948683918, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 319.980042, "values": {"Elec_RPM": -12805.8779, "EncoderCos": 12759, "EncoderSin": 28587, "GapTicks": 37373, "Mech_RPM": -2561.17554, "cg_du": 58.8310394, "cg_dv": 33.9759903, "cg_dw": 66.0240097, "cg_id_a": -0.852829218, "cg_id_raw_a": -4.67583513, "cg_iq_a": 298.605652, "cg_iq_raw_a": 293.533539, "cg_iu_a": -270.118042, "cg_iv_a": 240.488129, "cg_iw_a": 29.629921, "cg_sample_age_us": 23.7145462, "cg_sample_seq": 3622314, "cg_sample_valid": 1, "cg_theta_rad": 3.43681169, "cg_vd_req_v": 6.60124445, "cg_vd_v": 6.60124445, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4558983, "cg_vq_v": -28.4558983, "cg_vu_v": 151.323044, "cg_vv_v": 109.973145, "cg_vw_v": 106.014107, "control_outputs_enabled": 1, "dclink_i_a": 80.427887, "dclink_p_w": 12099.833, "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": 46.4438782, "temp_inv2_c": 43.6822815, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0912932009, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 320.997437, "values": {"Elec_RPM": -12808.5195, "EncoderCos": 48141, "EncoderSin": 45679, "GapTicks": 37679, "Mech_RPM": -2561.70386, "cg_du": 39.7228775, "cg_dv": 34.2537003, "cg_dw": 65.7462997, "cg_id_a": 0.986734271, "cg_id_raw_a": -10.8748093, "cg_iq_a": 299.449524, "cg_iq_raw_a": 293.792847, "cg_iu_a": -58.7077637, "cg_iv_a": 286.988953, "cg_iw_a": -228.281204, "cg_sample_age_us": 23.5, "cg_sample_seq": 3627463, "cg_sample_valid": 1, "cg_theta_rad": 0.736472487, "cg_vd_req_v": 6.62794733, "cg_vd_v": 6.62794733, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3824921, "cg_vq_v": -28.3824921, "cg_vu_v": 150.443253, "cg_vv_v": 106.893898, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.9552383, "dclink_p_w": 12143.5586, "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": 46.4744873, "temp_inv2_c": 43.7056885, "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": 0.0961776152, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 322.014862, "values": {"Elec_RPM": -12816.0459, "EncoderCos": 52584, "EncoderSin": 29538, "GapTicks": 37964, "Mech_RPM": -2563.20923, "cg_du": 65.4867935, "cg_dv": 37.9487762, "cg_dw": 34.5132065, "cg_id_a": 9.436059, "cg_id_raw_a": -5.89739323, "cg_iq_a": 312.603485, "cg_iq_raw_a": 305.59906, "cg_iu_a": -255.113098, "cg_iv_a": -27.5350342, "cg_iw_a": 282.648132, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 3632463, "cg_sample_valid": 1, "cg_theta_rad": 6.17690563, "cg_vd_req_v": 6.45209265, "cg_vd_v": 6.45209265, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.6908283, "cg_vq_v": -28.6908283, "cg_vu_v": 137.686371, "cg_vv_v": 134.167236, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 80.9226151, "dclink_p_w": 12138.665, "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": 46.5357361, "temp_inv2_c": 43.8210754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0966811627, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 323.032257, "values": {"Elec_RPM": -12805.082, "EncoderCos": 13492, "EncoderSin": 25905, "GapTicks": 36495, "Mech_RPM": -2561.01636, "cg_du": 66.8225555, "cg_dv": 33.1774445, "cg_dw": 51.5235214, "cg_id_a": -0.818415761, "cg_id_raw_a": 2.86132669, "cg_iq_a": 301.335938, "cg_iq_raw_a": 300.71582, "cg_iu_a": -287.62381, "cg_iv_a": 209.390915, "cg_iw_a": 78.2328949, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3637612, "cg_sample_valid": 1, "cg_theta_rad": 3.47866607, "cg_vd_req_v": 6.60910463, "cg_vd_v": 6.60910463, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.507452, "cg_vq_v": -28.507452, "cg_vu_v": 74.3418427, "cg_vv_v": 30.7924805, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.7199783, "dclink_p_w": 12258.2725, "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": 46.6585083, "temp_inv2_c": 43.8445435, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908903629, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 324.049683, "values": {"Elec_RPM": -12811.4648, "EncoderCos": 13234, "EncoderSin": 26726, "GapTicks": 37113, "Mech_RPM": -2562.29297, "cg_du": 66.2601547, "cg_dv": 33.7398453, "cg_dw": 57.6379089, "cg_id_a": -0.348515034, "cg_id_raw_a": 1.86296582, "cg_iq_a": 298.303772, "cg_iq_raw_a": 299.899475, "cg_iu_a": -290.088409, "cg_iv_a": 193.733582, "cg_iw_a": 96.3548279, "cg_sample_age_us": 24.0345459, "cg_sample_seq": 3642713, "cg_sample_valid": 1, "cg_theta_rad": 3.4842701, "cg_vd_req_v": 6.58706522, "cg_vd_v": 6.58706522, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.428236, "cg_vq_v": -28.428236, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.3412323, "dclink_p_w": 12165.6777, "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": 46.6277466, "temp_inv2_c": 43.8861084, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934081003, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 325.067108, "values": {"Elec_RPM": -12818.8457, "EncoderCos": 13679, "EncoderSin": 25447, "GapTicks": 36535, "Mech_RPM": -2563.76904, "cg_du": 66.7856445, "cg_dv": 33.2143555, "cg_dw": 47.8982468, "cg_id_a": -5.19634008, "cg_id_raw_a": -0.369297117, "cg_iq_a": 299.85199, "cg_iq_raw_a": 299.596344, "cg_iu_a": -307.557922, "cg_iv_a": 124.979034, "cg_iw_a": 182.578888, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 3647812, "cg_sample_valid": 1, "cg_theta_rad": 3.54933238, "cg_vd_req_v": 6.68598652, "cg_vd_v": 6.68598652, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4608097, "cg_vq_v": -28.4608097, "cg_vu_v": 77.4210892, "cg_vv_v": 58.5057106, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 80.0745087, "dclink_p_w": 12046.6699, "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": 46.7200012, "temp_inv2_c": 43.9150696, "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": 0.0952208713, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 325.928467, "values": {"Elec_RPM": -12820.7334, "EncoderCos": 24571, "EncoderSin": 51252, "GapTicks": 37070, "Mech_RPM": -2564.14673, "cg_du": 43.3984108, "cg_dv": 33.7008438, "cg_dw": 66.2991562, "cg_id_a": -4.41619158, "cg_id_raw_a": -9.55113125, "cg_iq_a": 292.360229, "cg_iq_raw_a": 289.264038, "cg_iu_a": -99.4458313, "cg_iv_a": 292.896729, "cg_iw_a": -193.450882, "cg_sample_age_us": 23.863636, "cg_sample_seq": 3652013, "cg_sample_valid": 1, "cg_theta_rad": 2.01596045, "cg_vd_req_v": 6.70878983, "cg_vd_v": 6.70878983, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2937374, "cg_vq_v": -28.2937374, "cg_vu_v": 151.323044, "cg_vv_v": 81.820015, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 81.169075, "dclink_p_w": 12175.6348, "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": 46.7507935, "temp_inv2_c": 44.01828, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0891783014, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 326.945953, "values": {"Elec_RPM": -12811.6455, "EncoderCos": 48488, "EncoderSin": 20167, "GapTicks": 36739, "Mech_RPM": -2562.3291, "cg_du": 33.3992157, "cg_dv": 44.897213, "cg_dw": 66.6007843, "cg_id_a": 2.08230805, "cg_id_raw_a": 9.18684196, "cg_iq_a": 304.757629, "cg_iq_raw_a": 310.764862, "cg_iu_a": 105.041878, "cg_iv_a": 202.069641, "cg_iw_a": -307.111511, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 3657162, "cg_sample_valid": 1, "cg_theta_rad": 5.66601276, "cg_vd_req_v": 6.56629896, "cg_vd_v": 6.56629896, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5434341, "cg_vq_v": -28.5434341, "cg_vu_v": 35.6312981, "cg_vv_v": 0, "cg_vw_v": 40.9100075, "control_outputs_enabled": 1, "dclink_i_a": 79.7573776, "dclink_p_w": 11998.959, "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": 46.812439, "temp_inv2_c": 44.0273438, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940627158, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 327.893433, "values": {"Elec_RPM": -12805.4385, "EncoderCos": 19785, "EncoderSin": 16885, "GapTicks": 38337, "Mech_RPM": -2561.08765, "cg_du": 34.852272, "cg_dv": 65.147728, "cg_dw": 37.4332886, "cg_id_a": 0.0832673311, "cg_id_raw_a": 2.59442353, "cg_iq_a": 297.897156, "cg_iq_raw_a": 302.203339, "cg_iu_a": 274.264343, "cg_iv_a": -275.841522, "cg_iw_a": 44.3449173, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 3661712, "cg_sample_valid": 1, "cg_theta_rad": 4.0588789, "cg_vd_req_v": 6.59166479, "cg_vd_v": 6.59166479, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4225655, "cg_vq_v": -28.4225655, "cg_vu_v": 0, "cg_vv_v": 44.8690414, "cg_vw_v": 38.7105446, "control_outputs_enabled": 1, "dclink_i_a": 81.1817627, "dclink_p_w": 12213.248, "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": 46.8741455, "temp_inv2_c": 44.0726929, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0969832912, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 328.957336, "values": {"Elec_RPM": -12801.3066, "EncoderCos": 39804, "EncoderSin": 51640, "GapTicks": 36606, "Mech_RPM": -2560.26123, "cg_du": 66.7213211, "cg_dv": 52.9983406, "cg_dw": 33.2786789, "cg_id_a": -6.87593842, "cg_id_raw_a": -6.48475647, "cg_iq_a": 295.140564, "cg_iq_raw_a": 292.742035, "cg_iu_a": -93.4655914, "cg_iv_a": -193.386826, "cg_iw_a": 286.852417, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 3667212, "cg_sample_valid": 1, "cg_theta_rad": 1.24330199, "cg_vd_req_v": 6.78065014, "cg_vd_v": 6.78065014, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3171043, "cg_vq_v": -28.3171043, "cg_vu_v": 17.5957031, "cg_vv_v": 65.5439911, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.5840683, "dclink_p_w": 12273.7725, "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": 46.9359436, "temp_inv2_c": 44.1471558, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923506469, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 329.974823, "values": {"Elec_RPM": -12811.0469, "EncoderCos": 39549, "EncoderSin": 51689, "GapTicks": 36832, "Mech_RPM": -2562.20947, "cg_du": 66.5156097, "cg_dv": 54.8364792, "cg_dw": 33.4843941, "cg_id_a": -7.49509239, "cg_id_raw_a": -8.11360836, "cg_iq_a": 294.693298, "cg_iq_raw_a": 292.428192, "cg_iu_a": -75.923584, "cg_iv_a": -207.340698, "cg_iw_a": 283.264282, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3672312, "cg_sample_valid": 1, "cg_theta_rad": 1.25493872, "cg_vd_req_v": 6.81471252, "cg_vd_v": 6.81471252, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.288311, "cg_vq_v": -28.288311, "cg_vu_v": 31.2323723, "cg_vv_v": 44.8690414, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.9516144, "dclink_p_w": 12143.0156, "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": 46.9668884, "temp_inv2_c": 44.1871643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0999038666, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 330.992157, "values": {"Elec_RPM": -12813.1211, "EncoderCos": 51768, "EncoderSin": 38949, "GapTicks": 36700, "Mech_RPM": -2562.62427, "cg_du": 33.3638687, "cg_dv": 66.6361313, "cg_dw": 45.2747726, "cg_id_a": 2.75979996, "cg_id_raw_a": 7.01630259, "cg_iq_a": 302.273987, "cg_iq_raw_a": 301.077637, "cg_iu_a": 305.542755, "cg_iv_a": -190.813507, "cg_iw_a": -114.729256, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 3677313, "cg_sample_valid": 1, "cg_theta_rad": 0.349198341, "cg_vd_req_v": 6.60658836, "cg_vd_v": 6.60658836, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.442955, "cg_vq_v": -28.442955, "cg_vu_v": 105.134323, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.3988953, "dclink_p_w": 12060.1055, "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": 47.0598145, "temp_inv2_c": 44.2836914, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942641348, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 332.009552, "values": {"Elec_RPM": -12807.1484, "EncoderCos": 18695, "EncoderSin": 17900, "GapTicks": 37020, "Mech_RPM": -2561.42969, "cg_du": 43.2154961, "cg_dv": 66.3451462, "cg_dw": 33.6548538, "cg_id_a": -4.01715851, "cg_id_raw_a": 1.88311183, "cg_iq_a": 298.963348, "cg_iq_raw_a": 304.117523, "cg_iu_a": 213.265961, "cg_iv_a": -291.208923, "cg_iw_a": 77.9429626, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 3682462, "cg_sample_valid": 1, "cg_theta_rad": 3.99322033, "cg_vd_req_v": 6.66455746, "cg_vd_v": 6.66455746, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4274712, "cg_vq_v": -28.4274712, "cg_vu_v": 10.9973145, "cg_vv_v": 77.4210892, "cg_vw_v": 74.7817383, "control_outputs_enabled": 1, "dclink_i_a": 80.3880234, "dclink_p_w": 12093.8359, "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": 47.1219177, "temp_inv2_c": 44.2927856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0880201459, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 333.026947, "values": {"Elec_RPM": -12820.2236, "EncoderCos": 51568, "EncoderSin": 39463, "GapTicks": 36468, "Mech_RPM": -2564.04468, "cg_du": 33.1530914, "cg_dv": 66.8469086, "cg_dw": 49.1660309, "cg_id_a": 8.48528099, "cg_id_raw_a": 17.110033, "cg_iq_a": 303.167114, "cg_iq_raw_a": 305.34198, "cg_iu_a": 306.883789, "cg_iv_a": -160.368668, "cg_iw_a": -146.515121, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 3687513, "cg_sample_valid": 1, "cg_theta_rad": 0.380013198, "cg_vd_req_v": 6.55016708, "cg_vd_v": 6.55016708, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4479141, "cg_vq_v": -28.4479141, "cg_vu_v": 108.653458, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 81.0603409, "dclink_p_w": 12194.9814, "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": 47.1529846, "temp_inv2_c": 44.2946167, "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": 0.0974868387, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 334.044373, "values": {"Elec_RPM": -12811.5244, "EncoderCos": 18324, "EncoderSin": 18311, "GapTicks": 36543, "Mech_RPM": -2562.30493, "cg_du": 47.1566811, "cg_dv": 66.7784271, "cg_dw": 33.2215767, "cg_id_a": -3.3385303, "cg_id_raw_a": -4.47694445, "cg_iq_a": 299.12738, "cg_iq_raw_a": 293.071381, "cg_iu_a": 192.063324, "cg_iv_a": -291.426392, "cg_iw_a": 99.36306, "cg_sample_age_us": 23.994545, "cg_sample_seq": 3692663, "cg_sample_valid": 1, "cg_theta_rad": 3.96713543, "cg_vd_req_v": 6.64071274, "cg_vd_v": 6.64071274, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4353695, "cg_vq_v": -28.4353695, "cg_vu_v": 105.134323, "cg_vv_v": 151.762939, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 80.7957611, "dclink_p_w": 12119.6367, "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": 47.1840515, "temp_inv2_c": 44.3786011, "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": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 335.061829, "values": {"Elec_RPM": -12807.2012, "EncoderCos": 19334, "EncoderSin": 17384, "GapTicks": 38297, "Mech_RPM": -2561.44019, "cg_du": 37.5124054, "cg_dv": 65.1843033, "cg_dw": 34.8156929, "cg_id_a": -9.36429787, "cg_id_raw_a": -3.13543391, "cg_iq_a": 297.951782, "cg_iq_raw_a": 302.18396, "cg_iu_a": 253.75032, "cg_iv_a": -264.678406, "cg_iw_a": 10.9281006, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 3697762, "cg_sample_valid": 1, "cg_theta_rad": 4.02756453, "cg_vd_req_v": 6.81138182, "cg_vd_v": 6.81138182, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3945713, "cg_vq_v": -28.3945713, "cg_vu_v": 0, "cg_vv_v": 63.3445282, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 81.1618271, "dclink_p_w": 12174.5479, "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": 47.2774658, "temp_inv2_c": 44.5084534, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0929549113, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 335.923126, "values": {"Elec_RPM": -12812.8184, "EncoderCos": 52452, "EncoderSin": 29091, "GapTicks": 38850, "Mech_RPM": -2562.56372, "cg_du": 64.681488, "cg_dv": 35.3185081, "cg_dw": 35.5677185, "cg_id_a": 4.56258631, "cg_id_raw_a": 9.37544537, "cg_iq_a": 304.861877, "cg_iq_raw_a": 315.299469, "cg_iu_a": -262.398132, "cg_iv_a": -2.96166992, "cg_iw_a": 265.359802, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 3702012, "cg_sample_valid": 1, "cg_theta_rad": 6.14179945, "cg_vd_req_v": 6.56406975, "cg_vd_v": 6.56406975, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4935207, "cg_vq_v": -28.4935207, "cg_vu_v": 45.7488289, "cg_vv_v": 26.3935547, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.9389267, "dclink_p_w": 12176.7158, "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": 47.3086243, "temp_inv2_c": 44.594635, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0930052623, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 336.940582, "values": {"Elec_RPM": -12810.8438, "EncoderCos": 16559, "EncoderSin": 44862, "GapTicks": 37017, "Mech_RPM": -2562.1687, "cg_du": 66.3479233, "cg_dv": 56.9765663, "cg_dw": 33.6520767, "cg_id_a": -5.99110508, "cg_id_raw_a": 0.356168211, "cg_iq_a": 301.677307, "cg_iq_raw_a": 303.422913, "cg_iu_a": -81.1789398, "cg_iv_a": -212.994705, "cg_iw_a": 294.173645, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3707063, "cg_sample_valid": 1, "cg_theta_rad": 2.52628136, "cg_vd_req_v": 6.71179438, "cg_vd_v": 6.71179438, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4679089, "cg_vq_v": -28.4679089, "cg_vu_v": 106.014107, "cg_vv_v": 125.809273, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 80.909935, "dclink_p_w": 12136.7627, "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": 47.3710632, "temp_inv2_c": 44.497467, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926527828, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 337.883514, "values": {"Elec_RPM": -12814.5225, "EncoderCos": 44391, "EncoderSin": 16291, "GapTicks": 36781, "Mech_RPM": -2562.90454, "cg_du": 33.4374771, "cg_dv": 66.5625229, "cg_dw": 44.8094254, "cg_id_a": 4.51604366, "cg_id_raw_a": 4.02010918, "cg_iq_a": 302.572968, "cg_iq_raw_a": 300.40567, "cg_iu_a": 305.144073, "cg_iv_a": -198.062256, "cg_iw_a": -107.08181, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 3711763, "cg_sample_valid": 1, "cg_theta_rad": 5.38354635, "cg_vd_req_v": 6.5235672, "cg_vd_v": 6.5235672, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5020485, "cg_vq_v": -28.5020485, "cg_vu_v": 102.93486, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.8936234, "dclink_p_w": 12169.8994, "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": 47.4335632, "temp_inv2_c": 44.5817871, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0946669728, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 338.952057, "values": {"Elec_RPM": -12819.6191, "EncoderCos": 22822, "EncoderSin": 14995, "GapTicks": 38040, "Mech_RPM": -2563.92383, "cg_du": 34.5825424, "cg_dv": 65.4174576, "cg_dw": 61.592617, "cg_id_a": 9.20922375, "cg_id_raw_a": -8.64722061, "cg_iq_a": 301.856201, "cg_iq_raw_a": 299.819855, "cg_iu_a": 72.7486267, "cg_iv_a": 208.194855, "cg_iw_a": -280.943481, "cg_sample_age_us": 26.7981815, "cg_sample_seq": 3717116, "cg_sample_valid": 1, "cg_theta_rad": 4.41747665, "cg_vd_req_v": 6.43226242, "cg_vd_v": 6.43226242, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4802532, "cg_vq_v": -28.4802532, "cg_vu_v": 32.9919434, "cg_vv_v": 0, "cg_vw_v": 66.4237747, "control_outputs_enabled": 1, "dclink_i_a": 81.5007095, "dclink_p_w": 12225.3809, "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": 47.4335632, "temp_inv2_c": 44.7269592, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923002958, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 339.969421, "values": {"Elec_RPM": -12816.4648, "EncoderCos": 42808, "EncoderSin": 15236, "GapTicks": 37900, "Mech_RPM": -2563.29297, "cg_du": 38.7412224, "cg_dv": 65.5452042, "cg_dw": 34.4547958, "cg_id_a": 5.81035328, "cg_id_raw_a": -8.38259315, "cg_iq_a": 304.548737, "cg_iq_raw_a": 299.597382, "cg_iu_a": 241.93483, "cg_iv_a": -278.668518, "cg_iw_a": 36.7337036, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 3722313, "cg_sample_valid": 1, "cg_theta_rad": 5.28645182, "cg_vd_req_v": 6.52292109, "cg_vd_v": 6.52292109, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5344143, "cg_vq_v": -28.5344143, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 80.5801163, "dclink_p_w": 12087.2891, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 47.5275269, "temp_inv2_c": 44.6993408, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 340.986908, "values": {"Elec_RPM": -12811.9023, "EncoderCos": 27377, "EncoderSin": 13091, "GapTicks": 38183, "Mech_RPM": -2562.38037, "cg_du": 37.8892097, "cg_dv": 34.7122726, "cg_dw": 65.2877274, "cg_id_a": 4.89181519, "cg_id_raw_a": 6.89183187, "cg_iq_a": 301.205688, "cg_iq_raw_a": 310.440308, "cg_iu_a": -42.9416962, "cg_iv_a": 277.021912, "cg_iw_a": -234.080215, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 3727312, "cg_sample_valid": 1, "cg_theta_rad": 4.48648262, "cg_vd_req_v": 6.5362854, "cg_vd_v": 6.5362854, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4624348, "cg_vq_v": -28.4624348, "cg_vu_v": 76.5413055, "cg_vv_v": 36.9509773, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 80.909935, "dclink_p_w": 12136.7627, "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": 47.5588989, "temp_inv2_c": 44.7711487, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 342.004242, "values": {"Elec_RPM": -12819.4023, "EncoderCos": 27670, "EncoderSin": 13012, "GapTicks": 37710, "Mech_RPM": -2563.88037, "cg_du": 39.9215546, "cg_dv": 34.2820244, "cg_dw": 65.7179794, "cg_id_a": 6.20945024, "cg_id_raw_a": 7.38869905, "cg_iq_a": 297.772034, "cg_iq_raw_a": 306.478302, "cg_iu_a": 23.8194427, "cg_iv_a": 243.895035, "cg_iw_a": -267.714478, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 3732412, "cg_sample_valid": 1, "cg_theta_rad": 4.46277094, "cg_vd_req_v": 6.49768591, "cg_vd_v": 6.49768591, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.381464, "cg_vq_v": -28.381464, "cg_vu_v": 39.1504402, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 80.6453476, "dclink_p_w": 12132.5488, "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": 47.6216736, "temp_inv2_c": 44.8375244, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 343.021637, "values": {"Elec_RPM": -12820.2549, "EncoderCos": 43608, "EncoderSin": 15760, "GapTicks": 38057, "Mech_RPM": -2564.05103, "cg_du": 34.5981522, "cg_dv": 65.4018478, "cg_dw": 38.2322426, "cg_id_a": 7.28330994, "cg_id_raw_a": -7.59256601, "cg_iq_a": 304.20163, "cg_iq_raw_a": 300.680115, "cg_iu_a": 282.455444, "cg_iv_a": -246.9552, "cg_iw_a": -35.5002518, "cg_sample_age_us": 23.954546, "cg_sample_seq": 3737613, "cg_sample_valid": 1, "cg_theta_rad": 5.33064747, "cg_vd_req_v": 6.47627974, "cg_vd_v": 6.47627974, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5170193, "cg_vq_v": -28.5170193, "cg_vu_v": 73.462059, "cg_vv_v": 112.612495, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 81.1636353, "dclink_p_w": 12174.8193, "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": 47.7160034, "temp_inv2_c": 44.8670349, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970840007, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 344.039093, "values": {"Elec_RPM": -12817.9551, "EncoderCos": 26175, "EncoderSin": 13434, "GapTicks": 37437, "Mech_RPM": -2563.59106, "cg_du": 34.0339088, "cg_dv": 40.9449692, "cg_dw": 65.9660873, "cg_id_a": -5.40102577, "cg_id_raw_a": 0.0119474642, "cg_iq_a": 298.048157, "cg_iq_raw_a": 306.240692, "cg_iu_a": -28.2267017, "cg_iv_a": 272.817627, "cg_iw_a": -244.590927, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 3742614, "cg_sample_valid": 1, "cg_theta_rad": 4.48211718, "cg_vd_req_v": 6.7618556, "cg_vd_v": 6.7618556, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3906765, "cg_vq_v": -28.3906765, "cg_vu_v": 150.443253, "cg_vv_v": 104.254532, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 80.2376099, "dclink_p_w": 12071.207, "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": 47.7474976, "temp_inv2_c": 44.9095154, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0937605873, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 345.056488, "values": {"Elec_RPM": -12807.7441, "EncoderCos": 27593, "EncoderSin": 13051, "GapTicks": 37816, "Mech_RPM": -2561.54883, "cg_du": 39.3693695, "cg_dv": 34.3784523, "cg_dw": 65.6215515, "cg_id_a": 4.78127098, "cg_id_raw_a": 8.70624161, "cg_iq_a": 299.779816, "cg_iq_raw_a": 301.05011, "cg_iu_a": -50.9153442, "cg_iv_a": 283.473328, "cg_iw_a": -232.557968, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 3747713, "cg_sample_valid": 1, "cg_theta_rad": 4.5107193, "cg_vd_req_v": 6.53057671, "cg_vd_v": 6.53057671, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4158802, "cg_vq_v": -28.4158802, "cg_vu_v": 51.0275345, "cg_vv_v": 0, "cg_vw_v": 6.59838867, "control_outputs_enabled": 1, "dclink_i_a": 80.223114, "dclink_p_w": 12069.0264, "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": 47.7790222, "temp_inv2_c": 44.9427795, "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": 0.0966308042, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 346.073944, "values": {"Elec_RPM": -12809.3887, "EncoderCos": 27929, "EncoderSin": 12971, "GapTicks": 37310, "Mech_RPM": -2561.87769, "cg_du": 41.8244553, "cg_dv": 33.9182816, "cg_dw": 66.0817184, "cg_id_a": 0.767660737, "cg_id_raw_a": -7.00603819, "cg_iq_a": 296.433472, "cg_iq_raw_a": 291.670135, "cg_iu_a": -82.7736664, "cg_iv_a": 291.918121, "cg_iw_a": -209.144455, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 3752813, "cg_sample_valid": 1, "cg_theta_rad": 4.52072573, "cg_vd_req_v": 6.60896206, "cg_vd_v": 6.60896206, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3551388, "cg_vq_v": -28.3551388, "cg_vu_v": 141.205521, "cg_vv_v": 73.462059, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 79.795433, "dclink_p_w": 11969.584, "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": 47.8421021, "temp_inv2_c": 45.0724182, "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": 0.0989471301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 346.935211, "values": {"Elec_RPM": -12816.584, "EncoderCos": 17663, "EncoderSin": 19062, "GapTicks": 36778, "Mech_RPM": -2563.31689, "cg_du": 54.3806458, "cg_dv": 66.564621, "cg_dw": 33.4353828, "cg_id_a": 3.90523124, "cg_id_raw_a": 10.6629801, "cg_iq_a": 297.067444, "cg_iq_raw_a": 297.03244, "cg_iu_a": 128.092957, "cg_iv_a": -292.912354, "cg_iw_a": 239.119293, "cg_sample_age_us": 23.954546, "cg_sample_seq": 3757113, "cg_sample_valid": 1, "cg_theta_rad": 3.91012263, "cg_vd_req_v": 6.55660295, "cg_vd_v": 6.55660295, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3610001, "cg_vq_v": -28.3610001, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 123.169922, "control_outputs_enabled": 1, "dclink_i_a": 80.6870346, "dclink_p_w": 12174.3135, "enc_isr_hz": 5002, "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": 47.8736877, "temp_inv2_c": 45.0149536, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0922499448, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 347.878204, "values": {"Elec_RPM": -12818.6123, "EncoderCos": 18514, "EncoderSin": 47015, "GapTicks": 38596, "Mech_RPM": -2563.72241, "cg_du": 64.9126816, "cg_dv": 36.5014343, "cg_dw": 35.0873184, "cg_id_a": -3.20683908, "cg_id_raw_a": 1.18368161, "cg_iq_a": 297.062958, "cg_iq_raw_a": 306.191742, "cg_iu_a": -242.101563, "cg_iv_a": -26.9188843, "cg_iw_a": 269.020447, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 3761662, "cg_sample_valid": 1, "cg_theta_rad": 2.38423014, "cg_vd_req_v": 6.68457079, "cg_vd_v": 6.68457079, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3677673, "cg_vq_v": -28.3677673, "cg_vu_v": 41.7897949, "cg_vv_v": 40.4701157, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 80.0871964, "dclink_p_w": 12048.5781, "enc_isr_hz": 4998, "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": 47.9685669, "temp_inv2_c": 45.0724182, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0966811627, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 348.946716, "values": {"Elec_RPM": -12813.0908, "EncoderCos": 49983, "EncoderSin": 22630, "GapTicks": 36709, "Mech_RPM": -2562.61816, "cg_du": 45.4008179, "cg_dv": 33.3724976, "cg_dw": 66.6275024, "cg_id_a": 6.60261583, "cg_id_raw_a": 6.93339586, "cg_iq_a": 305.890961, "cg_iq_raw_a": 302.817169, "cg_iu_a": -116.335457, "cg_iv_a": 310.728668, "cg_iw_a": -194.393219, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 3767163, "cg_sample_valid": 1, "cg_theta_rad": 5.8106885, "cg_vd_req_v": 6.54781151, "cg_vd_v": 6.54781151, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.5085011, "cg_vq_v": -28.5085011, "cg_vu_v": 128.888519, "cg_vv_v": 85.7790527, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 81.1962585, "dclink_p_w": 12179.7129, "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": 48.0002747, "temp_inv2_c": 45.1633606, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0916456878, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 349.964172, "values": {"Elec_RPM": -12813.6719, "EncoderCos": 33377, "EncoderSin": 12523, "GapTicks": 36520, "Mech_RPM": -2562.73438, "cg_du": 66.7991257, "cg_dv": 33.2008743, "cg_dw": 49.1040421, "cg_id_a": 0.452850223, "cg_id_raw_a": 6.00303888, "cg_iq_a": 300.484558, "cg_iq_raw_a": 301.915436, "cg_iu_a": -112.203659, "cg_iv_a": -187.007889, "cg_iw_a": 299.211548, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 3772166, "cg_sample_valid": 1, "cg_theta_rad": 5.00221443, "cg_vd_req_v": 6.63178825, "cg_vd_v": 6.63178825, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4336071, "cg_vq_v": -28.4336071, "cg_vu_v": 40.9100075, "cg_vv_v": 78.7407684, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 80.9552383, "dclink_p_w": 12143.5586, "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": 48.0319824, "temp_inv2_c": 45.1484985, "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": 0.0960769057, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 350.981537, "values": {"Elec_RPM": -12806.7246, "EncoderCos": 19575, "EncoderSin": 47949, "GapTicks": 36948, "Mech_RPM": -2561.34497, "cg_du": 66.4108658, "cg_dv": 33.5891342, "cg_dw": 43.5956802, "cg_id_a": -12.7130442, "cg_id_raw_a": -8.3523283, "cg_iq_a": 295.582794, "cg_iq_raw_a": 300.074188, "cg_iu_a": -289.544739, "cg_iv_a": 73.911438, "cg_iw_a": 215.633301, "cg_sample_age_us": 23.994545, "cg_sample_seq": 3777312, "cg_sample_valid": 1, "cg_theta_rad": 2.31005549, "cg_vd_req_v": 6.89466143, "cg_vd_v": 6.89466143, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3101807, "cg_vq_v": -28.3101807, "cg_vu_v": 42.6695786, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.7196503, "dclink_p_w": 12108.2197, "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": 48.0636902, "temp_inv2_c": 45.3252563, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923506469, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 351.998962, "values": {"Elec_RPM": -12802.5283, "EncoderCos": 20127, "EncoderSin": 48427, "GapTicks": 36525, "Mech_RPM": -2560.50562, "cg_du": 66.7952499, "cg_dv": 33.2047501, "cg_dw": 48.9477158, "cg_id_a": -9.03545856, "cg_id_raw_a": -5.98121786, "cg_iq_a": 299.306976, "cg_iq_raw_a": 292.960388, "cg_iu_a": -293.02417, "cg_iv_a": 114.504578, "cg_iw_a": 178.519592, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 3782413, "cg_sample_valid": 1, "cg_theta_rad": 2.28674579, "cg_vd_req_v": 6.80201864, "cg_vd_v": 6.80201864, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3918324, "cg_vq_v": -28.3918324, "cg_vu_v": 40.4701157, "cg_vv_v": 21.9946289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.5460129, "dclink_p_w": 12268.0479, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 48.1589966, "temp_inv2_c": 45.3178406, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923506469, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 353.016388, "values": {"Elec_RPM": -12796.7373, "EncoderCos": 37703, "EncoderSin": 13144, "GapTicks": 36565, "Mech_RPM": -2559.34741, "cg_du": 66.7583313, "cg_dv": 52.1480713, "cg_dw": 33.2416725, "cg_id_a": -0.101758957, "cg_id_raw_a": 9.1429739, "cg_iq_a": 300.63855, "cg_iq_raw_a": 301.071014, "cg_iu_a": -127.462318, "cg_iv_a": -176.315948, "cg_iw_a": 303.778259, "cg_sample_age_us": 24.0163631, "cg_sample_seq": 3787463, "cg_sample_valid": 1, "cg_theta_rad": 5.01557922, "cg_vd_req_v": 6.62115765, "cg_vd_v": 6.62115765, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4308491, "cg_vq_v": -28.4308491, "cg_vu_v": 148.683685, "cg_vv_v": 151.762939, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 79.3188248, "dclink_p_w": 11932.9824, "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": 48.1589966, "temp_inv2_c": 45.4615784, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0960265473, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 354.033813, "values": {"Elec_RPM": -12813.3613, "EncoderCos": 19558, "EncoderSin": 47950, "GapTicks": 36995, "Mech_RPM": -2562.67236, "cg_du": 66.36763, "cg_dv": 33.6323738, "cg_dw": 43.7123718, "cg_id_a": -4.59287024, "cg_id_raw_a": -3.20645642, "cg_iq_a": 296.73761, "cg_iq_raw_a": 291.755188, "cg_iu_a": -275.047211, "cg_iv_a": 63.4732361, "cg_iw_a": 211.573975, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3792613, "cg_sample_valid": 1, "cg_theta_rad": 2.30769706, "cg_vd_req_v": 6.71707964, "cg_vd_v": 6.71707964, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3390808, "cg_vq_v": -28.3390808, "cg_vu_v": 141.205521, "cg_vv_v": 110.852921, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 80.5366211, "dclink_p_w": 12116.1914, "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": 48.2226563, "temp_inv2_c": 45.3793945, "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": 0.0938612968, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 355.051208, "values": {"Elec_RPM": -12809.4941, "EncoderCos": 18467, "EncoderSin": 46912, "GapTicks": 38481, "Mech_RPM": -2561.89893, "cg_du": 65.0169983, "cg_dv": 37.2751083, "cg_dw": 34.9830055, "cg_id_a": -2.50644708, "cg_id_raw_a": 0.738351345, "cg_iq_a": 297.14563, "cg_iq_raw_a": 304.721222, "cg_iu_a": -274.104858, "cg_iv_a": 46.0036926, "cg_iw_a": 228.101166, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3797712, "cg_sample_valid": 1, "cg_theta_rad": 2.34809279, "cg_vd_req_v": 6.67716599, "cg_vd_v": 6.67716599, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.350853, "cg_vq_v": -28.350853, "cg_vu_v": 39.590332, "cg_vv_v": 39.1504402, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.0259094, "dclink_p_w": 12189.8018, "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": 4999, "hz_vsense": 2581, "pwm_moe": 1, "temp_inv1_c": 48.2545471, "temp_inv2_c": 45.4615784, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0888761729, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 356.068604, "values": {"Elec_RPM": -12810.9668, "EncoderCos": 18216, "EncoderSin": 46698, "GapTicks": 37772, "Mech_RPM": -2562.19336, "cg_du": 65.6613235, "cg_dv": 39.4103584, "cg_dw": 34.3386726, "cg_id_a": -4.22117805, "cg_id_raw_a": -6.82294416, "cg_iq_a": 300.183319, "cg_iq_raw_a": 304.518372, "cg_iu_a": -218.434341, "cg_iv_a": 22.6989441, "cg_iw_a": 246.005585, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 3802812, "cg_sample_valid": 1, "cg_theta_rad": 2.39936733, "cg_vd_req_v": 6.72335672, "cg_vd_v": 6.72335672, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4216003, "cg_vq_v": -28.4216003, "cg_vu_v": 48.8280716, "cg_vv_v": 76.5413055, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 80.3952713, "dclink_p_w": 12059.5615, "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": 48.3183289, "temp_inv2_c": 45.5064697, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943144858, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 356.929962, "values": {"Elec_RPM": -12808.5049, "EncoderCos": 28659, "EncoderSin": 52351, "GapTicks": 37048, "Mech_RPM": -2561.70093, "cg_du": 33.6804123, "cg_dv": 56.6494408, "cg_dw": 66.3195877, "cg_id_a": -7.03695536, "cg_id_raw_a": -11.974349, "cg_iq_a": 292.541199, "cg_iq_raw_a": 291.785583, "cg_iu_a": 193.766769, "cg_iv_a": 103.268967, "cg_iw_a": -297.035736, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 3807112, "cg_sample_valid": 1, "cg_theta_rad": 1.817711, "cg_vd_req_v": 6.80892372, "cg_vd_v": 6.80892372, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2290344, "cg_vq_v": -28.2290344, "cg_vu_v": 37.830761, "cg_vv_v": 36.9509773, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 81.1473312, "dclink_p_w": 12172.373, "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": 48.3822327, "temp_inv2_c": 45.4615784, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0945159048, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 358.113403, "values": {"Elec_RPM": -12812.6875, "EncoderCos": 17684, "EncoderSin": 46132, "GapTicks": 36796, "Mech_RPM": -2562.5376, "cg_du": 66.5483398, "cg_dv": 44.8332863, "cg_dw": 33.451664, "cg_id_a": -4.35823202, "cg_id_raw_a": -5.01581287, "cg_iq_a": 301.191772, "cg_iq_raw_a": 301.764221, "cg_iu_a": -171.752289, "cg_iv_a": -127.459259, "cg_iw_a": 299.211548, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 3813012, "cg_sample_valid": 1, "cg_theta_rad": 2.45303392, "cg_vd_req_v": 6.74508572, "cg_vd_v": 6.74508572, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4211464, "cg_vq_v": -28.4211464, "cg_vu_v": 33.871727, "cg_vv_v": 68.6232376, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.6616592, "dclink_p_w": 12135.002, "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": 48.446228, "temp_inv2_c": 45.5739136, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0959258378, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 358.941437, "values": {"Elec_RPM": -12810.2656, "EncoderCos": 15663, "EncoderSin": 43451, "GapTicks": 38122, "Mech_RPM": -2562.05322, "cg_du": 61.796402, "cg_dv": 65.3434753, "cg_dw": 34.6565247, "cg_id_a": 2.02269077, "cg_id_raw_a": -20.5616436, "cg_iq_a": 300.341492, "cg_iq_raw_a": 297.007935, "cg_iu_a": 286.152283, "cg_iv_a": -210.747589, "cg_iw_a": -75.4047012, "cg_sample_age_us": 26.7436371, "cg_sample_seq": 3817066, "cg_sample_valid": 1, "cg_theta_rad": 2.84170985, "cg_vd_req_v": 6.60397911, "cg_vd_v": 6.60397911, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4044533, "cg_vq_v": -28.4044533, "cg_vu_v": 22.4345207, "cg_vv_v": 62.4647446, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 80.4460068, "dclink_p_w": 12102.5586, "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": 48.5423889, "temp_inv2_c": 45.5889282, "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": 0.0925520733, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 359.958893, "values": {"Elec_RPM": -12802.1201, "EncoderCos": 52488, "EncoderSin": 34756, "GapTicks": 36756, "Mech_RPM": -2560.42407, "cg_du": 54.8362961, "cg_dv": 66.5845795, "cg_dw": 33.4154205, "cg_id_a": 3.0007081, "cg_id_raw_a": 5.33444357, "cg_iq_a": 301.842041, "cg_iq_raw_a": 302.659027, "cg_iu_a": 115.226395, "cg_iv_a": -306.213867, "cg_iw_a": 190.987473, "cg_sample_age_us": 23.51091, "cg_sample_seq": 3822212, "cg_sample_valid": 1, "cg_theta_rad": 0.144164845, "cg_vd_req_v": 6.68159485, "cg_vd_v": 6.68159485, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3536415, "cg_vq_v": -28.3536415, "cg_vu_v": 12.3169918, "cg_vv_v": 77.4210892, "cg_vw_v": 44.8690414, "control_outputs_enabled": 1, "dclink_i_a": 80.9787903, "dclink_p_w": 12147.0918, "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": 48.5423889, "temp_inv2_c": 45.6564941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 360.976257, "values": {"Elec_RPM": -12808.6543, "EncoderCos": 13483, "EncoderSin": 38679, "GapTicks": 38059, "Mech_RPM": -2561.73096, "cg_du": 34.5999756, "cg_dv": 65.4000244, "cg_dw": 38.3502884, "cg_id_a": 3.09388041, "cg_id_raw_a": 7.52066183, "cg_iq_a": 303.674927, "cg_iq_raw_a": 302.162964, "cg_iu_a": 283.542755, "cg_iv_a": -242.026031, "cg_iw_a": -41.5167236, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 3827262, "cg_sample_valid": 1, "cg_theta_rad": 2.82955408, "cg_vd_req_v": 6.56460285, "cg_vd_v": 6.56460285, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4410763, "cg_vq_v": -28.4770298, "cg_vu_v": 73.9019547, "cg_vv_v": 113.052383, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 80.6815948, "dclink_p_w": 12138.002, "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": 48.5744629, "temp_inv2_c": 45.6564941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0934584588, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 361.993652, "values": {"Elec_RPM": -12811.1973, "EncoderCos": 15217, "EncoderSin": 22591, "GapTicks": 36872, "Mech_RPM": -2562.2395, "cg_du": 66.4795303, "cg_dv": 44.9210052, "cg_dw": 33.5204697, "cg_id_a": 7.39629459, "cg_id_raw_a": 10.2352409, "cg_iq_a": 297.824036, "cg_iq_raw_a": 296.812988, "cg_iu_a": -189.692993, "cg_iv_a": -105.894165, "cg_iw_a": 295.587158, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 3832463, "cg_sample_valid": 1, "cg_theta_rad": 3.70486426, "cg_vd_req_v": 6.48521614, "cg_vd_v": 6.48521614, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3449783, "cg_vq_v": -28.3449783, "cg_vu_v": 111.732712, "cg_vv_v": 113.492287, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 80.2937851, "dclink_p_w": 12044.3389, "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": 48.6387634, "temp_inv2_c": 45.8050842, "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": 0.0952208713, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 363.011078, "values": {"Elec_RPM": -12809.4932, "EncoderCos": 52345, "EncoderSin": 35968, "GapTicks": 36664, "Mech_RPM": -2561.89868, "cg_du": 46.0241089, "cg_dv": 66.6685638, "cg_dw": 33.3314362, "cg_id_a": 1.18047047, "cg_id_raw_a": 10.6865129, "cg_iq_a": 301.582764, "cg_iq_raw_a": 305.290314, "cg_iu_a": 192.824432, "cg_iv_a": -302.118317, "cg_iw_a": 109.293884, "cg_sample_age_us": 23.51091, "cg_sample_seq": 3837512, "cg_sample_valid": 1, "cg_theta_rad": 0.20573011, "cg_vd_req_v": 6.69504595, "cg_vd_v": 6.69504595, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3645115, "cg_vq_v": -28.3645115, "cg_vu_v": 0, "cg_vv_v": 64.2243118, "cg_vw_v": 6.1584959, "control_outputs_enabled": 1, "dclink_i_a": 79.6432114, "dclink_p_w": 11981.7842, "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": 48.6387634, "temp_inv2_c": 45.8013306, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0951201618, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 364.028473, "values": {"Elec_RPM": -12803.6611, "EncoderCos": 48221, "EncoderSin": 20093, "GapTicks": 36639, "Mech_RPM": -2560.73218, "cg_du": 33.3084526, "cg_dv": 46.4791069, "cg_dw": 66.6915436, "cg_id_a": 5.08101559, "cg_id_raw_a": 13.0085402, "cg_iq_a": 304.508453, "cg_iq_raw_a": 309.802338, "cg_iu_a": 121.714043, "cg_iv_a": 188.260742, "cg_iw_a": -309.974792, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 3842512, "cg_sample_valid": 1, "cg_theta_rad": 5.65945387, "cg_vd_req_v": 6.57246685, "cg_vd_v": 6.57246685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4612522, "cg_vq_v": -28.4612522, "cg_vu_v": 39.1504402, "cg_vv_v": 12.3169918, "cg_vw_v": 77.8609848, "control_outputs_enabled": 1, "dclink_i_a": 80.2702255, "dclink_p_w": 12076.1143, "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": 48.7353821, "temp_inv2_c": 45.8880615, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926527828, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 365.045898, "values": {"Elec_RPM": -12812.4961, "EncoderCos": 52349, "EncoderSin": 35771, "GapTicks": 36550, "Mech_RPM": -2562.49927, "cg_du": 47.4555626, "cg_dv": 66.7726212, "cg_dw": 33.2273788, "cg_id_a": 1.7703259, "cg_id_raw_a": 4.33627701, "cg_iq_a": 303.251831, "cg_iq_raw_a": 297.859009, "cg_iu_a": 187.859039, "cg_iv_a": -295.630676, "cg_iw_a": 107.771629, "cg_sample_age_us": 23.3981819, "cg_sample_seq": 3847713, "cg_sample_valid": 1, "cg_theta_rad": 0.203741774, "cg_vd_req_v": 6.67616749, "cg_vd_v": 6.67616749, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3884468, "cg_vq_v": -28.3884468, "cg_vu_v": 18.9153805, "cg_vv_v": 68.1833496, "cg_vw_v": 35.1914063, "control_outputs_enabled": 1, "dclink_i_a": 80.3390884, "dclink_p_w": 12051.1338, "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": 48.7998962, "temp_inv2_c": 45.973114, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0965301022, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 366.063263, "values": {"Elec_RPM": -12816.9121, "EncoderCos": 52297, "EncoderSin": 36198, "GapTicks": 36858, "Mech_RPM": -2563.38232, "cg_du": 44.1871834, "cg_dv": 66.4922028, "cg_dw": 33.5077972, "cg_id_a": 2.06427932, "cg_id_raw_a": 4.37897253, "cg_iq_a": 302.928772, "cg_iq_raw_a": 296.816284, "cg_iu_a": 209.097916, "cg_iv_a": -289.976624, "cg_iw_a": 80.8787079, "cg_sample_age_us": 23.4636364, "cg_sample_seq": 3852813, "cg_sample_valid": 1, "cg_theta_rad": 0.22641322, "cg_vd_req_v": 6.68065119, "cg_vd_v": 6.68065119, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3755951, "cg_vq_v": -28.3755951, "cg_vu_v": 4.39892578, "cg_vv_v": 59.825386, "cg_vw_v": 36.0711899, "control_outputs_enabled": 1, "dclink_i_a": 80.5909882, "dclink_p_w": 12088.9199, "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": 48.864502, "temp_inv2_c": 45.9787598, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0954726487, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 366.924652, "values": {"Elec_RPM": -12809.3418, "EncoderCos": 39235, "EncoderSin": 13695, "GapTicks": 38633, "Mech_RPM": -2561.86841, "cg_du": 64.8787994, "cg_dv": 63.3632088, "cg_dw": 35.1211967, "cg_id_a": 3.53072381, "cg_id_raw_a": -12.2955589, "cg_iq_a": 302.834259, "cg_iq_raw_a": 298.914612, "cg_iu_a": -11.5182953, "cg_iv_a": -256.994751, "cg_iw_a": 268.513031, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 3857012, "cg_sample_valid": 1, "cg_theta_rad": 5.09714556, "cg_vd_req_v": 6.61577654, "cg_vd_v": 6.61577654, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4410896, "cg_vq_v": -28.4410896, "cg_vu_v": 7.47817326, "cg_vv_v": 41.3499031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.0585327, "dclink_p_w": 12159.0537, "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": 48.864502, "temp_inv2_c": 45.9466248, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935088098, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 368.103516, "values": {"Elec_RPM": -12810.0791, "EncoderCos": 33813, "EncoderSin": 12635, "GapTicks": 36731, "Mech_RPM": -2562.01587, "cg_du": 66.6075897, "cg_dv": 33.3924141, "cg_dw": 53.8922272, "cg_id_a": 0.621240139, "cg_id_raw_a": 1.29592609, "cg_iq_a": 304.74881, "cg_iq_raw_a": 298.319336, "cg_iu_a": -291.828125, "cg_iv_a": 93.3019409, "cg_iw_a": 198.526184, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 3862813, "cg_sample_valid": 1, "cg_theta_rad": 4.81909847, "cg_vd_req_v": 6.61176777, "cg_vd_v": 6.65181065, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4397697, "cg_vq_v": -28.4935169, "cg_vu_v": 120.090675, "cg_vv_v": 106.453995, "cg_vw_v": 66.4237747, "control_outputs_enabled": 1, "dclink_i_a": 80.5511169, "dclink_p_w": 12153.8057, "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": 48.9292297, "temp_inv2_c": 46.0469055, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935088098, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 368.936096, "values": {"Elec_RPM": -12808.1191, "EncoderCos": 23284, "EncoderSin": 14865, "GapTicks": 38748, "Mech_RPM": -2561.62378, "cg_du": 35.2254601, "cg_dv": 63.6528893, "cg_dw": 64.7745438, "cg_id_a": 1.44238567, "cg_id_raw_a": -16.8608932, "cg_iq_a": 296.164246, "cg_iq_raw_a": 294.139801, "cg_iu_a": 248.966125, "cg_iv_a": 20.6330566, "cg_iw_a": -269.599182, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 3867112, "cg_sample_valid": 1, "cg_theta_rad": 4.27863598, "cg_vd_req_v": 6.6078229, "cg_vd_v": 6.6078229, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.329813, "cg_vq_v": -28.329813, "cg_vu_v": 113.492287, "cg_vv_v": 91.9375458, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 80.3952713, "dclink_p_w": 12094.9258, "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": 48.9616089, "temp_inv2_c": 46.0923767, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940627158, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 369.953552, "values": {"Elec_RPM": -12800.6553, "EncoderCos": 48143, "EncoderSin": 45265, "GapTicks": 38259, "Mech_RPM": -2560.1311, "cg_du": 37.7007256, "cg_dv": 34.781723, "cg_dw": 65.218277, "cg_id_a": 1.37570167, "cg_id_raw_a": 7.48708582, "cg_iq_a": 300.436066, "cg_iq_raw_a": 310.315186, "cg_iu_a": -39.4985352, "cg_iv_a": 274.376099, "cg_iw_a": -234.877579, "cg_sample_age_us": 23.40909, "cg_sample_seq": 3872162, "cg_sample_valid": 1, "cg_theta_rad": 0.724803805, "cg_vd_req_v": 6.70260382, "cg_vd_v": 6.70260382, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3050041, "cg_vq_v": -28.3050041, "cg_vu_v": 76.1014175, "cg_vv_v": 36.9509773, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 80.0600128, "dclink_p_w": 12044.4883, "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": 49.0264893, "temp_inv2_c": 46.1512146, "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": 0.0968825817, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 370.970978, "values": {"Elec_RPM": -12801.873, "EncoderCos": 48583, "EncoderSin": 44811, "GapTicks": 38395, "Mech_RPM": -2560.37451, "cg_du": 34.9052887, "cg_dv": 37.2824783, "cg_dw": 65.0947113, "cg_id_a": 3.71358657, "cg_id_raw_a": -10.8275118, "cg_iq_a": 300.204102, "cg_iq_raw_a": 293.776062, "cg_iu_a": 15.4833612, "cg_iv_a": 249.440338, "cg_iw_a": -264.923706, "cg_sample_age_us": 23.51091, "cg_sample_seq": 3877263, "cg_sample_valid": 1, "cg_theta_rad": 0.680692077, "cg_vd_req_v": 6.65827894, "cg_vd_v": 6.65827894, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3017921, "cg_vq_v": -28.3017921, "cg_vu_v": 149.123581, "cg_vv_v": 95.8965836, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 80.5837402, "dclink_p_w": 12123.2803, "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": 49.05896, "temp_inv2_c": 46.2158203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0984435752, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 371.988373, "values": {"Elec_RPM": -12799.2188, "EncoderCos": 13180, "EncoderSin": 27906, "GapTicks": 38906, "Mech_RPM": -2559.84375, "cg_du": 64.0795135, "cg_dv": 35.3696213, "cg_dw": 64.6303787, "cg_id_a": -10.3968306, "cg_id_raw_a": -1.44687366, "cg_iq_a": 293.917297, "cg_iq_raw_a": 299.164886, "cg_iu_a": -298.134521, "cg_iv_a": 205.947739, "cg_iw_a": 92.1867828, "cg_sample_age_us": 23.692728, "cg_sample_seq": 3882313, "cg_sample_valid": 1, "cg_theta_rad": 3.47198486, "cg_vd_req_v": 6.86691666, "cg_vd_v": 6.86691666, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.252367, "cg_vq_v": -28.252367, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 81.4427185, "dclink_p_w": 12252.5078, "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": 49.0914612, "temp_inv2_c": 46.3052979, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0919478089, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 373.005798, "values": {"Elec_RPM": -12805.8408, "EncoderCos": 47294, "EncoderSin": 46315, "GapTicks": 36625, "Mech_RPM": -2561.16821, "cg_du": 47.1150589, "cg_dv": 33.2957535, "cg_dw": 66.7042465, "cg_id_a": 0.223209858, "cg_id_raw_a": 6.63281631, "cg_iq_a": 299.763794, "cg_iq_raw_a": 300.753265, "cg_iu_a": -144.279449, "cg_iv_a": 294.056488, "cg_iw_a": -149.777039, "cg_sample_age_us": 23.48909, "cg_sample_seq": 3887462, "cg_sample_valid": 1, "cg_theta_rad": 0.782845378, "cg_vd_req_v": 6.73192787, "cg_vd_v": 6.73192787, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2867088, "cg_vq_v": -28.2867088, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 22.4345207, "control_outputs_enabled": 1, "dclink_i_a": 80.5927963, "dclink_p_w": 12089.1914, "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": 49.1565247, "temp_inv2_c": 46.2709961, "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": 0.0956740677, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 374.023224, "values": {"Elec_RPM": -12806.4082, "EncoderCos": 47672, "EncoderSin": 45841, "GapTicks": 37129, "Mech_RPM": -2561.28174, "cg_du": 42.9371338, "cg_dv": 33.7538376, "cg_dw": 66.2461624, "cg_id_a": -4.52592278, "cg_id_raw_a": -8.01458836, "cg_iq_a": 294.630829, "cg_iq_raw_a": 290.30426, "cg_iu_a": -94.8791046, "cg_iv_a": 294.636414, "cg_iw_a": -199.757309, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 3892563, "cg_sample_valid": 1, "cg_theta_rad": 0.760596335, "cg_vd_req_v": 6.82962608, "cg_vd_v": 6.82962608, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1973705, "cg_vq_v": -28.1973705, "cg_vu_v": 150.883148, "cg_vv_v": 98.9758301, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 80.8320084, "dclink_p_w": 12125.0742, "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": 49.1890869, "temp_inv2_c": 46.337677, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0955733582, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 375.040588, "values": {"Elec_RPM": -12808.7148, "EncoderCos": 13926, "EncoderSin": 25552, "GapTicks": 36562, "Mech_RPM": -2561.74292, "cg_du": 66.7617188, "cg_dv": 33.2382851, "cg_dw": 47.8555756, "cg_id_a": -6.09853554, "cg_id_raw_a": -3.56377077, "cg_iq_a": 301.658508, "cg_iq_raw_a": 301.169464, "cg_iu_a": -308.500244, "cg_iv_a": 126.537506, "cg_iw_a": 181.962738, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 3897612, "cg_sample_valid": 1, "cg_theta_rad": 3.53483796, "cg_vd_req_v": 6.78469658, "cg_vd_v": 6.78469658, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3980236, "cg_vq_v": -28.3980236, "cg_vu_v": 77.4210892, "cg_vv_v": 58.0658188, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 80.4949417, "dclink_p_w": 12074.5127, "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": 49.2216797, "temp_inv2_c": 46.3834839, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0961272642, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 376.058014, "values": {"Elec_RPM": -12813.3965, "EncoderCos": 24242, "EncoderSin": 14471, "GapTicks": 37070, "Mech_RPM": -2562.6792, "cg_du": 33.7004929, "cg_dv": 56.5658569, "cg_dw": 66.2995071, "cg_id_a": -0.81226474, "cg_id_raw_a": -6.57779837, "cg_iq_a": 296.627563, "cg_iq_raw_a": 297.167999, "cg_iu_a": 112.943031, "cg_iv_a": 177.786316, "cg_iw_a": -299.790283, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 3902814, "cg_sample_valid": 1, "cg_theta_rad": 4.36603832, "cg_vd_req_v": 6.68235111, "cg_vd_v": 6.68235111, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2922401, "cg_vq_v": -28.2922401, "cg_vu_v": 107.773682, "cg_vv_v": 71.2625961, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 80.7667694, "dclink_p_w": 12150.8154, "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": 49.254303, "temp_inv2_c": 46.3834839, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0980407372, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 377.075409, "values": {"Elec_RPM": -12811.1182, "EncoderCos": 14242, "EncoderSin": 24703, "GapTicks": 37363, "Mech_RPM": -2562.22363, "cg_du": 66.033371, "cg_dv": 33.966629, "cg_dw": 41.3869629, "cg_id_a": -6.61151743, "cg_id_raw_a": -3.93009615, "cg_iq_a": 299.922607, "cg_iq_raw_a": 305.007385, "cg_iu_a": -294.256439, "cg_iv_a": 119.433716, "cg_iw_a": 174.822723, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 3907812, "cg_sample_valid": 1, "cg_theta_rad": 3.54621649, "cg_vd_req_v": 6.79606485, "cg_vd_v": 6.79606485, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.358572, "cg_vq_v": -28.358572, "cg_vu_v": 143.844864, "cg_vv_v": 108.653458, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 80.9026794, "dclink_p_w": 12171.2627, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 49.3196411, "temp_inv2_c": 46.4292908, "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": 0.0990981907, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 378.102814, "values": {"Elec_RPM": -12809.4727, "EncoderCos": 52553, "EncoderSin": 32712, "GapTicks": 37670, "Mech_RPM": -2561.89453, "cg_du": 65.7542801, "cg_dv": 60.4809418, "cg_dw": 34.2457199, "cg_id_a": 8.43613529, "cg_id_raw_a": -4.4296689, "cg_iq_a": 309.333588, "cg_iq_raw_a": 306.858948, "cg_iu_a": -46.0949135, "cg_iv_a": -240.358826, "cg_iw_a": 286.453735, "cg_sample_age_us": 24.2636356, "cg_sample_seq": 3912862, "cg_sample_valid": 1, "cg_theta_rad": 0.0395509042, "cg_vd_req_v": 6.57124949, "cg_vd_v": 6.57124949, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4833126, "cg_vq_v": -28.4833126, "cg_vu_v": 38.2706528, "cg_vv_v": 77.8609848, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 80.7722015, "dclink_p_w": 12116.1025, "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": 49.4178162, "temp_inv2_c": 46.5670471, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101867706, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 378.930908, "values": {"Elec_RPM": -12799.6172, "EncoderCos": 30499, "EncoderSin": 12737, "GapTicks": 37621, "Mech_RPM": -2559.92334, "cg_du": 60.1941299, "cg_dv": 34.2016602, "cg_dw": 65.7983398, "cg_id_a": 0.907197416, "cg_id_raw_a": -11.1353884, "cg_iq_a": 302.796631, "cg_iq_raw_a": 295.927216, "cg_iu_a": -278.852814, "cg_iv_a": 35.6017456, "cg_iw_a": 243.251068, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 3917066, "cg_sample_valid": 1, "cg_theta_rad": 4.86386776, "cg_vd_req_v": 6.63704681, "cg_vd_v": 6.63704681, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4371395, "cg_vq_v": -28.4371395, "cg_vu_v": 76.9812012, "cg_vv_v": 75.2216263, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.1708832, "dclink_p_w": 12211.6113, "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": 49.4178162, "temp_inv2_c": 46.5287476, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975371897, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 379.948242, "values": {"Elec_RPM": -12810.8672, "EncoderCos": 34265, "EncoderSin": 12691, "GapTicks": 37163, "Mech_RPM": -2562.17334, "cg_du": 66.2151184, "cg_dv": 33.7848816, "cg_dw": 42.6282921, "cg_id_a": 0.154364109, "cg_id_raw_a": -0.0259769186, "cg_iq_a": 299.85675, "cg_iq_raw_a": 295.482513, "cg_iu_a": -277.729248, "cg_iv_a": 60.0300903, "cg_iw_a": 154.055008, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 3922163, "cg_sample_valid": 1, "cg_theta_rad": 4.82695675, "cg_vd_req_v": 6.66202831, "cg_vd_v": 6.66202831, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3503132, "cg_vq_v": -28.3503132, "cg_vu_v": 151.762939, "cg_vv_v": 149.123581, "cg_vw_v": 87.53862, "control_outputs_enabled": 1, "dclink_i_a": 80.9552383, "dclink_p_w": 12179.1689, "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": 49.4833679, "temp_inv2_c": 46.5862427, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 380.965637, "values": {"Elec_RPM": -12807.3057, "EncoderCos": 38952, "EncoderSin": 51633, "GapTicks": 37426, "Mech_RPM": -2561.46118, "cg_du": 65.9759445, "cg_dv": 58.8647003, "cg_dw": 34.0240555, "cg_id_a": -11.8428011, "cg_id_raw_a": -5.49870872, "cg_iq_a": 295.36969, "cg_iq_raw_a": 297.75946, "cg_iu_a": -57.6204529, "cg_iv_a": -222.925507, "cg_iw_a": 280.545959, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 3927213, "cg_sample_valid": 1, "cg_theta_rad": 1.28415275, "cg_vd_req_v": 7.00179243, "cg_vd_v": 7.00179243, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2008533, "cg_vq_v": -28.2008533, "cg_vu_v": 120.090675, "cg_vv_v": 151.323044, "cg_vw_v": 98.9758301, "control_outputs_enabled": 1, "dclink_i_a": 80.547493, "dclink_p_w": 12117.8271, "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": 49.5162048, "temp_inv2_c": 46.6111755, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 381.983124, "values": {"Elec_RPM": -12796.3877, "EncoderCos": 36282, "EncoderSin": 13018, "GapTicks": 38693, "Mech_RPM": -2559.27759, "cg_du": 64.8240356, "cg_dv": 35.1759605, "cg_dw": 36.3944092, "cg_id_a": 8.51112652, "cg_id_raw_a": 8.58257484, "cg_iq_a": 300.28714, "cg_iq_raw_a": 306.432526, "cg_iu_a": -262.833069, "cg_iv_a": 9.32498169, "cg_iw_a": 253.508087, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 3932362, "cg_sample_valid": 1, "cg_theta_rad": 4.89462233, "cg_vd_req_v": 6.50304699, "cg_vd_v": 6.50304699, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3628616, "cg_vq_v": -28.3628616, "cg_vu_v": 38.7105446, "cg_vv_v": 47.0685043, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.1578751, "dclink_p_w": 12023.9512, "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": 49.5490723, "temp_inv2_c": 46.7129822, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 383.000488, "values": {"Elec_RPM": -12808.043, "EncoderCos": 38043, "EncoderSin": 51924, "GapTicks": 38923, "Mech_RPM": -2561.60864, "cg_du": 63.8705368, "cg_dv": 64.6152954, "cg_dw": 35.3847084, "cg_id_a": -8.75265884, "cg_id_raw_a": -0.393943936, "cg_iq_a": 290.687927, "cg_iq_raw_a": 296.25412, "cg_iu_a": 24.9067574, "cg_iv_a": -260.727875, "cg_iw_a": 235.821106, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 3937413, "cg_sample_valid": 1, "cg_theta_rad": 1.32621682, "cg_vd_req_v": 6.90127468, "cg_vd_v": 6.90127468, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1161175, "cg_vq_v": -28.1161175, "cg_vu_v": 112.612495, "cg_vv_v": 151.762939, "cg_vw_v": 95.4566803, "control_outputs_enabled": 1, "dclink_i_a": 81.2904892, "dclink_p_w": 12193.8477, "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": 49.6148376, "temp_inv2_c": 46.7264404, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0891783014, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 384.017914, "values": {"Elec_RPM": -12813.6992, "EncoderCos": 36191, "EncoderSin": 12975, "GapTicks": 37382, "Mech_RPM": -2562.73975, "cg_du": 66.0157394, "cg_dv": 41.4008217, "cg_dw": 33.9842606, "cg_id_a": -1.03583431, "cg_id_raw_a": -8.22887993, "cg_iq_a": 300.370789, "cg_iq_raw_a": 292.67981, "cg_iu_a": -216.22348, "cg_iv_a": -76.5729065, "cg_iw_a": 292.796387, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 3942563, "cg_sample_valid": 1, "cg_theta_rad": 4.9344821, "cg_vd_req_v": 6.71883202, "cg_vd_v": 6.71883202, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3426762, "cg_vq_v": -28.3426762, "cg_vu_v": 152.202835, "cg_vv_v": 151.323044, "cg_vw_v": 87.098732, "control_outputs_enabled": 1, "dclink_i_a": 79.9059753, "dclink_p_w": 12021.3145, "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": 49.6148376, "temp_inv2_c": 46.807251, "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": 0.0961272642, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 385.035309, "values": {"Elec_RPM": -12806.5186, "EncoderCos": 36664, "EncoderSin": 13095, "GapTicks": 36939, "Mech_RPM": -2561.30371, "cg_du": 66.4188843, "cg_dv": 44.7216492, "cg_dw": 33.5811157, "cg_id_a": 5.99529076, "cg_id_raw_a": 4.74070358, "cg_iq_a": 299.773346, "cg_iq_raw_a": 297.284241, "cg_iu_a": -191.577667, "cg_iv_a": -107.198975, "cg_iw_a": 298.776642, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 3947663, "cg_sample_valid": 1, "cg_theta_rad": 4.96365929, "cg_vd_req_v": 6.55899191, "cg_vd_v": 6.55899191, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3453674, "cg_vq_v": -28.3453674, "cg_vu_v": 113.492287, "cg_vv_v": 130.208206, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 80.6888428, "dclink_p_w": 12174.5869, "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": 49.6806946, "temp_inv2_c": 46.8207397, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0952712297, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 386.052643, "values": {"Elec_RPM": -12806.2021, "EncoderCos": 35487, "EncoderSin": 52381, "GapTicks": 36782, "Mech_RPM": -2561.24048, "cg_du": 45.6329308, "cg_dv": 66.5617676, "cg_dw": 33.4382362, "cg_id_a": -9.2231884, "cg_id_raw_a": -2.3990097, "cg_iq_a": 295.062683, "cg_iq_raw_a": 298.505615, "cg_iu_a": 136.501526, "cg_iv_a": -291.752594, "cg_iw_a": 155.251068, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 3952712, "cg_sample_valid": 1, "cg_theta_rad": 1.42125225, "cg_vd_req_v": 6.95708513, "cg_vd_v": 6.95708513, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1706276, "cg_vq_v": -28.1706276, "cg_vu_v": 0, "cg_vv_v": 66.4237747, "cg_vw_v": 7.47817326, "control_outputs_enabled": 1, "dclink_i_a": 80.4115753, "dclink_p_w": 12097.3789, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 49.7137146, "temp_inv2_c": 46.84198, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948683918, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 387.070099, "values": {"Elec_RPM": -12799.8398, "EncoderCos": 38710, "EncoderSin": 13589, "GapTicks": 37588, "Mech_RPM": -2559.96802, "cg_du": 65.8287888, "cg_dv": 59.9540138, "cg_dw": 34.1712074, "cg_id_a": -0.426642776, "cg_id_raw_a": -10.4580326, "cg_iq_a": 306.426636, "cg_iq_raw_a": 301.252869, "cg_iu_a": -44.4276962, "cg_iv_a": -239.742645, "cg_iw_a": 284.170349, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 3957862, "cg_sample_valid": 1, "cg_theta_rad": 5.06123209, "cg_vd_req_v": 6.7005434, "cg_vd_v": 6.7005434, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4758244, "cg_vq_v": -28.4758244, "cg_vu_v": 36.9509773, "cg_vv_v": 63.7844238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.5199814, "dclink_p_w": 11963.2451, "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": 49.7797241, "temp_inv2_c": 46.851593, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0929045528, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 388.092926, "values": {"Elec_RPM": -12795.3213, "EncoderCos": 22608, "EncoderSin": 15343, "GapTicks": 37619, "Mech_RPM": -2559.06421, "cg_du": 34.1999893, "cg_dv": 65.8000107, "cg_dw": 60.0091324, "cg_id_a": 4.54884624, "cg_id_raw_a": -5.63604307, "cg_iq_a": 301.6409, "cg_iq_raw_a": 299.579468, "cg_iu_a": 276.910126, "cg_iv_a": -41.6338806, "cg_iw_a": -235.276245, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 3962862, "cg_sample_valid": 1, "cg_theta_rad": 4.22923088, "cg_vd_req_v": 6.5925374, "cg_vd_v": 6.5925374, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3845043, "cg_vq_v": -28.3845043, "cg_vu_v": 25.5137672, "cg_vv_v": 36.9509773, "cg_vw_v": 62.4647446, "control_outputs_enabled": 1, "dclink_i_a": 81.1944427, "dclink_p_w": 12215.1563, "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": 49.9121094, "temp_inv2_c": 46.9926453, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0947173238, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 389.081604, "values": {"Elec_RPM": -12801.9766, "EncoderCos": 13135, "EncoderSin": 28506, "GapTicks": 37687, "Mech_RPM": -2560.39526, "cg_du": 60.0779305, "cg_dv": 34.2610664, "cg_dw": 65.7389374, "cg_id_a": -4.00046635, "cg_id_raw_a": -12.1838961, "cg_iq_a": 295.670105, "cg_iq_raw_a": 290.683105, "cg_iu_a": -179.90715, "cg_iv_a": 296.919769, "cg_iw_a": -117.012619, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 3967862, "cg_sample_valid": 1, "cg_theta_rad": 3.34738278, "cg_vd_req_v": 6.76896334, "cg_vd_v": 6.76896334, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2652779, "cg_vq_v": -28.2652779, "cg_vu_v": 42.6695786, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 81.3521042, "dclink_p_w": 12238.875, "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": 49.9121094, "temp_inv2_c": 47.0759277, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0938612968, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 389.942993, "values": {"Elec_RPM": -12802.5439, "EncoderCos": 14590, "EncoderSin": 41094, "GapTicks": 37207, "Mech_RPM": -2560.50879, "cg_du": 42.4611435, "cg_dv": 66.1752777, "cg_dw": 33.8247261, "cg_id_a": -2.52507925, "cg_id_raw_a": -1.73755598, "cg_iq_a": 295.007172, "cg_iq_raw_a": 291.50415, "cg_iu_a": 218.70253, "cg_iv_a": -273.993103, "cg_iw_a": 55.2905579, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 3972163, "cg_sample_valid": 1, "cg_theta_rad": 2.74757385, "cg_vd_req_v": 6.7170248, "cg_vd_v": 6.7170248, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2253838, "cg_vq_v": -28.2253838, "cg_vu_v": 0, "cg_vv_v": 46.6286087, "cg_vw_v": 35.1914063, "control_outputs_enabled": 1, "dclink_i_a": 80.6526031, "dclink_p_w": 12098.1621, "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": 49.8789978, "temp_inv2_c": 46.9365845, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 390.960388, "values": {"Elec_RPM": -12802.6074, "EncoderCos": 46580, "EncoderSin": 18499, "GapTicks": 38315, "Mech_RPM": -2560.52148, "cg_du": 34.8326683, "cg_dv": 62.6656342, "cg_dw": 65.1673279, "cg_id_a": 6.57900858, "cg_id_raw_a": -14.6869707, "cg_iq_a": 309.385498, "cg_iq_raw_a": 305.526367, "cg_iu_a": 260.129211, "cg_iv_a": 26.3595581, "cg_iw_a": -286.48877, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 3977212, "cg_sample_valid": 1, "cg_theta_rad": 5.5364089, "cg_vd_req_v": 6.60198927, "cg_vd_v": 6.60198927, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4957905, "cg_vq_v": -28.4957905, "cg_vu_v": 25.0738773, "cg_vv_v": 28.5930176, "cg_vw_v": 55.4264603, "control_outputs_enabled": 1, "dclink_i_a": 80.482254, "dclink_p_w": 12072.6094, "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": 49.945282, "temp_inv2_c": 47.0545959, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935591608, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 391.977875, "values": {"Elec_RPM": -12799.374, "EncoderCos": 26303, "EncoderSin": 51579, "GapTicks": 37928, "Mech_RPM": -2559.87476, "cg_du": 34.4803391, "cg_dv": 39.0741234, "cg_dw": 65.5196609, "cg_id_a": -0.905804098, "cg_id_raw_a": -14.5061522, "cg_iq_a": 296.316833, "cg_iq_raw_a": 287.680359, "cg_iu_a": -56.3519173, "cg_iv_a": 274.484833, "cg_iw_a": -218.132904, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 3982263, "cg_sample_valid": 1, "cg_theta_rad": 1.9759903, "cg_vd_req_v": 6.70853949, "cg_vd_v": 6.70853949, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.230978, "cg_vq_v": -28.230978, "cg_vu_v": 62.4647446, "cg_vv_v": 0, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 81.1998825, "dclink_p_w": 12180.2559, "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": 49.9784546, "temp_inv2_c": 47.1437988, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0959761962, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 392.99527, "values": {"Elec_RPM": -12812.5352, "EncoderCos": 13986, "EncoderSin": 39602, "GapTicks": 37910, "Mech_RPM": -2562.50708, "cg_du": 34.4638176, "cg_dv": 65.5361862, "cg_dw": 39.1024742, "cg_id_a": -3.98334718, "cg_id_raw_a": -16.3864784, "cg_iq_a": 299.61734, "cg_iq_raw_a": 293.383759, "cg_iu_a": 286.695984, "cg_iv_a": -236.190796, "cg_iw_a": -50.5051956, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 3987463, "cg_sample_valid": 1, "cg_theta_rad": 2.81891727, "cg_vd_req_v": 6.75967979, "cg_vd_v": 6.75967979, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3226128, "cg_vq_v": -28.3226128, "cg_vu_v": 73.9019547, "cg_vv_v": 113.492287, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 80.7649536, "dclink_p_w": 12115.0156, "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": 50.0449524, "temp_inv2_c": 47.1690674, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0937605873, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 394.012604, "values": {"Elec_RPM": -12796.8652, "EncoderCos": 25283, "EncoderSin": 51188, "GapTicks": 37968, "Mech_RPM": -2559.37305, "cg_du": 39.0891418, "cg_dv": 34.5165253, "cg_dw": 65.4834747, "cg_id_a": -1.19534254, "cg_id_raw_a": -15.8517389, "cg_iq_a": 296.832794, "cg_iq_raw_a": 292.050262, "cg_iu_a": -52.5825577, "cg_iv_a": 280.755005, "cg_iw_a": -228.172455, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 3992463, "cg_sample_valid": 1, "cg_theta_rad": 1.98432076, "cg_vd_req_v": 6.71643114, "cg_vd_v": 6.71643114, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2508755, "cg_vq_v": -28.2508755, "cg_vu_v": 150.883148, "cg_vv_v": 107.773682, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 80.7124023, "dclink_p_w": 12178.1416, "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": 50.0449524, "temp_inv2_c": 47.1807251, "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": 0.0965301022, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 395.030029, "values": {"Elec_RPM": -12794.916, "EncoderCos": 13622, "EncoderSin": 38553, "GapTicks": 36670, "Mech_RPM": -2558.98315, "cg_du": 33.3371048, "cg_dv": 66.6628952, "cg_dw": 46.8612442, "cg_id_a": 0.632483244, "cg_id_raw_a": 6.99911785, "cg_iq_a": 300.849243, "cg_iq_raw_a": 298.880585, "cg_iu_a": 306.7388, "cg_iv_a": -178.889282, "cg_iw_a": -127.849525, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 3997663, "cg_sample_valid": 1, "cg_theta_rad": 2.87297273, "cg_vd_req_v": 6.67290211, "cg_vd_v": 6.67290211, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.342001, "cg_vq_v": -28.342001, "cg_vu_v": 73.9019547, "cg_vv_v": 111.732712, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 80.8048248, "dclink_p_w": 12156.541, "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": 50.1115112, "temp_inv2_c": 47.2234802, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0904875249, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 396.047455, "values": {"Elec_RPM": -12798.25, "EncoderCos": 47703, "EncoderSin": 19733, "GapTicks": 36456, "Mech_RPM": -2559.6499, "cg_du": 33.1425018, "cg_dv": 50.7803116, "cg_dw": 66.8574982, "cg_id_a": 2.16984892, "cg_id_raw_a": 8.79026413, "cg_iq_a": 306.38269, "cg_iq_raw_a": 300.16629, "cg_iu_a": 137.661316, "cg_iv_a": 162.853821, "cg_iw_a": -300.515137, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 4002713, "cg_sample_valid": 1, "cg_theta_rad": 5.61698627, "cg_vd_req_v": 6.68013382, "cg_vd_v": 6.68013382, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4349995, "cg_vq_v": -28.4349995, "cg_vu_v": 108.21357, "cg_vv_v": 72.5822754, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.2825851, "dclink_p_w": 11857.7793, "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": 50.1448364, "temp_inv2_c": 47.3208618, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0931563228, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 397.064941, "values": {"Elec_RPM": -12799.1904, "EncoderCos": 22851, "EncoderSin": 49982, "GapTicks": 36657, "Mech_RPM": -2559.83813, "cg_du": 50.9232559, "cg_dv": 33.3248215, "cg_dw": 66.6751785, "cg_id_a": -7.78382397, "cg_id_raw_a": -13.904932, "cg_iq_a": 293.980072, "cg_iq_raw_a": 289.115112, "cg_iu_a": -229.017548, "cg_iv_a": 269.773132, "cg_iw_a": -40.7555923, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 4007762, "cg_sample_valid": 1, "cg_theta_rad": 2.12670565, "cg_vd_req_v": 6.86160278, "cg_vd_v": 6.86160278, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1601944, "cg_vq_v": -28.1862507, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": 79.7030106, "dclink_p_w": 11990.7803, "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": 50.2115479, "temp_inv2_c": 47.3384094, "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": 0.0967315137, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 398.083038, "values": {"Elec_RPM": -12795.333, "EncoderCos": 19010, "EncoderSin": 18112, "GapTicks": 37213, "Mech_RPM": -2559.06665, "cg_du": 42.4618149, "cg_dv": 66.1699829, "cg_dw": 33.8300171, "cg_id_a": -5.60552263, "cg_id_raw_a": 0.0618953854, "cg_iq_a": 297.533722, "cg_iq_raw_a": 301.383026, "cg_iu_a": 219.137451, "cg_iv_a": -287.910706, "cg_iw_a": 68.773262, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 4012712, "cg_sample_valid": 1, "cg_theta_rad": 4.00624704, "cg_vd_req_v": 6.81271124, "cg_vd_v": 6.81271124, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.280653, "cg_vq_v": -28.280653, "cg_vu_v": 15.836132, "cg_vv_v": 67.303566, "cg_vw_v": 32.5520515, "control_outputs_enabled": 1, "dclink_i_a": 80.5185013, "dclink_p_w": 12113.4648, "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": 50.2783813, "temp_inv2_c": 47.387207, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0936095193, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 399.076355, "values": {"Elec_RPM": -12784.3125, "EncoderCos": 19441, "EncoderSin": 17719, "GapTicks": 38097, "Mech_RPM": -2556.86255, "cg_du": 38.449501, "cg_dv": 65.3663483, "cg_dw": 34.6336517, "cg_id_a": -4.76159668, "cg_id_raw_a": 1.36597097, "cg_iq_a": 299.420013, "cg_iq_raw_a": 304.405334, "cg_iu_a": 247.008972, "cg_iv_a": -271.637238, "cg_iw_a": 24.628273, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 4017812, "cg_sample_valid": 1, "cg_theta_rad": 4.03316641, "cg_vd_req_v": 6.79703426, "cg_vd_v": 6.79703426, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.294363, "cg_vq_v": -28.294363, "cg_vu_v": 16.7159176, "cg_vv_v": 77.8609848, "cg_vw_v": 76.5413055, "control_outputs_enabled": 1, "dclink_i_a": 80.9951019, "dclink_p_w": 12185.167, "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": 50.2783813, "temp_inv2_c": 47.4653625, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0918471068, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 399.917572, "values": {"Elec_RPM": -12794.9316, "EncoderCos": 16290, "EncoderSin": 43981, "GapTicks": 38490, "Mech_RPM": -2558.98633, "cg_du": 65.0085068, "cg_dv": 62.8578606, "cg_dw": 34.9914894, "cg_id_a": 0.240962863, "cg_id_raw_a": -15.532095, "cg_iq_a": 299.861084, "cg_iq_raw_a": 296.645416, "cg_iu_a": -90.5660934, "cg_iv_a": -203.897522, "cg_iw_a": 294.463623, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 4022012, "cg_sample_valid": 1, "cg_theta_rad": 2.53105831, "cg_vd_req_v": 6.66507721, "cg_vd_v": 6.66507721, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.313345, "cg_vq_v": -28.313345, "cg_vu_v": 110.413033, "cg_vv_v": 138.126266, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 80.1759949, "dclink_p_w": 12061.9375, "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": 50.3453369, "temp_inv2_c": 47.4966431, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0991485417, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 400.955109, "values": {"Elec_RPM": -12791.2295, "EncoderCos": 13559, "EncoderSin": 27043, "GapTicks": 37407, "Mech_RPM": -2558.24585, "cg_du": 65.9928207, "cg_dv": 34.0071831, "cg_dw": 58.7880478, "cg_id_a": -6.26670694, "cg_id_raw_a": -17.4063587, "cg_iq_a": 296.827301, "cg_iq_raw_a": 290.475555, "cg_iu_a": -296.322327, "cg_iv_a": 215.769806, "cg_iw_a": 80.5525131, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 4027212, "cg_sample_valid": 1, "cg_theta_rad": 3.46341085, "cg_vd_req_v": 6.8224287, "cg_vd_v": 6.8224287, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2494755, "cg_vq_v": -28.2494755, "cg_vu_v": 76.5413055, "cg_vv_v": 37.3908691, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 81.2995529, "dclink_p_w": 12195.207, "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": 50.3788452, "temp_inv2_c": 47.4458008, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0890272334, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 401.972534, "values": {"Elec_RPM": -12794.1396, "EncoderCos": 52256, "EncoderSin": 30347, "GapTicks": 36982, "Mech_RPM": -2558.82788, "cg_du": 66.3798218, "cg_dv": 43.4038963, "cg_dw": 33.6201782, "cg_id_a": 9.35145473, "cg_id_raw_a": 10.2794418, "cg_iq_a": 306.522797, "cg_iq_raw_a": 310.539246, "cg_iu_a": -194.694641, "cg_iv_a": -103.139648, "cg_iw_a": 297.83429, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 4032262, "cg_sample_valid": 1, "cg_theta_rad": 6.21260357, "cg_vd_req_v": 6.52753496, "cg_vd_v": 6.52753496, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3872089, "cg_vq_v": -28.3872089, "cg_vu_v": 51.9073219, "cg_vv_v": 77.8609848, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 80.7631454, "dclink_p_w": 12114.7441, "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": 50.412384, "temp_inv2_c": 47.4966431, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0920485258, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 402.989929, "values": {"Elec_RPM": -12795.0391, "EncoderCos": 52332, "EncoderSin": 30877, "GapTicks": 36520, "Mech_RPM": -2559.00781, "cg_du": 66.7997742, "cg_dv": 47.3604813, "cg_dw": 33.2002258, "cg_id_a": 6.47896576, "cg_id_raw_a": 7.34125519, "cg_iq_a": 310.381226, "cg_iq_raw_a": 313.551544, "cg_iu_a": -158.450806, "cg_iv_a": -146.704742, "cg_iw_a": 305.155548, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 4037362, "cg_sample_valid": 1, "cg_theta_rad": 6.23796892, "cg_vd_req_v": 6.6487608, "cg_vd_v": 6.6487608, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.4516525, "cg_vq_v": -28.4516525, "cg_vu_v": 43.549366, "cg_vv_v": 77.8609848, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 80.8446884, "dclink_p_w": 12162.5381, "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": 50.4795532, "temp_inv2_c": 47.5593262, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100457765, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 404.007385, "values": {"Elec_RPM": -12815.748, "EncoderCos": 13796, "EncoderSin": 26415, "GapTicks": 36735, "Mech_RPM": -2563.14966, "cg_du": 66.6042862, "cg_dv": 33.3957138, "cg_dw": 54.2186737, "cg_id_a": 1.66766942, "cg_id_raw_a": 5.95750713, "cg_iq_a": 303.377258, "cg_iq_raw_a": 301.457947, "cg_iu_a": -298.533203, "cg_iv_a": 172.530914, "cg_iw_a": 126.002281, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 4042513, "cg_sample_valid": 1, "cg_theta_rad": 3.49762845, "cg_vd_req_v": 6.6621666, "cg_vd_v": 6.6621666, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.381691, "cg_vq_v": -28.381691, "cg_vu_v": 151.762939, "cg_vv_v": 120.530563, "cg_vw_v": 85.7790527, "control_outputs_enabled": 1, "dclink_i_a": 80.4224548, "dclink_p_w": 12063.6396, "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": 50.5131531, "temp_inv2_c": 47.6810303, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0919981673, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 405.02478, "values": {"Elec_RPM": -12801.002, "EncoderCos": 14842, "EncoderSin": 41478, "GapTicks": 36766, "Mech_RPM": -2560.20044, "cg_du": 45.7780075, "cg_dv": 66.5763321, "cg_dw": 33.4236679, "cg_id_a": -4.77000523, "cg_id_raw_a": 0.739145339, "cg_iq_a": 299.754089, "cg_iq_raw_a": 302.369537, "cg_iu_a": 194.926575, "cg_iv_a": -295.304474, "cg_iw_a": 158.730469, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 4047512, "cg_sample_valid": 1, "cg_theta_rad": 2.71028209, "cg_vd_req_v": 6.81339455, "cg_vd_v": 6.81339455, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2968502, "cg_vq_v": -28.2968502, "cg_vu_v": 34.3116188, "cg_vv_v": 80.0604477, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 80.3988953, "dclink_p_w": 12095.4717, "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": 50.5131531, "temp_inv2_c": 47.684967, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0941634253, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 406.042206, "values": {"Elec_RPM": -12799.8242, "EncoderCos": 14186, "EncoderSin": 25315, "GapTicks": 36755, "Mech_RPM": -2559.96484, "cg_du": 66.5863113, "cg_dv": 33.4136887, "cg_dw": 45.5516777, "cg_id_a": -3.23310542, "cg_id_raw_a": -3.65120173, "cg_iq_a": 302.593384, "cg_iq_raw_a": 296.424835, "cg_iu_a": -289.291016, "cg_iv_a": 89.3150787, "cg_iw_a": 199.975937, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 4052713, "cg_sample_valid": 1, "cg_theta_rad": 3.55717587, "cg_vd_req_v": 6.78665161, "cg_vd_v": 6.78665161, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3557434, "cg_vq_v": -28.3557434, "cg_vu_v": 151.762939, "cg_vv_v": 135.926804, "cg_vw_v": 88.8582916, "control_outputs_enabled": 1, "dclink_i_a": 79.9494705, "dclink_p_w": 12063.0273, "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": 50.6141968, "temp_inv2_c": 47.7223511, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0913939103, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 407.059631, "values": {"Elec_RPM": -12799.0225, "EncoderCos": 52368, "EncoderSin": 33326, "GapTicks": 38973, "Mech_RPM": -2559.80444, "cg_du": 64.524765, "cg_dv": 64.5692596, "cg_dw": 35.4307404, "cg_id_a": 5.35190344, "cg_id_raw_a": -9.48333073, "cg_iq_a": 305.521729, "cg_iq_raw_a": 304.236084, "cg_iu_a": -0.862607479, "cg_iv_a": -263.917297, "cg_iw_a": 264.779907, "cg_sample_age_us": 23.48909, "cg_sample_seq": 4057762, "cg_sample_valid": 1, "cg_theta_rad": 0.0680491999, "cg_vd_req_v": 6.65758944, "cg_vd_v": 6.65758944, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3456059, "cg_vq_v": -28.3456059, "cg_vu_v": 28.5930176, "cg_vv_v": 77.8609848, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 80.6453476, "dclink_p_w": 12097.0742, "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": 50.6141968, "temp_inv2_c": 47.6495972, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0957244262, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 408.082397, "values": {"Elec_RPM": -12798.8467, "EncoderCos": 14563, "EncoderSin": 40782, "GapTicks": 37498, "Mech_RPM": -2559.76929, "cg_du": 40.5938034, "cg_dv": 65.9107971, "cg_dw": 34.0892067, "cg_id_a": 2.67396665, "cg_id_raw_a": -8.43369198, "cg_iq_a": 302.981506, "cg_iq_raw_a": 296.227997, "cg_iu_a": 232.873871, "cg_iv_a": -282.292938, "cg_iw_a": 49.4190674, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4062813, "cg_sample_valid": 1, "cg_theta_rad": 2.75005364, "cg_vd_req_v": 6.64678955, "cg_vd_v": 6.64678955, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3512783, "cg_vq_v": -28.3512783, "cg_vu_v": 77.4210892, "cg_vv_v": 151.762939, "cg_vw_v": 120.530563, "control_outputs_enabled": 1, "dclink_i_a": 80.161499, "dclink_p_w": 12059.7568, "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": 50.6817017, "temp_inv2_c": 47.7676086, "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": 0.0970840007, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 409.071075, "values": {"Elec_RPM": -12805.791, "EncoderCos": 25459, "EncoderSin": 51154, "GapTicks": 38209, "Mech_RPM": -2561.1582, "cg_du": 38.1906891, "cg_dv": 34.7357101, "cg_dw": 65.2642899, "cg_id_a": -1.44332182, "cg_id_raw_a": 4.0611558, "cg_iq_a": 294.790344, "cg_iq_raw_a": 304.382965, "cg_iu_a": -44.6451569, "cg_iv_a": 270.60675, "cg_iw_a": -225.961594, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 4067812, "cg_sample_valid": 1, "cg_theta_rad": 1.98008227, "cg_vd_req_v": 6.83512402, "cg_vd_v": 6.83512402, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1384811, "cg_vq_v": -28.1384811, "cg_vu_v": 44.8690414, "cg_vv_v": 0, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 79.8298645, "dclink_p_w": 12009.8643, "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": 50.6817017, "temp_inv2_c": 47.8898926, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0969329402, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 409.912323, "values": {"Elec_RPM": -12795.2197, "EncoderCos": 20604, "EncoderSin": 16896, "GapTicks": 37307, "Mech_RPM": -2559.04395, "cg_du": 33.9157791, "cg_dv": 66.0842209, "cg_dw": 41.8232803, "cg_id_a": 4.60154057, "cg_id_raw_a": 2.47411537, "cg_iq_a": 302.839752, "cg_iq_raw_a": 304.111877, "cg_iu_a": 293.183594, "cg_iv_a": -202.846436, "cg_iw_a": -90.3371658, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 4072062, "cg_sample_valid": 1, "cg_theta_rad": 4.09347105, "cg_vd_req_v": 6.62515402, "cg_vd_v": 6.62515402, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3559837, "cg_vq_v": -28.3559837, "cg_vu_v": 0, "cg_vv_v": 38.2706528, "cg_vw_v": 48.3881836, "control_outputs_enabled": 1, "dclink_i_a": 80.3771439, "dclink_p_w": 12056.8428, "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": 50.7492981, "temp_inv2_c": 47.8583069, "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": 0.100105286, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 410.94986, "values": {"Elec_RPM": -12796.9727, "EncoderCos": 17895, "EncoderSin": 19373, "GapTicks": 36855, "Mech_RPM": -2559.39453, "cg_du": 54.7714119, "cg_dv": 66.4954224, "cg_dw": 33.5045776, "cg_id_a": 0.533080518, "cg_id_raw_a": 2.78596473, "cg_iq_a": 297.575256, "cg_iq_raw_a": 298.14386, "cg_iu_a": 297.315399, "cg_iv_a": -164.935394, "cg_iw_a": -38.2910156, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4077166, "cg_sample_valid": 1, "cg_theta_rad": 4.12084198, "cg_vd_req_v": 6.68590021, "cg_vd_v": 6.68590021, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2723923, "cg_vq_v": -28.2723923, "cg_vu_v": 6.59838867, "cg_vv_v": 45.3089333, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 80.6272278, "dclink_p_w": 12094.3564, "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": 50.8169861, "temp_inv2_c": 47.9056702, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970336422, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 411.967285, "values": {"Elec_RPM": -12799.3789, "EncoderCos": 20733, "EncoderSin": 16768, "GapTicks": 37105, "Mech_RPM": -2559.87573, "cg_du": 33.7321358, "cg_dv": 66.267868, "cg_dw": 43.2237663, "cg_id_a": 0.147067904, "cg_id_raw_a": -6.13179445, "cg_iq_a": 298.86673, "cg_iq_raw_a": 296.270447, "cg_iu_a": 296.590515, "cg_iv_a": -249.057343, "cg_iw_a": -16.6172104, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 4082263, "cg_sample_valid": 1, "cg_theta_rad": 4.09998512, "cg_vd_req_v": 6.73053074, "cg_vd_v": 6.73053074, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2757568, "cg_vq_v": -28.2757568, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.3427124, "dclink_p_w": 12051.6777, "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": 50.8169861, "temp_inv2_c": 47.96698, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0964797437, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 412.98468, "values": {"Elec_RPM": -12799.5693, "EncoderCos": 49699, "EncoderSin": 42712, "GapTicks": 36747, "Mech_RPM": -2559.91382, "cg_du": 33.4071426, "cg_dv": 53.9932671, "cg_dw": 66.5928574, "cg_id_a": 6.95295525, "cg_id_raw_a": 17.8841362, "cg_iq_a": 301.882813, "cg_iq_raw_a": 300.848175, "cg_iu_a": 166.837616, "cg_iv_a": 125.051514, "cg_iw_a": -291.88913, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 4087313, "cg_sample_valid": 1, "cg_theta_rad": 0.56833154, "cg_vd_req_v": 6.64783525, "cg_vd_v": 6.64783525, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2446308, "cg_vq_v": -28.2446308, "cg_vu_v": 131.967773, "cg_vv_v": 107.333786, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 80.5076218, "dclink_p_w": 12076.415, "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": 50.8848267, "temp_inv2_c": 47.9215088, "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": 0.0900343359, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 414.002106, "values": {"Elec_RPM": -12794.3008, "EncoderCos": 34510, "EncoderSin": 52405, "GapTicks": 38017, "Mech_RPM": -2558.86011, "cg_du": 38.794075, "cg_dv": 65.4382401, "cg_dw": 34.5617599, "cg_id_a": -9.97669983, "cg_id_raw_a": -8.61931515, "cg_iq_a": 295.138306, "cg_iq_raw_a": 299.911682, "cg_iu_a": 242.043564, "cg_iv_a": -267.79541, "cg_iw_a": 25.7518311, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 4092512, "cg_sample_valid": 1, "cg_theta_rad": 1.51668322, "cg_vd_req_v": 6.95962858, "cg_vd_v": 6.95962858, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1459064, "cg_vq_v": -28.1459064, "cg_vu_v": 0, "cg_vv_v": 49.707859, "cg_vw_v": 18.9153805, "control_outputs_enabled": 1, "dclink_i_a": 80.3463364, "dclink_p_w": 12052.2217, "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": 50.9187622, "temp_inv2_c": 48.1037292, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0967818722, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 415.019531, "values": {"Elec_RPM": -12797.4102, "EncoderCos": 22288, "EncoderSin": 15715, "GapTicks": 37097, "Mech_RPM": -2559.48193, "cg_du": 33.7248535, "cg_dv": 66.2751465, "cg_dw": 56.8246384, "cg_id_a": -1.46324015, "cg_id_raw_a": 6.5613451, "cg_iq_a": 300.104523, "cg_iq_raw_a": 305.244019, "cg_iu_a": 289.124298, "cg_iv_a": -83.3505249, "cg_iw_a": -205.773773, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4097563, "cg_sample_valid": 1, "cg_theta_rad": 4.19950056, "cg_vd_req_v": 6.69488811, "cg_vd_v": 6.69488811, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3085499, "cg_vq_v": -28.3085499, "cg_vu_v": 98.9758301, "cg_vv_v": 144.724655, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 80.489502, "dclink_p_w": 12073.6963, "enc_isr_hz": 5001, "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": 50.9527283, "temp_inv2_c": 48.0263672, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0965804532, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 416.036926, "values": {"Elec_RPM": -12800.3896, "EncoderCos": 13475, "EncoderSin": 27801, "GapTicks": 38858, "Mech_RPM": -2560.07788, "cg_du": 64.6739502, "cg_dv": 35.3260498, "cg_dw": 63.8005676, "cg_id_a": -6.34051418, "cg_id_raw_a": -23.7271919, "cg_iq_a": 295.934479, "cg_iq_raw_a": 288.373505, "cg_iu_a": -266.964844, "cg_iv_a": 253.680878, "cg_iw_a": 13.2839661, "cg_sample_age_us": 23.681818, "cg_sample_seq": 4102562, "cg_sample_valid": 1, "cg_theta_rad": 3.4241662, "cg_vd_req_v": 6.82935047, "cg_vd_v": 6.82935047, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1911469, "cg_vq_v": -28.1911469, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 80.2249222, "dclink_p_w": 12034.0088, "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": 50.9867554, "temp_inv2_c": 47.9313965, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970840007, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 417.054352, "values": {"Elec_RPM": -12805.4141, "EncoderCos": 23435, "EncoderSin": 15083, "GapTicks": 38703, "Mech_RPM": -2561.08276, "cg_du": 35.1846848, "cg_dv": 63.3675385, "cg_dw": 64.8153152, "cg_id_a": 4.86641693, "cg_id_raw_a": 15.248476, "cg_iq_a": 297.790588, "cg_iq_raw_a": 303.967194, "cg_iu_a": 245.015564, "cg_iv_a": 15.3414307, "cg_iw_a": -260.356995, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 4107763, "cg_sample_valid": 1, "cg_theta_rad": 4.2628727, "cg_vd_req_v": 6.63180304, "cg_vd_v": 6.63180304, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2514763, "cg_vq_v": -28.2514763, "cg_vu_v": 107.333786, "cg_vv_v": 112.612495, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.8751678, "dclink_p_w": 11981.5449, "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": 51.0889893, "temp_inv2_c": 48.0739746, "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": 0.0965301022, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 418.067963, "values": {"Elec_RPM": -12801.3848, "EncoderCos": 42606, "EncoderSin": 15573, "GapTicks": 37989, "Mech_RPM": -2560.27686, "cg_du": 38.708252, "cg_dv": 65.4643021, "cg_dw": 34.5356979, "cg_id_a": 6.03119087, "cg_id_raw_a": -10.5888186, "cg_iq_a": 305.224304, "cg_iq_raw_a": 299.24469, "cg_iu_a": 244.29068, "cg_iv_a": -280.227051, "cg_iw_a": 35.9363556, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 4112613, "cg_sample_valid": 1, "cg_theta_rad": 5.28456163, "cg_vd_req_v": 6.5868845, "cg_vd_v": 6.5868845, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3998547, "cg_vq_v": -28.3998547, "cg_vu_v": 79.6205521, "cg_vv_v": 123.60981, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 80.485878, "dclink_p_w": 12073.1533, "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": 51.0548706, "temp_inv2_c": 48.1057129, "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": 0.0988464132, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 419.065796, "values": {"Elec_RPM": -12804.2041, "EncoderCos": 16016, "EncoderSin": 43350, "GapTicks": 38119, "Mech_RPM": -2560.84082, "cg_du": 61.7423935, "cg_dv": 65.3458633, "cg_dw": 34.6541328, "cg_id_a": 2.78373671, "cg_id_raw_a": 4.99857664, "cg_iq_a": 301.462769, "cg_iq_raw_a": 304.700165, "cg_iu_a": 45.7107162, "cg_iv_a": -276.457703, "cg_iw_a": 230.746979, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 4117763, "cg_sample_valid": 1, "cg_theta_rad": 2.60003781, "cg_vd_req_v": 6.69828653, "cg_vd_v": 6.69828653, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.276165, "cg_vq_v": -28.276165, "cg_vu_v": 74.3418427, "cg_vv_v": 113.932175, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 79.7247543, "dclink_p_w": 11923.9111, "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": 51.0548706, "temp_inv2_c": 48.2189941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0971343517, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 420.083191, "values": {"Elec_RPM": -12810.0723, "EncoderCos": 52322, "EncoderSin": 31636, "GapTicks": 36632, "Mech_RPM": -2562.0144, "cg_du": 66.6976166, "cg_dv": 53.0193214, "cg_dw": 33.3023796, "cg_id_a": 3.29502487, "cg_id_raw_a": 3.87255859, "cg_iq_a": 307.711182, "cg_iq_raw_a": 305.867889, "cg_iu_a": -109.956543, "cg_iv_a": -190.741028, "cg_iw_a": 300.697571, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 4122912, "cg_sample_valid": 1, "cg_theta_rad": 6.26495981, "cg_vd_req_v": 6.75712061, "cg_vd_v": 6.75712061, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3706512, "cg_vq_v": -28.3706512, "cg_vu_v": 1.31967759, "cg_vv_v": 65.9838867, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.5348053, "dclink_p_w": 12080.4922, "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": 51.1572266, "temp_inv2_c": 48.230957, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0967315137, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 420.924469, "values": {"Elec_RPM": -12793.9434, "EncoderCos": 33874, "EncoderSin": 12883, "GapTicks": 36741, "Mech_RPM": -2558.78857, "cg_du": 66.5987701, "cg_dv": 33.4012299, "cg_dw": 45.2574005, "cg_id_a": 1.83618474, "cg_id_raw_a": 4.82730484, "cg_iq_a": 303.655212, "cg_iq_raw_a": 308.116089, "cg_iu_a": -303.643616, "cg_iv_a": 104.247559, "cg_iw_a": 199.396057, "cg_sample_age_us": 24.045454, "cg_sample_seq": 4127112, "cg_sample_valid": 1, "cg_theta_rad": 4.81609821, "cg_vd_req_v": 6.69293118, "cg_vd_v": 6.69293118, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3600521, "cg_vq_v": -28.3600521, "cg_vu_v": 76.9812012, "cg_vv_v": 51.0275345, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 79.9766541, "dclink_p_w": 11996.7676, "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": 51.2598572, "temp_inv2_c": 48.230957, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0954726487, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 421.941895, "values": {"Elec_RPM": -12795.9961, "EncoderCos": 40038, "EncoderSin": 50988, "GapTicks": 36709, "Mech_RPM": -2559.19922, "cg_du": 66.6277924, "cg_dv": 49.8979988, "cg_dw": 33.3722076, "cg_id_a": -6.61390114, "cg_id_raw_a": 4.2155447, "cg_iq_a": 292.231964, "cg_iq_raw_a": 292.080811, "cg_iu_a": -141.488678, "cg_iv_a": -154.207245, "cg_iw_a": 295.695923, "cg_sample_age_us": 23.863636, "cg_sample_seq": 4132163, "cg_sample_valid": 1, "cg_theta_rad": 1.22777092, "cg_vd_req_v": 6.92719507, "cg_vd_v": 6.92719507, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0425491, "cg_vq_v": -28.0425491, "cg_vu_v": 108.21357, "cg_vv_v": 113.492287, "cg_vw_v": 66.4237747, "control_outputs_enabled": 1, "dclink_i_a": 80.1669312, "dclink_p_w": 12060.5742, "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": 51.1914368, "temp_inv2_c": 48.3345947, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943648368, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 422.979431, "values": {"Elec_RPM": -12812.3945, "EncoderCos": 22080, "EncoderSin": 49323, "GapTicks": 38825, "Mech_RPM": -2562.479, "cg_du": 64.7041473, "cg_dv": 35.2958527, "cg_dw": 63.6613007, "cg_id_a": -5.18103313, "cg_id_raw_a": -20.4445953, "cg_iq_a": 295.329987, "cg_iq_raw_a": 290.48587, "cg_iu_a": -220.608978, "cg_iv_a": 281.842346, "cg_iw_a": -61.2333527, "cg_sample_age_us": 23.5436363, "cg_sample_seq": 4137362, "cg_sample_valid": 1, "cg_theta_rad": 2.12932134, "cg_vd_req_v": 6.85282087, "cg_vd_v": 6.85282087, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.16469, "cg_vq_v": -28.16469, "cg_vu_v": 142.525192, "cg_vv_v": 73.462059, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": 80.3318405, "dclink_p_w": 12085.3838, "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": 51.225647, "temp_inv2_c": 48.2707825, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0961776152, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 423.996796, "values": {"Elec_RPM": -12813.0166, "EncoderCos": 38831, "EncoderSin": 51460, "GapTicks": 37568, "Mech_RPM": -2562.60327, "cg_du": 65.8466721, "cg_dv": 59.3401108, "cg_dw": 34.1533241, "cg_id_a": -11.8873396, "cg_id_raw_a": -4.15261221, "cg_iq_a": 295.79184, "cg_iq_raw_a": 298.06604, "cg_iu_a": -50.0817337, "cg_iv_a": -227.238556, "cg_iw_a": 277.320282, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 4142363, "cg_sample_valid": 1, "cg_theta_rad": 1.28775597, "cg_vd_req_v": 7.07554007, "cg_vd_v": 7.07554007, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1169605, "cg_vq_v": -28.1169605, "cg_vu_v": 125.809273, "cg_vv_v": 151.323044, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 79.7229462, "dclink_p_w": 11958.7109, "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": 51.2941284, "temp_inv2_c": 48.3505554, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0940123573, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 425.014191, "values": {"Elec_RPM": -12803.6953, "EncoderCos": 20836, "EncoderSin": 50784, "GapTicks": 38309, "Mech_RPM": -2560.73901, "cg_du": 65.172966, "cg_dv": 34.8270378, "cg_dw": 61.8840637, "cg_id_a": -3.40426111, "cg_id_raw_a": 4.83612871, "cg_iq_a": 293.55777, "cg_iq_raw_a": 298.542816, "cg_iu_a": -271.314087, "cg_iv_a": 228.165207, "cg_iw_a": 43.14888, "cg_sample_age_us": 23.641819, "cg_sample_seq": 4147563, "cg_sample_valid": 1, "cg_theta_rad": 2.1779592, "cg_vd_req_v": 6.8443079, "cg_vd_v": 6.8443079, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1063423, "cg_vq_v": -28.1063423, "cg_vu_v": 151.762939, "cg_vv_v": 110.413033, "cg_vw_v": 108.21357, "control_outputs_enabled": 1, "dclink_i_a": 79.9476547, "dclink_p_w": 12027.585, "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": 51.3627625, "temp_inv2_c": 48.4284668, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0974868387, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 426.031616, "values": {"Elec_RPM": -12798.9746, "EncoderCos": 37570, "EncoderSin": 11557, "GapTicks": 36619, "Mech_RPM": -2559.79492, "cg_du": 66.7098007, "cg_dv": 48.548687, "cg_dw": 33.2901993, "cg_id_a": -3.62957764, "cg_id_raw_a": 0.175595239, "cg_iq_a": 299.294434, "cg_iq_raw_a": 298.131378, "cg_iu_a": -141.923615, "cg_iv_a": -155.620728, "cg_iw_a": 297.544342, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 4152612, "cg_sample_valid": 1, "cg_theta_rad": 4.98969793, "cg_vd_req_v": 6.79904079, "cg_vd_v": 6.79904079, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2577705, "cg_vq_v": -28.2577705, "cg_vu_v": 150.443253, "cg_vv_v": 151.762939, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 80.1288757, "dclink_p_w": 12019.6016, "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": 51.3284302, "temp_inv2_c": 48.4464722, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0985946432, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 427.049042, "values": {"Elec_RPM": -12797.0361, "EncoderCos": 37288, "EncoderSin": 53808, "GapTicks": 37014, "Mech_RPM": -2559.40723, "cg_du": 56.0986252, "cg_dv": 66.3500214, "cg_dw": 33.6499748, "cg_id_a": 0.160272837, "cg_id_raw_a": 2.5336926, "cg_iq_a": 297.508881, "cg_iq_raw_a": 297.346436, "cg_iu_a": 110.333481, "cg_iv_a": -290.375305, "cg_iw_a": 180.04184, "cg_sample_age_us": 23.8090916, "cg_sample_seq": 4157663, "cg_sample_valid": 1, "cg_theta_rad": 1.38390088, "cg_vd_req_v": 6.77247906, "cg_vd_v": 6.77247906, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1661949, "cg_vq_v": -28.1661949, "cg_vu_v": 79.6205521, "cg_vv_v": 151.323044, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 79.9095993, "dclink_p_w": 11986.709, "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": 51.4659424, "temp_inv2_c": 48.4945374, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0958251283, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 428.062622, "values": {"Elec_RPM": -12797.5049, "EncoderCos": 21071, "EncoderSin": 14308, "GapTicks": 36829, "Mech_RPM": -2559.50098, "cg_du": 33.4815979, "cg_dv": 66.5184021, "cg_dw": 54.8186226, "cg_id_a": -2.1011548, "cg_id_raw_a": -5.5610013, "cg_iq_a": 299.003754, "cg_iq_raw_a": 294.306671, "cg_iu_a": 287.239624, "cg_iv_a": -78.711319, "cg_iw_a": -208.528305, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 4162712, "cg_sample_valid": 1, "cg_theta_rad": 4.19052649, "cg_vd_req_v": 6.78875113, "cg_vd_v": 6.78875113, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2089081, "cg_vq_v": -28.2089081, "cg_vu_v": 0, "cg_vv_v": 4.83881807, "cg_vw_v": 65.1041031, "control_outputs_enabled": 1, "dclink_i_a": 79.4493027, "dclink_p_w": 11917.6631, "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": 51.4315186, "temp_inv2_c": 48.5105591, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0953215882, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 429.060516, "values": {"Elec_RPM": -12796.1426, "EncoderCos": 11202, "EncoderSin": 29930, "GapTicks": 36652, "Mech_RPM": -2559.22852, "cg_du": 48.3348236, "cg_dv": 33.3204269, "cg_dw": 66.6795731, "cg_id_a": 4.61933041, "cg_id_raw_a": 14.2389135, "cg_iq_a": 296.987488, "cg_iq_raw_a": 298.005585, "cg_iu_a": -143.917023, "cg_iv_a": 301.740204, "cg_iw_a": -157.823181, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 4167713, "cg_sample_valid": 1, "cg_theta_rad": 3.31148124, "cg_vd_req_v": 6.68526459, "cg_vd_v": 6.68526459, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1556778, "cg_vq_v": -28.1556778, "cg_vu_v": 144.28476, "cg_vv_v": 91.0577545, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.8117447, "dclink_p_w": 12007.1387, "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": 51.4315186, "temp_inv2_c": 48.6148682, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0968322232, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 430.077911, "values": {"Elec_RPM": -12797.0059, "EncoderCos": 50501, "EncoderSin": 44776, "GapTicks": 36883, "Mech_RPM": -2559.40112, "cg_du": 33.5304298, "cg_dv": 44.8170395, "cg_dw": 66.469574, "cg_id_a": -0.496137857, "cg_id_raw_a": 0.249777317, "cg_iq_a": 298.541412, "cg_iq_raw_a": 291.135803, "cg_iu_a": 77.3878326, "cg_iv_a": 204.280533, "cg_iw_a": -281.668365, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 4172863, "cg_sample_valid": 1, "cg_theta_rad": 0.624248683, "cg_vd_req_v": 6.78108931, "cg_vd_v": 6.78108931, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1896763, "cg_vq_v": -28.1896763, "cg_vu_v": 110.852921, "cg_vv_v": 72.5822754, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 80.0835724, "dclink_p_w": 12048.0332, "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": 51.5348511, "temp_inv2_c": 48.5907898, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0998535156, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 430.919159, "values": {"Elec_RPM": -12794.5078, "EncoderCos": 46647, "EncoderSin": 16318, "GapTicks": 37198, "Mech_RPM": -2558.90161, "cg_du": 33.8170471, "cg_dv": 66.1829529, "cg_dw": 57.4034271, "cg_id_a": -7.76730394, "cg_id_raw_a": -1.37908971, "cg_iq_a": 299.733765, "cg_iq_raw_a": 301.924408, "cg_iu_a": 290.791504, "cg_iv_a": -76.1742249, "cg_iw_a": -214.617279, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 4177063, "cg_sample_valid": 1, "cg_theta_rad": 5.46615791, "cg_vd_req_v": 6.94038343, "cg_vd_v": 6.94038343, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2361488, "cg_vq_v": -28.2361488, "cg_vu_v": 73.462059, "cg_vv_v": 75.6615219, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 79.9422226, "dclink_p_w": 11956.4365, "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": 51.6038513, "temp_inv2_c": 48.6932678, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0984939337, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 431.956696, "values": {"Elec_RPM": -12796.9082, "EncoderCos": 14275, "EncoderSin": 44034, "GapTicks": 37503, "Mech_RPM": -2559.38159, "cg_du": 59.1322174, "cg_dv": 65.9058456, "cg_dw": 34.0941544, "cg_id_a": 4.58526897, "cg_id_raw_a": -5.45588923, "cg_iq_a": 301.371643, "cg_iq_raw_a": 300.927124, "cg_iu_a": 310.218201, "cg_iv_a": -154.569672, "cg_iw_a": -155.648529, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4182216, "cg_sample_valid": 1, "cg_theta_rad": 2.89234543, "cg_vd_req_v": 6.65736389, "cg_vd_v": 6.65736389, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2507076, "cg_vq_v": -28.2507076, "cg_vu_v": 104.694435, "cg_vv_v": 150.883148, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.9983978, "dclink_p_w": 12000.0293, "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": 51.5693359, "temp_inv2_c": 48.7234802, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950194523, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 432.974091, "values": {"Elec_RPM": -12802.8438, "EncoderCos": 45114, "EncoderSin": 15055, "GapTicks": 37168, "Mech_RPM": -2560.56885, "cg_du": 33.7898865, "cg_dv": 66.2101135, "cg_dw": 43.0854111, "cg_id_a": 2.21575189, "cg_id_raw_a": 0.595204294, "cg_iq_a": 298.703857, "cg_iq_raw_a": 298.712738, "cg_iu_a": 192.57074, "cg_iv_a": 115.483154, "cg_iw_a": -308.053894, "cg_sample_age_us": 26.8490906, "cg_sample_seq": 4187266, "cg_sample_valid": 1, "cg_theta_rad": 5.58861589, "cg_vd_req_v": 6.73023081, "cg_vd_v": 6.73023081, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2093544, "cg_vq_v": -28.2093544, "cg_vu_v": 38.7105446, "cg_vv_v": 36.9509773, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 79.8081207, "dclink_p_w": 11971.4873, "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": 51.6038513, "temp_inv2_c": 48.7073975, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948180333, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 433.991547, "values": {"Elec_RPM": -12796.0635, "EncoderCos": 54001, "EncoderSin": 35088, "GapTicks": 36751, "Mech_RPM": -2559.21265, "cg_du": 53.8819199, "cg_dv": 66.5891876, "cg_dw": 33.4108124, "cg_id_a": 6.96690941, "cg_id_raw_a": 11.5801687, "cg_iq_a": 303.849884, "cg_iq_raw_a": 302.855743, "cg_iu_a": 128.27417, "cg_iv_a": -298.05899, "cg_iw_a": 169.784821, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 4192463, "cg_sample_valid": 1, "cg_theta_rad": 0.153366759, "cg_vd_req_v": 6.65889883, "cg_vd_v": 6.65889883, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3073788, "cg_vq_v": -28.3073788, "cg_vu_v": 73.462059, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 80.4061432, "dclink_p_w": 12096.5615, "enc_isr_hz": 5002, "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": 51.6384277, "temp_inv2_c": 48.7678223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0994506776, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 435.009033, "values": {"Elec_RPM": -12797.3496, "EncoderCos": 22723, "EncoderSin": 51829, "GapTicks": 36742, "Mech_RPM": -2559.46997, "cg_du": 53.6766129, "cg_dv": 33.4022751, "cg_dw": 66.5977249, "cg_id_a": -3.35205054, "cg_id_raw_a": -0.762573361, "cg_iq_a": 300.571686, "cg_iq_raw_a": 295.681488, "cg_iu_a": -196.833023, "cg_iv_a": 289.852234, "cg_iw_a": -184.643616, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 4197412, "cg_sample_valid": 1, "cg_theta_rad": 2.07535982, "cg_vd_req_v": 6.8345685, "cg_vd_v": 6.8345685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2529831, "cg_vq_v": -28.2529831, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 14.0765619, "control_outputs_enabled": 1, "dclink_i_a": 80.9099274, "dclink_p_w": 12136.7617, "enc_isr_hz": 4998, "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": 51.6730042, "temp_inv2_c": 48.8162231, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0978896767, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 436.026367, "values": {"Elec_RPM": -12806.1211, "EncoderCos": 11751, "EncoderSin": 37957, "GapTicks": 36722, "Mech_RPM": -2561.22412, "cg_du": 33.3841667, "cg_dv": 66.6158295, "cg_dw": 54.7114906, "cg_id_a": 4.53641748, "cg_id_raw_a": 13.9547272, "cg_iq_a": 308.611633, "cg_iq_raw_a": 312.123505, "cg_iu_a": 306.485107, "cg_iv_a": -112.563065, "cg_iw_a": -193.922043, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 4202613, "cg_sample_valid": 1, "cg_theta_rad": 2.9405663, "cg_vd_req_v": 6.69038105, "cg_vd_v": 6.69038105, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.385437, "cg_vq_v": -28.385437, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 80.2919769, "dclink_p_w": 12044.0674, "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": 51.7422791, "temp_inv2_c": 48.9071655, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0954726487, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 437.043732, "values": {"Elec_RPM": -12796.8105, "EncoderCos": 11304, "EncoderSin": 36067, "GapTicks": 38230, "Mech_RPM": -2559.36206, "cg_du": 34.7545509, "cg_dv": 62.2411957, "cg_dw": 65.2454453, "cg_id_a": 3.81806564, "cg_id_raw_a": -14.3622446, "cg_iq_a": 306.257294, "cg_iq_raw_a": 303.492126, "cg_iu_a": 288.254456, "cg_iv_a": -56.493866, "cg_iw_a": -231.76059, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 4207712, "cg_sample_valid": 1, "cg_theta_rad": 2.98255444, "cg_vd_req_v": 6.7052989, "cg_vd_v": 6.7052989, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3230495, "cg_vq_v": -28.3230495, "cg_vu_v": 11.877099, "cg_vv_v": 15.3962402, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 80.732338, "dclink_p_w": 12074.6094, "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": 51.811676, "temp_inv2_c": 48.9455872, "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": 0.0953215882, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 438.052734, "values": {"Elec_RPM": -12790.7402, "EncoderCos": 53649, "EncoderSin": 37228, "GapTicks": 37965, "Mech_RPM": -2558.14795, "cg_du": 38.9310036, "cg_dv": 65.4859772, "cg_dw": 34.5140228, "cg_id_a": -2.04034901, "cg_id_raw_a": 2.9698782, "cg_iq_a": 299.524628, "cg_iq_raw_a": 301.70047, "cg_iu_a": 301.084778, "cg_iv_a": -117.637207, "cg_iw_a": -183.447571, "cg_sample_age_us": 23.4672718, "cg_sample_seq": 4212516, "cg_sample_valid": 1, "cg_theta_rad": 0.41868037, "cg_vd_req_v": 6.80780602, "cg_vd_v": 6.80780602, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2074623, "cg_vq_v": -28.2074623, "cg_vu_v": 98.5359344, "cg_vv_v": 147.803909, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.2593536, "dclink_p_w": 12039.1738, "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": 51.811676, "temp_inv2_c": 49.0266418, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0965301022, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 439.055237, "values": {"Elec_RPM": -12791.5293, "EncoderCos": 36596, "EncoderSin": 11438, "GapTicks": 37381, "Mech_RPM": -2558.30591, "cg_du": 66.0164337, "cg_dv": 42.122345, "cg_dw": 33.9835663, "cg_id_a": 2.51306701, "cg_id_raw_a": 3.60277653, "cg_iq_a": 296.268219, "cg_iq_raw_a": 303.18927, "cg_iu_a": -194.513412, "cg_iv_a": -92.5564728, "cg_iw_a": 287.069885, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 4217762, "cg_sample_valid": 1, "cg_theta_rad": 4.93604898, "cg_vd_req_v": 6.74032402, "cg_vd_v": 6.74032402, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1269627, "cg_vq_v": -28.1269627, "cg_vu_v": 35.6312981, "cg_vv_v": 58.0658188, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.2647934, "dclink_p_w": 12075.2969, "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": 51.811676, "temp_inv2_c": 49.0043335, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0956237093, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 440.072662, "values": {"Elec_RPM": -12798.3633, "EncoderCos": 38188, "EncoderSin": 53522, "GapTicks": 38350, "Mech_RPM": -2559.67261, "cg_du": 62.0767899, "cg_dv": 65.1357651, "cg_dw": 34.8642387, "cg_id_a": -1.78398108, "cg_id_raw_a": 1.56966293, "cg_iq_a": 296.062775, "cg_iq_raw_a": 300.198822, "cg_iu_a": 42.9199448, "cg_iv_a": -272.035919, "cg_iw_a": 229.115967, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 4222813, "cg_sample_valid": 1, "cg_theta_rad": 1.34896111, "cg_vd_req_v": 6.81196308, "cg_vd_v": 6.81196308, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1362953, "cg_vq_v": -28.1362953, "cg_vu_v": 110.852921, "cg_vv_v": 151.762939, "cg_vw_v": 106.014107, "control_outputs_enabled": 1, "dclink_i_a": 80.0672607, "dclink_p_w": 12010.3594, "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": 51.8811646, "temp_inv2_c": 48.973938, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0952208713, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 440.91391, "values": {"Elec_RPM": -12788.043, "EncoderCos": 12390, "EncoderSin": 25339, "GapTicks": 36575, "Mech_RPM": -2557.60864, "cg_du": 66.7490997, "cg_dv": 33.2509003, "cg_dw": 49.9484215, "cg_id_a": -3.16948843, "cg_id_raw_a": 3.37851763, "cg_iq_a": 299.384674, "cg_iq_raw_a": 299.553619, "cg_iu_a": -307.485443, "cg_iv_a": 145.058105, "cg_iw_a": 162.427338, "cg_sample_age_us": 24.0745449, "cg_sample_seq": 4227062, "cg_sample_valid": 1, "cg_theta_rad": 3.5274632, "cg_vd_req_v": 6.86574411, "cg_vd_v": 6.86574411, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1868572, "cg_vq_v": -28.1868572, "cg_vu_v": 51.9073219, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.5453491, "dclink_p_w": 11932.0703, "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": 51.9159851, "temp_inv2_c": 49.0509644, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0960265473, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 441.951416, "values": {"Elec_RPM": -12782.8857, "EncoderCos": 51042, "EncoderSin": 43861, "GapTicks": 36704, "Mech_RPM": -2556.57715, "cg_du": 33.3677368, "cg_dv": 51.8835754, "cg_dw": 66.6322632, "cg_id_a": 1.66314816, "cg_id_raw_a": 9.80254936, "cg_iq_a": 297.811066, "cg_iq_raw_a": 295.211151, "cg_iu_a": -153.267929, "cg_iv_a": 301.667725, "cg_iw_a": -148.399796, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 4232217, "cg_sample_valid": 1, "cg_theta_rad": 0.79286021, "cg_vd_req_v": 6.76754427, "cg_vd_v": 6.76754427, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1527557, "cg_vq_v": -28.1527557, "cg_vu_v": 127.568848, "cg_vv_v": 81.380127, "cg_vw_v": 132.407669, "control_outputs_enabled": 1, "dclink_i_a": 80.1832428, "dclink_p_w": 12027.7568, "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": 51.9508057, "temp_inv2_c": 49.0428467, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950698107, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 442.968781, "values": {"Elec_RPM": -12784.2051, "EncoderCos": 11552, "EncoderSin": 28308, "GapTicks": 37505, "Mech_RPM": -2556.84106, "cg_du": 58.778656, "cg_dv": 34.0955811, "cg_dw": 65.9044189, "cg_id_a": -1.36918926, "cg_id_raw_a": -8.40391159, "cg_iq_a": 299.170349, "cg_iq_raw_a": 294.039581, "cg_iu_a": -290.704529, "cg_iv_a": 104.57373, "cg_iw_a": 186.130798, "cg_sample_age_us": 26.6200008, "cg_sample_seq": 4237266, "cg_sample_valid": 1, "cg_theta_rad": 3.55559063, "cg_vd_req_v": 6.83079576, "cg_vd_v": 6.83079576, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1816273, "cg_vq_v": -28.1816273, "cg_vu_v": 139.006058, "cg_vv_v": 108.653458, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 81.0041656, "dclink_p_w": 12150.8984, "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": 51.9508057, "temp_inv2_c": 49.1200256, "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": 0.0966811627, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 443.986237, "values": {"Elec_RPM": -12795.6211, "EncoderCos": 53692, "EncoderSin": 28591, "GapTicks": 38399, "Mech_RPM": -2559.12427, "cg_du": 65.0914993, "cg_dv": 34.9085045, "cg_dw": 37.2109604, "cg_id_a": -0.768550873, "cg_id_raw_a": 4.31529522, "cg_iq_a": 305.175446, "cg_iq_raw_a": 313.698395, "cg_iu_a": -16.1212616, "cg_iv_a": -253.297867, "cg_iw_a": 269.419128, "cg_sample_age_us": 24.1399994, "cg_sample_seq": 4242316, "cg_sample_valid": 1, "cg_theta_rad": 0.0585498214, "cg_vd_req_v": 6.79721975, "cg_vd_v": 6.79721975, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2958527, "cg_vq_v": -28.2958527, "cg_vu_v": 0.87978512, "cg_vv_v": 54.1067848, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.6236038, "dclink_p_w": 12093.8125, "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": 51.9856567, "temp_inv2_c": 49.1322327, "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": 0.0981918052, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 445.003632, "values": {"Elec_RPM": -12799.3242, "EncoderCos": 45536, "EncoderSin": 49897, "GapTicks": 37228, "Mech_RPM": -2559.86475, "cg_du": 66.1558762, "cg_dv": 33.8441238, "cg_dw": 57.1700058, "cg_id_a": -3.67987442, "cg_id_raw_a": -13.5611191, "cg_iq_a": 297.254547, "cg_iq_raw_a": 292.627838, "cg_iu_a": -261.165833, "cg_iv_a": 250.672668, "cg_iw_a": 10.4931717, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 4247512, "cg_sample_valid": 1, "cg_theta_rad": 0.920505047, "cg_vd_req_v": 6.86482096, "cg_vd_v": 6.86482096, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1470985, "cg_vq_v": -28.1470985, "cg_vu_v": 151.323044, "cg_vv_v": 109.093361, "cg_vw_v": 106.453995, "control_outputs_enabled": 1, "dclink_i_a": 79.9621582, "dclink_p_w": 12029.7676, "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": 52.0903931, "temp_inv2_c": 49.3176575, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0908903629, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 446.021027, "values": {"Elec_RPM": -12800.3066, "EncoderCos": 53987, "EncoderSin": 34837, "GapTicks": 36973, "Mech_RPM": -2560.06128, "cg_du": 55.4681931, "cg_dv": 66.3879623, "cg_dw": 33.6120377, "cg_id_a": 5.14483547, "cg_id_raw_a": 3.95135331, "cg_iq_a": 300.235413, "cg_iq_raw_a": 300.381622, "cg_iu_a": 102.541054, "cg_iv_a": -269.027679, "cg_iw_a": 243.61351, "cg_sample_age_us": 23.48909, "cg_sample_seq": 4252512, "cg_sample_valid": 1, "cg_theta_rad": 0.129356861, "cg_vd_req_v": 6.67929745, "cg_vd_v": 6.67929745, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2122269, "cg_vq_v": -28.2122269, "cg_vu_v": 0, "cg_vv_v": 61.5849609, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 79.9494705, "dclink_p_w": 12027.8584, "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": 52.0903931, "temp_inv2_c": 49.3135986, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0928542018, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 447.038452, "values": {"Elec_RPM": -12801.915, "EncoderCos": 14521, "EncoderSin": 21040, "GapTicks": 36688, "Mech_RPM": -2560.38306, "cg_du": 66.64711, "cg_dv": 52.0260696, "cg_dw": 33.3528938, "cg_id_a": -1.07001925, "cg_id_raw_a": 0.208037317, "cg_iq_a": 299.298157, "cg_iq_raw_a": 297.174927, "cg_iu_a": -109.195419, "cg_iv_a": -184.362076, "cg_iw_a": 293.557495, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 4257662, "cg_sample_valid": 1, "cg_theta_rad": 3.74654746, "cg_vd_req_v": 6.8492589, "cg_vd_v": 6.8492589, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1694164, "cg_vq_v": -28.1694164, "cg_vu_v": 33.4318352, "cg_vv_v": 46.6286087, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.0038376, "dclink_p_w": 12000.8457, "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": 52.1604004, "temp_inv2_c": 49.1871643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0980407372, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 448.042847, "values": {"Elec_RPM": -12808.1787, "EncoderCos": 27648, "EncoderSin": 53650, "GapTicks": 36703, "Mech_RPM": -2561.63574, "cg_du": 33.3669662, "cg_dv": 52.0886345, "cg_dw": 66.6330338, "cg_id_a": -3.0565176, "cg_id_raw_a": 1.05208826, "cg_iq_a": 297.093292, "cg_iq_raw_a": 299.155121, "cg_iu_a": -83.4260559, "cg_iv_a": 292.498016, "cg_iw_a": -209.07196, "cg_sample_age_us": 26.7363644, "cg_sample_seq": 4262566, "cg_sample_valid": 1, "cg_theta_rad": 2.0152359, "cg_vd_req_v": 6.84820414, "cg_vd_v": 6.84820414, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1491776, "cg_vq_v": -28.1491776, "cg_vu_v": 119.650772, "cg_vv_v": 71.7024918, "cg_vw_v": 104.694435, "control_outputs_enabled": 1, "dclink_i_a": 80.1850586, "dclink_p_w": 12063.3008, "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": 52.1604004, "temp_inv2_c": 49.3033752, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917967483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 449.049927, "values": {"Elec_RPM": -12798.9453, "EncoderCos": 22547, "EncoderSin": 51632, "GapTicks": 36961, "Mech_RPM": -2559.78906, "cg_du": 55.3407822, "cg_dv": 33.601757, "cg_dw": 66.3982391, "cg_id_a": -2.20871162, "cg_id_raw_a": -0.620709538, "cg_iq_a": 297.647522, "cg_iq_raw_a": 294.685822, "cg_iu_a": -208.829727, "cg_iv_a": 281.914825, "cg_iw_a": -166.775391, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 4267662, "cg_sample_valid": 1, "cg_theta_rad": 2.0894413, "cg_vd_req_v": 6.85023308, "cg_vd_v": 6.85023308, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1646709, "cg_vq_v": -28.1646709, "cg_vu_v": 44.4291458, "cg_vv_v": 0, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 81.1201477, "dclink_p_w": 12203.9785, "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": 52.1604004, "temp_inv2_c": 49.3340149, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101011671, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 450.067322, "values": {"Elec_RPM": -12806.5781, "EncoderCos": 11452, "EncoderSin": 36493, "GapTicks": 38949, "Mech_RPM": -2561.31567, "cg_du": 35.408989, "cg_dv": 64.591011, "cg_dw": 64.1577759, "cg_id_a": 5.05725288, "cg_id_raw_a": -11.2876101, "cg_iq_a": 304.277588, "cg_iq_raw_a": 302.404572, "cg_iu_a": 294.995789, "cg_iv_a": -84.7640076, "cg_iw_a": -210.231781, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 4272862, "cg_sample_valid": 1, "cg_theta_rad": 2.96050668, "cg_vd_req_v": 6.71551323, "cg_vd_v": 6.71551323, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.266655, "cg_vq_v": -28.266655, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 50.1477547, "control_outputs_enabled": 1, "dclink_i_a": 80.7667694, "dclink_p_w": 12150.8154, "enc_isr_hz": 5000, "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": 52.2304993, "temp_inv2_c": 49.4137573, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0985442922, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 451.084778, "values": {"Elec_RPM": -12801.0332, "EncoderCos": 22122, "EncoderSin": 51400, "GapTicks": 37482, "Mech_RPM": -2560.20654, "cg_du": 58.5622025, "cg_dv": 34.0748596, "cg_dw": 65.9251404, "cg_id_a": -5.47278595, "cg_id_raw_a": 2.58791637, "cg_iq_a": 296.405151, "cg_iq_raw_a": 301.413086, "cg_iu_a": -222.13121, "cg_iv_a": 285.394226, "cg_iw_a": -63.263031, "cg_sample_age_us": 23.6890907, "cg_sample_seq": 4277863, "cg_sample_valid": 1, "cg_theta_rad": 2.11301994, "cg_vd_req_v": 6.90972137, "cg_vd_v": 6.90972137, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1306686, "cg_vq_v": -28.1306686, "cg_vu_v": 151.762939, "cg_vv_v": 87.53862, "cg_vw_v": 131.527878, "control_outputs_enabled": 1, "dclink_i_a": 80.0092697, "dclink_p_w": 12001.6602, "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": 52.265625, "temp_inv2_c": 49.4281006, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0952712297, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 451.926117, "values": {"Elec_RPM": -12800.7148, "EncoderCos": 22181, "EncoderSin": 13795, "GapTicks": 38504, "Mech_RPM": -2560.14307, "cg_du": 35.0036697, "cg_dv": 64.9963303, "cg_dw": 62.5353432, "cg_id_a": -0.256462812, "cg_id_raw_a": 9.4309473, "cg_iq_a": 296.200928, "cg_iq_raw_a": 304.27475, "cg_iu_a": 261.542725, "cg_iv_a": -17.4954681, "cg_iw_a": -244.047256, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 4282113, "cg_sample_valid": 1, "cg_theta_rad": 4.24635887, "cg_vd_req_v": 6.791852, "cg_vd_v": 6.791852, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1175842, "cg_vq_v": -28.1175842, "cg_vu_v": 103.374756, "cg_vv_v": 111.292824, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 80.0491409, "dclink_p_w": 12007.6406, "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": 52.3007507, "temp_inv2_c": 49.4076233, "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": 0.0990981907, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 452.963531, "values": {"Elec_RPM": -12799.9697, "EncoderCos": 35686, "EncoderSin": 53942, "GapTicks": 36816, "Mech_RPM": -2559.9939, "cg_du": 45.936409, "cg_dv": 66.5303574, "cg_dw": 33.4696426, "cg_id_a": -6.92999744, "cg_id_raw_a": -15.2826176, "cg_iq_a": 298.937042, "cg_iq_raw_a": 291.083099, "cg_iu_a": 295.793152, "cg_iv_a": -143.334045, "cg_iw_a": -152.459106, "cg_sample_age_us": 26.7654552, "cg_sample_seq": 4287265, "cg_sample_valid": 1, "cg_theta_rad": 1.63678062, "cg_vd_req_v": 6.98928595, "cg_vd_v": 6.98928595, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1490803, "cg_vq_v": -28.1490803, "cg_vu_v": 31.6722641, "cg_vv_v": 59.825386, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": 80.0582047, "dclink_p_w": 12044.2168, "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": 52.3007507, "temp_inv2_c": 49.4608459, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975371897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 453.980957, "values": {"Elec_RPM": -12807.4854, "EncoderCos": 31318, "EncoderSin": 54111, "GapTicks": 36834, "Mech_RPM": -2561.49707, "cg_du": 33.4861145, "cg_dv": 66.5138855, "cg_dw": 53.8941002, "cg_id_a": -1.53022885, "cg_id_raw_a": -0.444106996, "cg_iq_a": 297.570862, "cg_iq_raw_a": 294.81723, "cg_iu_a": 299.127594, "cg_iv_a": -183.093567, "cg_iw_a": -116.034035, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 4292362, "cg_sample_valid": 1, "cg_theta_rad": 1.62683916, "cg_vd_req_v": 6.84975481, "cg_vd_v": 6.84975481, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1300907, "cg_vq_v": -28.1300907, "cg_vu_v": 0, "cg_vv_v": 1.31967759, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 79.860672, "dclink_p_w": 12014.499, "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": 52.3710938, "temp_inv2_c": 49.5244446, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0977889672, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 454.998352, "values": {"Elec_RPM": -12803.3926, "EncoderCos": 51085, "EncoderSin": 43672, "GapTicks": 36683, "Mech_RPM": -2560.67847, "cg_du": 33.3485146, "cg_dv": 53.3188515, "cg_dw": 66.6514893, "cg_id_a": 7.54832888, "cg_id_raw_a": 14.1880264, "cg_iq_a": 304.170837, "cg_iq_raw_a": 301.226166, "cg_iu_a": -138.915375, "cg_iv_a": 303.806091, "cg_iw_a": -164.890732, "cg_sample_age_us": 24.9472733, "cg_sample_seq": 4297367, "cg_sample_valid": 1, "cg_theta_rad": 0.79191649, "cg_vd_req_v": 6.67357588, "cg_vd_v": 6.67357588, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2547703, "cg_vq_v": -28.2547703, "cg_vu_v": 151.323044, "cg_vv_v": 101.175293, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 79.980278, "dclink_p_w": 12032.4932, "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": 52.406311, "temp_inv2_c": 49.563446, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948180333, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 456.015747, "values": {"Elec_RPM": -12809.6543, "EncoderCos": 30846, "EncoderSin": 54062, "GapTicks": 37192, "Mech_RPM": -2561.93091, "cg_du": 33.81147, "cg_dv": 66.18853, "cg_dw": 57.0879822, "cg_id_a": -4.51438236, "cg_id_raw_a": 2.79210758, "cg_iq_a": 298.851227, "cg_iq_raw_a": 302.86557, "cg_iu_a": 289.305542, "cg_iv_a": -79.1824951, "cg_iw_a": -210.123047, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4302563, "cg_sample_valid": 1, "cg_theta_rad": 1.68470979, "cg_vd_req_v": 6.9044137, "cg_vd_v": 6.9044137, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1731224, "cg_vq_v": -28.1731224, "cg_vu_v": 109.093361, "cg_vv_v": 139.006058, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.5254135, "dclink_p_w": 11964.0615, "enc_isr_hz": 5002, "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": 52.5121765, "temp_inv2_c": 49.5778503, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0980910957, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 457.033203, "values": {"Elec_RPM": -12806.7109, "EncoderCos": 27145, "EncoderSin": 11805, "GapTicks": 38061, "Mech_RPM": -2561.34229, "cg_du": 38.798317, "cg_dv": 34.6013527, "cg_dw": 65.3986435, "cg_id_a": 1.69757164, "cg_id_raw_a": 5.34357882, "cg_iq_a": 296.754028, "cg_iq_raw_a": 305.563965, "cg_iu_a": -51.0965576, "cg_iv_a": 275.499664, "cg_iw_a": -270.505249, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4307612, "cg_sample_valid": 1, "cg_theta_rad": 4.48752737, "cg_vd_req_v": 6.79371166, "cg_vd_v": 6.79371166, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.119669, "cg_vq_v": -28.119669, "cg_vu_v": 38.7105446, "cg_vv_v": 0, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 79.7247543, "dclink_p_w": 11994.0518, "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": 52.4768372, "temp_inv2_c": 49.6065979, "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": 0.102270544, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 458.017487, "values": {"Elec_RPM": -12807.3398, "EncoderCos": 47474, "EncoderSin": 17187, "GapTicks": 39040, "Mech_RPM": -2561.46802, "cg_du": 35.4915009, "cg_dv": 64.2535782, "cg_dw": 64.5084991, "cg_id_a": 1.15083194, "cg_id_raw_a": -15.9763393, "cg_iq_a": 298.46344, "cg_iq_raw_a": 294.649536, "cg_iu_a": 258.64325, "cg_iv_a": 6.46166992, "cg_iw_a": -265.104919, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 4312462, "cg_sample_valid": 1, "cg_theta_rad": 5.51931906, "cg_vd_req_v": 6.77914143, "cg_vd_v": 6.77914143, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1715736, "cg_vq_v": -28.1715736, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 53.2269974, "control_outputs_enabled": 1, "dclink_i_a": 79.8987274, "dclink_p_w": 11985.0781, "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": 52.5121765, "temp_inv2_c": 49.6312866, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0986953527, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 459.044678, "values": {"Elec_RPM": -12805.4473, "EncoderCos": 14144, "EncoderSin": 21797, "GapTicks": 36781, "Mech_RPM": -2561.08936, "cg_du": 66.5626297, "cg_dv": 46.2874794, "cg_dw": 33.4373703, "cg_id_a": 1.78953576, "cg_id_raw_a": 3.1281445, "cg_iq_a": 301.887238, "cg_iq_raw_a": 304.410645, "cg_iu_a": -237.861038, "cg_iv_a": -42.6486969, "cg_iw_a": 280.509735, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 4317712, "cg_sample_valid": 1, "cg_theta_rad": 3.67008948, "cg_vd_req_v": 6.77337503, "cg_vd_v": 6.77337503, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2102566, "cg_vq_v": -28.2102566, "cg_vu_v": 117.011421, "cg_vv_v": 117.891212, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 79.4764862, "dclink_p_w": 11956.7012, "enc_isr_hz": 5001, "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": 52.5121765, "temp_inv2_c": 49.7198792, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975371897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 460.062073, "values": {"Elec_RPM": -12803.0264, "EncoderCos": 12469, "EncoderSin": 39895, "GapTicks": 37444, "Mech_RPM": -2560.60522, "cg_du": 34.0404854, "cg_dv": 65.9595184, "cg_dw": 41.0078659, "cg_id_a": 3.13456392, "cg_id_raw_a": -6.93420935, "cg_iq_a": 304.895538, "cg_iq_raw_a": 298.898224, "cg_iu_a": 296.952942, "cg_iv_a": -230.681702, "cg_iw_a": -66.2712479, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 4322713, "cg_sample_valid": 1, "cg_theta_rad": 2.83152318, "cg_vd_req_v": 6.74479342, "cg_vd_v": 6.74479342, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2758293, "cg_vq_v": -28.2758293, "cg_vu_v": 106.893898, "cg_vv_v": 151.762939, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 80.3427124, "dclink_p_w": 12051.6777, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2596, "hz_tim_isr": 4997, "hz_vsense": 2596, "pwm_moe": 1, "temp_inv1_c": 52.5475159, "temp_inv2_c": 49.7116089, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0950194523, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 461.079468, "values": {"Elec_RPM": -12800.5615, "EncoderCos": 14424, "EncoderSin": 21288, "GapTicks": 36717, "Mech_RPM": -2560.1123, "cg_du": 66.6203232, "cg_dv": 50.2436905, "cg_dw": 33.3796768, "cg_id_a": 1.96015334, "cg_id_raw_a": 15.357131, "cg_iq_a": 295.527588, "cg_iq_raw_a": 296.966064, "cg_iu_a": -141.452454, "cg_iv_a": -91.1791992, "cg_iw_a": 287.468567, "cg_sample_age_us": 24.0200005, "cg_sample_seq": 4327913, "cg_sample_valid": 1, "cg_theta_rad": 3.72822261, "cg_vd_req_v": 6.7901473, "cg_vd_v": 6.7901473, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0635681, "cg_vq_v": -28.0635681, "cg_vu_v": 150.883148, "cg_vv_v": 151.762939, "cg_vw_v": 86.6588287, "control_outputs_enabled": 1, "dclink_i_a": 79.9911499, "dclink_p_w": 12034.1289, "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": 52.5829163, "temp_inv2_c": 49.6951294, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0967818722, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 461.920715, "values": {"Elec_RPM": -12800.9131, "EncoderCos": 18195, "EncoderSin": 48536, "GapTicks": 37962, "Mech_RPM": -2560.18262, "cg_du": 65.48909, "cg_dv": 34.51091, "cg_dw": 39.0105095, "cg_id_a": -2.14334631, "cg_id_raw_a": 1.50943863, "cg_iq_a": 303.716553, "cg_iq_raw_a": 311.22348, "cg_iu_a": -284.833069, "cg_iv_a": 102.544098, "cg_iw_a": 191.059967, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 4332112, "cg_sample_valid": 1, "cg_theta_rad": 2.33625603, "cg_vd_req_v": 6.85055685, "cg_vd_v": 6.85055685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2586155, "cg_vq_v": -28.2586155, "cg_vu_v": 45.3089333, "cg_vv_v": 8.35795879, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.3442001, "dclink_p_w": 11936.7998, "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": 52.6183167, "temp_inv2_c": 49.8292847, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0956740677, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 462.938141, "values": {"Elec_RPM": -12809.1133, "EncoderCos": 39828, "EncoderSin": 12495, "GapTicks": 39017, "Mech_RPM": -2561.82275, "cg_du": 64.5292282, "cg_dv": 64.2465134, "cg_dw": 35.4707718, "cg_id_a": 2.6105516, "cg_id_raw_a": -14.1867275, "cg_iq_a": 300.761475, "cg_iq_raw_a": 298.133057, "cg_iu_a": -78.6056213, "cg_iv_a": -213.175934, "cg_iw_a": 291.781555, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4337162, "cg_sample_valid": 1, "cg_theta_rad": 5.05376339, "cg_vd_req_v": 6.75699759, "cg_vd_v": 6.75699759, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2055168, "cg_vq_v": -28.2055168, "cg_vu_v": 0.87978512, "cg_vv_v": 56.3062477, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.6486435, "dclink_p_w": 12017.6377, "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": 52.724762, "temp_inv2_c": 49.8292847, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 463.975677, "values": {"Elec_RPM": -12804.0859, "EncoderCos": 16992, "EncoderSin": 47349, "GapTicks": 37294, "Mech_RPM": -2560.81714, "cg_du": 66.0962448, "cg_dv": 42.288784, "cg_dw": 33.9037552, "cg_id_a": 5.28739691, "cg_id_raw_a": 2.68030286, "cg_iq_a": 302.608276, "cg_iq_raw_a": 307.9935, "cg_iu_a": -200.529892, "cg_iv_a": -94.4411469, "cg_iw_a": 294.971039, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 4342312, "cg_sample_valid": 1, "cg_theta_rad": 2.4375999, "cg_vd_req_v": 6.67496586, "cg_vd_v": 6.67496586, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2334499, "cg_vq_v": -28.2334499, "cg_vu_v": 151.323044, "cg_vv_v": 151.323044, "cg_vw_v": 91.0577545, "control_outputs_enabled": 1, "dclink_i_a": 79.8842316, "dclink_p_w": 12018.0439, "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": 52.7602844, "temp_inv2_c": 49.8045044, "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": 0.0992996097, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 464.993103, "values": {"Elec_RPM": -12809.2012, "EncoderCos": 17184, "EncoderSin": 47573, "GapTicks": 37612, "Mech_RPM": -2561.84033, "cg_du": 65.8072662, "cg_dv": 40.5427628, "cg_dw": 34.1927299, "cg_id_a": -2.25306797, "cg_id_raw_a": -13.3886871, "cg_iq_a": 302.42511, "cg_iq_raw_a": 293.381958, "cg_iu_a": -227.132874, "cg_iv_a": -65.2285767, "cg_iw_a": 292.36145, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 4347413, "cg_sample_valid": 1, "cg_theta_rad": 2.40703917, "cg_vd_req_v": 6.85670471, "cg_vd_v": 6.85670471, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2311935, "cg_vq_v": -28.2311935, "cg_vu_v": 151.762939, "cg_vv_v": 150.883148, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": 80.4550705, "dclink_p_w": 12103.9229, "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": 52.7602844, "temp_inv2_c": 49.8623657, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0930052623, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 466.010529, "values": {"Elec_RPM": -12807.9434, "EncoderCos": 16594, "EncoderSin": 46894, "GapTicks": 36729, "Mech_RPM": -2561.58862, "cg_du": 66.6091385, "cg_dv": 46.4225426, "cg_dw": 33.3908615, "cg_id_a": 0.219145417, "cg_id_raw_a": 8.41452217, "cg_iq_a": 304.320465, "cg_iq_raw_a": 299.702454, "cg_iu_a": -182.697937, "cg_iv_a": -125.284637, "cg_iw_a": 307.982574, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 4352513, "cg_sample_valid": 1, "cg_theta_rad": 2.44860148, "cg_vd_req_v": 6.8354826, "cg_vd_v": 6.8354826, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2601929, "cg_vq_v": -28.2601929, "cg_vu_v": 113.052383, "cg_vv_v": 128.008743, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 79.9005432, "dclink_p_w": 11985.3506, "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": 52.7602844, "temp_inv2_c": 49.9452209, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0923002958, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 467.027924, "values": {"Elec_RPM": -12808.0811, "EncoderCos": 53539, "EncoderSin": 28452, "GapTicks": 38071, "Mech_RPM": -2561.61621, "cg_du": 65.3892365, "cg_dv": 34.6107597, "cg_dw": 38.2525711, "cg_id_a": 2.55348849, "cg_id_raw_a": 7.734653, "cg_iq_a": 308.014771, "cg_iq_raw_a": 316.783966, "cg_iu_a": -281.969788, "cg_iv_a": 29.3315735, "cg_iw_a": 252.638214, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 4357662, "cg_sample_valid": 1, "cg_theta_rad": 6.11792278, "cg_vd_req_v": 6.78072309, "cg_vd_v": 6.78072309, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.329277, "cg_vq_v": -28.329277, "cg_vu_v": 43.1094704, "cg_vv_v": 18.0355949, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.0708847, "dclink_p_w": 12046.124, "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": 52.7958679, "temp_inv2_c": 50.019928, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102169834, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 468.032349, "values": {"Elec_RPM": -12801.0293, "EncoderCos": 11415, "EncoderSin": 30051, "GapTicks": 36715, "Mech_RPM": -2560.20581, "cg_du": 48.4014053, "cg_dv": 33.3777008, "cg_dw": 66.6222992, "cg_id_a": 0.0280983448, "cg_id_raw_a": 7.09631968, "cg_iq_a": 297.352631, "cg_iq_raw_a": 295.2052, "cg_iu_a": -297.699615, "cg_iv_a": 141.107529, "cg_iw_a": 156.592087, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 4362467, "cg_sample_valid": 1, "cg_theta_rad": 3.52370214, "cg_vd_req_v": 6.87055492, "cg_vd_v": 6.87055492, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0922585, "cg_vq_v": -28.0922585, "cg_vu_v": 141.645401, "cg_vv_v": 106.014107, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 79.8244247, "dclink_p_w": 12009.0459, "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": 52.7958679, "temp_inv2_c": 49.9784241, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0963790342, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 469.039398, "values": {"Elec_RPM": -12801.0342, "EncoderCos": 29219, "EncoderSin": 53800, "GapTicks": 38250, "Mech_RPM": -2560.20679, "cg_du": 34.7733498, "cg_dv": 61.6710129, "cg_dw": 65.2266464, "cg_id_a": -0.171828568, "cg_id_raw_a": -13.8764582, "cg_iq_a": 297.44397, "cg_iq_raw_a": 294.536957, "cg_iu_a": 241.463654, "cg_iv_a": 39.6610413, "cg_iw_a": -229.767181, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4367712, "cg_sample_valid": 1, "cg_theta_rad": 1.75715506, "cg_vd_req_v": 6.79867458, "cg_vd_v": 6.79867458, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1152306, "cg_vq_v": -28.1152306, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 62.0248489, "control_outputs_enabled": 1, "dclink_i_a": 80.0020218, "dclink_p_w": 12000.5732, "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": 52.8670959, "temp_inv2_c": 50.0552368, "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": 0.0947173238, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 470.056885, "values": {"Elec_RPM": -12810.4453, "EncoderCos": 25407, "EncoderSin": 12454, "GapTicks": 37092, "Mech_RPM": -2562.08911, "cg_du": 33.7205353, "cg_dv": 43.6580544, "cg_dw": 66.2794647, "cg_id_a": -4.45330763, "cg_id_raw_a": -1.7277168, "cg_iq_a": 299.563049, "cg_iq_raw_a": 307.398315, "cg_iu_a": 9.03195953, "cg_iv_a": 251.796204, "cg_iw_a": -260.828156, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 4372764, "cg_sample_valid": 1, "cg_theta_rad": 4.47122669, "cg_vd_req_v": 6.9253583, "cg_vd_v": 6.9253583, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1472321, "cg_vq_v": -28.1472321, "cg_vu_v": 115.69175, "cg_vv_v": 88.8582916, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.795433, "dclink_p_w": 12004.6846, "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": 52.902771, "temp_inv2_c": 50.0593872, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0932570398, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 471.074219, "values": {"Elec_RPM": -12808.4258, "EncoderCos": 14055, "EncoderSin": 22091, "GapTicks": 37019, "Mech_RPM": -2561.68506, "cg_du": 66.3454666, "cg_dv": 44.3076134, "cg_dw": 33.6545334, "cg_id_a": 5.00797462, "cg_id_raw_a": 4.55819702, "cg_iq_a": 300.968872, "cg_iq_raw_a": 304.690247, "cg_iu_a": -129.165771, "cg_iv_a": -171.060608, "cg_iw_a": 300.226379, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 4377762, "cg_sample_valid": 1, "cg_theta_rad": 3.75712419, "cg_vd_req_v": 6.76491022, "cg_vd_v": 6.76491022, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1619911, "cg_vq_v": -28.1619911, "cg_vu_v": 115.69175, "cg_vv_v": 151.323044, "cg_vw_v": 103.814644, "control_outputs_enabled": 1, "dclink_i_a": 79.6740189, "dclink_p_w": 11986.4189, "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": 52.9384766, "temp_inv2_c": 50.0947266, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 471.915466, "values": {"Elec_RPM": -12806.251, "EncoderCos": 52516, "EncoderSin": 40372, "GapTicks": 36889, "Mech_RPM": -2561.25024, "cg_du": 33.5360107, "cg_dv": 66.4639893, "cg_dw": 45.5081291, "cg_id_a": -1.2078135, "cg_id_raw_a": -4.76549339, "cg_iq_a": 302.443054, "cg_iq_raw_a": 297.209961, "cg_iu_a": 303.005676, "cg_iv_a": -191.900787, "cg_iw_a": -111.104889, "cg_sample_age_us": 23.4272728, "cg_sample_seq": 4382113, "cg_sample_valid": 1, "cg_theta_rad": 0.360835314, "cg_vd_req_v": 6.84651852, "cg_vd_v": 6.84651852, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1322536, "cg_vq_v": -28.1322536, "cg_vu_v": 73.462059, "cg_vv_v": 110.852921, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 79.9965897, "dclink_p_w": 11999.7578, "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": 52.902771, "temp_inv2_c": 50.1030884, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0958754867, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 472.952972, "values": {"Elec_RPM": -12816.7334, "EncoderCos": 53532, "EncoderSin": 36787, "GapTicks": 37186, "Mech_RPM": -2563.34668, "cg_du": 42.7152481, "cg_dv": 66.1943359, "cg_dw": 33.8056641, "cg_id_a": -7.31210852, "cg_id_raw_a": -2.19055748, "cg_iq_a": 299.211609, "cg_iq_raw_a": 302.267792, "cg_iu_a": 280.425781, "cg_iv_a": -51.0935059, "cg_iw_a": -229.332275, "cg_sample_age_us": 26.3945446, "cg_sample_seq": 4387216, "cg_sample_valid": 1, "cg_theta_rad": 0.447271883, "cg_vd_req_v": 7.00064945, "cg_vd_v": 7.00064945, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1223354, "cg_vq_v": -28.1223354, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 80.116188, "dclink_p_w": 12052.9395, "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": 52.9384766, "temp_inv2_c": 50.1280518, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0949187502, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 473.950317, "values": {"Elec_RPM": -12820.1934, "EncoderCos": 52075, "EncoderSin": 24117, "GapTicks": 37901, "Mech_RPM": -2564.03857, "cg_du": 60.9272919, "cg_dv": 34.4555244, "cg_dw": 65.5444794, "cg_id_a": 8.51520824, "cg_id_raw_a": -5.28780508, "cg_iq_a": 306.208466, "cg_iq_raw_a": 300.9216, "cg_iu_a": -284.615601, "cg_iv_a": 231.499664, "cg_iw_a": 53.1159286, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 4392212, "cg_sample_valid": 1, "cg_theta_rad": 5.96644258, "cg_vd_req_v": 6.65177584, "cg_vd_v": 6.65177584, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2858601, "cg_vq_v": -28.2858601, "cg_vu_v": 151.762939, "cg_vv_v": 109.533249, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 79.9929657, "dclink_p_w": 11999.2148, "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": 52.9384766, "temp_inv2_c": 50.2406616, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0944655538, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 474.987823, "values": {"Elec_RPM": -12812.2402, "EncoderCos": 51903, "EncoderSin": 41748, "GapTicks": 38569, "Mech_RPM": -2562.448, "cg_du": 35.0627823, "cg_dv": 64.9372177, "cg_dw": 62.7754097, "cg_id_a": -0.565938473, "cg_id_raw_a": 10.5633574, "cg_iq_a": 298.655029, "cg_iq_raw_a": 305.94751, "cg_iu_a": 219.28244, "cg_iv_a": 72.1355286, "cg_iw_a": -291.417969, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 4397413, "cg_sample_valid": 1, "cg_theta_rad": 0.52385962, "cg_vd_req_v": 6.87945366, "cg_vd_v": 6.87945366, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1100178, "cg_vq_v": -28.1100178, "cg_vu_v": 36.9509773, "cg_vv_v": 36.9509773, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 80.1941147, "dclink_p_w": 12064.6631, "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": 53.0457458, "temp_inv2_c": 50.2114258, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0962279662, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 476.005249, "values": {"Elec_RPM": -12798.6758, "EncoderCos": 11409, "EncoderSin": 30428, "GapTicks": 36868, "Mech_RPM": -2559.73511, "cg_du": 45.2059784, "cg_dv": 33.5163803, "cg_dw": 66.4836197, "cg_id_a": 6.82971764, "cg_id_raw_a": 14.5673227, "cg_iq_a": 301.924072, "cg_iq_raw_a": 304.951904, "cg_iu_a": -119.48867, "cg_iv_a": 295.180054, "cg_iw_a": -175.691391, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4402462, "cg_sample_valid": 1, "cg_theta_rad": 3.28710222, "cg_vd_req_v": 6.70258808, "cg_vd_v": 6.70258808, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1642513, "cg_vq_v": -28.1642513, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 24.1940918, "control_outputs_enabled": 1, "dclink_i_a": 79.6250839, "dclink_p_w": 11944.0313, "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": 53.0457458, "temp_inv2_c": 50.2594604, "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": 0.100105286, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 477.022614, "values": {"Elec_RPM": -12804.9023, "EncoderCos": 53050, "EncoderSin": 26706, "GapTicks": 36592, "Mech_RPM": -2560.98047, "cg_du": 66.7343597, "cg_dv": 33.2656403, "cg_dw": 50.1200485, "cg_id_a": -1.3517437, "cg_id_raw_a": 5.52427673, "cg_iq_a": 305.293976, "cg_iq_raw_a": 304.006989, "cg_iu_a": -314.915436, "cg_iv_a": 154.04657, "cg_iw_a": 88.4536819, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 4407512, "cg_sample_valid": 1, "cg_theta_rad": 6.02967405, "cg_vd_req_v": 6.88045359, "cg_vd_v": 6.88045359, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2446957, "cg_vq_v": -28.2446957, "cg_vu_v": 77.4210892, "cg_vv_v": 46.1887207, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 79.7392578, "dclink_p_w": 11996.2334, "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": 53.0457458, "temp_inv2_c": 50.290802, "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": 0.100558482, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 478.00238, "values": {"Elec_RPM": -12806.291, "EncoderCos": 48300, "EncoderSin": 47104, "GapTicks": 36774, "Mech_RPM": -2561.2583, "cg_du": 46.3897476, "cg_dv": 33.4311218, "cg_dw": 66.5688782, "cg_id_a": 5.69229603, "cg_id_raw_a": 13.2534428, "cg_iq_a": 300.051056, "cg_iq_raw_a": 301.936066, "cg_iu_a": -130.216858, "cg_iv_a": 294.310242, "cg_iw_a": -164.093369, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 4412362, "cg_sample_valid": 1, "cg_theta_rad": 0.785676479, "cg_vd_req_v": 6.7435503, "cg_vd_v": 6.7435503, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1279068, "cg_vq_v": -28.1279068, "cg_vu_v": 64.6642075, "cg_vv_v": 0, "cg_vw_v": 15.836132, "control_outputs_enabled": 1, "dclink_i_a": 80.3644638, "dclink_p_w": 12090.291, "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": 53.1174316, "temp_inv2_c": 50.2406616, "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": 0.101867706, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 479.03418, "values": {"Elec_RPM": -12811.502, "EncoderCos": 32206, "EncoderSin": 54012, "GapTicks": 36751, "Mech_RPM": -2562.30029, "cg_du": 33.4104195, "cg_dv": 66.5895844, "cg_dw": 47.9978447, "cg_id_a": -2.88179874, "cg_id_raw_a": 4.36607361, "cg_iq_a": 295.3284, "cg_iq_raw_a": 295.048187, "cg_iu_a": 300.976044, "cg_iv_a": -164.645447, "cg_iw_a": -72.5414505, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 4417563, "cg_sample_valid": 1, "cg_theta_rad": 1.6195308, "cg_vd_req_v": 6.90079594, "cg_vd_v": 6.90079594, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0524654, "cg_vq_v": -28.0524654, "cg_vu_v": 108.21357, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 80.284729, "dclink_p_w": 12042.9805, "enc_isr_hz": 4998, "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": 53.18927, "temp_inv2_c": 50.3954468, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943144858, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 480.051544, "values": {"Elec_RPM": -12805.8779, "EncoderCos": 42641, "EncoderSin": 13857, "GapTicks": 37114, "Mech_RPM": -2561.17554, "cg_du": 44.0663147, "cg_dv": 66.2593079, "cg_dw": 33.7406883, "cg_id_a": -4.12867546, "cg_id_raw_a": -3.76383805, "cg_iq_a": 294.269379, "cg_iq_raw_a": 289.208374, "cg_iu_a": 208.771729, "cg_iv_a": -277.979919, "cg_iw_a": 69.2081909, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4422713, "cg_sample_valid": 1, "cg_theta_rad": 5.25044107, "cg_vd_req_v": 6.91346407, "cg_vd_v": 6.91346407, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0251827, "cg_vq_v": -28.0251827, "cg_vu_v": 0, "cg_vv_v": 61.1450691, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 79.3514481, "dclink_p_w": 11937.8896, "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": 53.1533508, "temp_inv2_c": 50.3619385, "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": 0.0986953527, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 481.06897, "values": {"Elec_RPM": -12806.8359, "EncoderCos": 14546, "EncoderSin": 43929, "GapTicks": 37575, "Mech_RPM": -2561.36719, "cg_du": 59.4153442, "cg_dv": 65.8408966, "cg_dw": 34.1591034, "cg_id_a": 3.76010752, "cg_id_raw_a": -8.8840065, "cg_iq_a": 303.016754, "cg_iq_raw_a": 301.569458, "cg_iu_a": 65.2098999, "cg_iv_a": -251.231964, "cg_iw_a": 269.81781, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 4427862, "cg_sample_valid": 1, "cg_theta_rad": 2.61375785, "cg_vd_req_v": 6.72028399, "cg_vd_v": 6.72028399, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2192535, "cg_vq_v": -28.2192535, "cg_vu_v": 29.4728031, "cg_vv_v": 65.5439911, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.9114151, "dclink_p_w": 12022.1328, "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": 53.2252197, "temp_inv2_c": 50.3660889, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0936095193, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 482.086395, "values": {"Elec_RPM": -12804.8613, "EncoderCos": 44037, "EncoderSin": 14693, "GapTicks": 38533, "Mech_RPM": -2560.97217, "cg_du": 35.0306511, "cg_dv": 64.9693451, "cg_dw": 37.0654106, "cg_id_a": 0.319917917, "cg_id_raw_a": -15.486886, "cg_iq_a": 299.454956, "cg_iq_raw_a": 294.646057, "cg_iu_a": 272.053467, "cg_iv_a": -252.138077, "cg_iw_a": -19.91539, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 4432913, "cg_sample_valid": 1, "cg_theta_rad": 5.31379032, "cg_vd_req_v": 6.78514576, "cg_vd_v": 6.78514576, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1699715, "cg_vq_v": -28.1699715, "cg_vu_v": 106.893898, "cg_vv_v": 151.762939, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 79.617836, "dclink_p_w": 11977.9658, "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": 53.2612, "temp_inv2_c": 50.3786621, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0917463973, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 482.927582, "values": {"Elec_RPM": -12801.4746, "EncoderCos": 16980, "EncoderSin": 18179, "GapTicks": 36747, "Mech_RPM": -2560.29492, "cg_du": 52.7650719, "cg_dv": 66.5930252, "cg_dw": 33.4069748, "cg_id_a": 0.420397133, "cg_id_raw_a": 10.2596426, "cg_iq_a": 295.68869, "cg_iq_raw_a": 297.679688, "cg_iu_a": 134.76181, "cg_iv_a": -301.284698, "cg_iw_a": 166.522888, "cg_sample_age_us": 23.9981823, "cg_sample_seq": 4437112, "cg_sample_valid": 1, "cg_theta_rad": 3.92646837, "cg_vd_req_v": 6.82107544, "cg_vd_v": 6.82107544, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0560379, "cg_vq_v": -28.0560379, "cg_vu_v": 8.79785156, "cg_vv_v": 77.4210892, "cg_vw_v": 45.3089333, "control_outputs_enabled": 1, "dclink_i_a": 79.6196518, "dclink_p_w": 11978.2393, "enc_isr_hz": 5002, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2589, "hz_tim_isr": 5000, "hz_vsense": 2589, "pwm_moe": 1, "temp_inv1_c": 53.2972412, "temp_inv2_c": 50.3933411, "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": 0.0950194523, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 483.965149, "values": {"Elec_RPM": -12807.25, "EncoderCos": 44158, "EncoderSin": 50635, "GapTicks": 36868, "Mech_RPM": -2561.44995, "cg_du": 66.4836121, "cg_dv": 33.5163841, "cg_dw": 54.3463402, "cg_id_a": -5.46901798, "cg_id_raw_a": -2.18147659, "cg_iq_a": 299.554871, "cg_iq_raw_a": 302.934631, "cg_iu_a": -86.8329773, "cg_iv_a": -202.33902, "cg_iw_a": 289.171997, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 4442266, "cg_sample_valid": 1, "cg_theta_rad": 1.25393045, "cg_vd_req_v": 6.91948605, "cg_vd_v": 6.97365952, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1260853, "cg_vq_v": -28.120491, "cg_vu_v": 38.2706528, "cg_vv_v": 69.9429169, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.300705, "dclink_p_w": 11930.2559, "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": 53.2972412, "temp_inv2_c": 50.5213623, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100205995, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 484.982574, "values": {"Elec_RPM": -12812.1738, "EncoderCos": 15090, "EncoderSin": 20555, "GapTicks": 37237, "Mech_RPM": -2562.43481, "cg_du": 66.14814, "cg_dv": 56.8597069, "cg_dw": 33.85186, "cg_id_a": -1.58701861, "cg_id_raw_a": -6.11112928, "cg_iq_a": 296.168823, "cg_iq_raw_a": 294.076172, "cg_iu_a": 222.979309, "cg_iv_a": -287.330841, "cg_iw_a": 64.3515244, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 4447316, "cg_sample_valid": 1, "cg_theta_rad": 3.99878168, "cg_vd_req_v": 6.89439631, "cg_vd_v": 6.89439631, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0485039, "cg_vq_v": -28.0485039, "cg_vu_v": 0, "cg_vv_v": 46.6286087, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 79.8280563, "dclink_p_w": 12044.708, "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": 53.4055176, "temp_inv2_c": 50.5444946, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0987457037, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 485.999939, "values": {"Elec_RPM": -12810.2744, "EncoderCos": 17861, "EncoderSin": 17329, "GapTicks": 37039, "Mech_RPM": -2562.05493, "cg_du": 44.423027, "cg_dv": 66.3276367, "cg_dw": 33.6723633, "cg_id_a": -4.22759962, "cg_id_raw_a": -6.26340342, "cg_iq_a": 297.132629, "cg_iq_raw_a": 290.992554, "cg_iu_a": 210.511414, "cg_iv_a": -283.923889, "cg_iw_a": 73.4124832, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 4452413, "cg_sample_valid": 1, "cg_theta_rad": 3.97955585, "cg_vd_req_v": 6.9260478, "cg_vd_v": 6.9260478, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0682297, "cg_vq_v": -28.0682297, "cg_vu_v": 100.735397, "cg_vv_v": 150.883148, "cg_vw_v": 137.246475, "control_outputs_enabled": 1, "dclink_i_a": 79.2807693, "dclink_p_w": 11927.2568, "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": 53.4055176, "temp_inv2_c": 50.5424194, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 487.017395, "values": {"Elec_RPM": -12806.4766, "EncoderCos": 38809, "EncoderSin": 53066, "GapTicks": 38553, "Mech_RPM": -2561.29541, "cg_du": 64.9511719, "cg_dv": 62.5738297, "cg_dw": 35.0488243, "cg_id_a": -4.93984509, "cg_id_raw_a": 3.31760716, "cg_iq_a": 295.183655, "cg_iq_raw_a": 300.669067, "cg_iu_a": -13.475462, "cg_iv_a": -245.25174, "cg_iw_a": 258.727203, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 4457563, "cg_sample_valid": 1, "cg_theta_rad": 1.31723332, "cg_vd_req_v": 6.94970179, "cg_vd_v": 6.94970179, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0235767, "cg_vq_v": -28.0235767, "cg_vu_v": 115.251846, "cg_vv_v": 151.762939, "cg_vw_v": 100.735397, "control_outputs_enabled": 1, "dclink_i_a": 79.9639664, "dclink_p_w": 11994.8643, "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": 53.4416504, "temp_inv2_c": 50.5739441, "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": 0.0974868387, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 488.021851, "values": {"Elec_RPM": -12803.6084, "EncoderCos": 51224, "EncoderSin": 42996, "GapTicks": 37263, "Mech_RPM": -2560.72168, "cg_du": 33.8757782, "cg_dv": 57.3866234, "cg_dw": 66.1242218, "cg_id_a": 1.24602759, "cg_id_raw_a": -7.14563179, "cg_iq_a": 296.551819, "cg_iq_raw_a": 296.544006, "cg_iu_a": 210.620148, "cg_iv_a": 85.9806824, "cg_iw_a": -296.60083, "cg_sample_age_us": 23.5036373, "cg_sample_seq": 4462562, "cg_sample_valid": 1, "cg_theta_rad": 0.53737247, "cg_vd_req_v": 6.83568001, "cg_vd_v": 6.83568001, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0685768, "cg_vq_v": -28.0685768, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 52.3472176, "control_outputs_enabled": 1, "dclink_i_a": 79.6558914, "dclink_p_w": 12018.7314, "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": 53.4416504, "temp_inv2_c": 50.6645508, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0993499681, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 489.028931, "values": {"Elec_RPM": -12800.9414, "EncoderCos": 50796, "EncoderSin": 43668, "GapTicks": 36704, "Mech_RPM": -2560.18823, "cg_du": 33.3678589, "cg_dv": 52.1690521, "cg_dw": 66.6321411, "cg_id_a": 3.10459399, "cg_id_raw_a": 7.99571466, "cg_iq_a": 298.368347, "cg_iq_raw_a": 301.000092, "cg_iu_a": 169.33844, "cg_iv_a": 136.975739, "cg_iw_a": -279.022552, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 4467662, "cg_sample_valid": 1, "cg_theta_rad": 0.570655763, "cg_vd_req_v": 6.74428988, "cg_vd_v": 6.74428988, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0916576, "cg_vq_v": -28.0916576, "cg_vu_v": 32.5520515, "cg_vv_v": 0, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": 79.0723724, "dclink_p_w": 11861.1221, "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": 53.4778442, "temp_inv2_c": 50.6919861, "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": 0.103126571, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 490.046356, "values": {"Elec_RPM": -12805.7275, "EncoderCos": 52610, "EncoderSin": 25653, "GapTicks": 37275, "Mech_RPM": -2561.14551, "cg_du": 66.1133041, "cg_dv": 33.8866959, "cg_dw": 57.9514313, "cg_id_a": 7.94903851, "cg_id_raw_a": 8.74642849, "cg_iq_a": 305.289612, "cg_iq_raw_a": 306.547424, "cg_iu_a": -294.147705, "cg_iv_a": 267.924683, "cg_iw_a": -4.98292542, "cg_sample_age_us": 24.1072731, "cg_sample_seq": 4472663, "cg_sample_valid": 1, "cg_theta_rad": 5.97925425, "cg_vd_req_v": 6.67410898, "cg_vd_v": 6.67410898, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.2424316, "cg_vq_v": -28.2424316, "cg_vu_v": 136.366699, "cg_vv_v": 101.175293, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 80.1016922, "dclink_p_w": 12050.7588, "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": 53.4416504, "temp_inv2_c": 50.6793213, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101464868, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 491.06369, "values": {"Elec_RPM": -12803.4063, "EncoderCos": 52866, "EncoderSin": 26430, "GapTicks": 36595, "Mech_RPM": -2560.68115, "cg_du": 66.7314682, "cg_dv": 33.2685318, "cg_dw": 52.2854309, "cg_id_a": -1.51746511, "cg_id_raw_a": 3.22337151, "cg_iq_a": 309.160095, "cg_iq_raw_a": 303.85199, "cg_iu_a": -305.673248, "cg_iv_a": 158.867004, "cg_iw_a": 146.806244, "cg_sample_age_us": 24.1945457, "cg_sample_seq": 4477763, "cg_sample_valid": 1, "cg_theta_rad": 6.01841497, "cg_vd_req_v": 6.89148235, "cg_vd_v": 6.89148235, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.3294621, "cg_vq_v": -28.3294621, "cg_vu_v": 132.407669, "cg_vv_v": 96.7763672, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 80.0128937, "dclink_p_w": 12037.4004, "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": 53.5140686, "temp_inv2_c": 50.6919861, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0939116478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 492.081177, "values": {"Elec_RPM": -12800.0928, "EncoderCos": 11941, "EncoderSin": 27966, "GapTicks": 38337, "Mech_RPM": -2560.01855, "cg_du": 62.1092682, "cg_dv": 34.8519173, "cg_dw": 65.1480865, "cg_id_a": -3.62553334, "cg_id_raw_a": -15.8789711, "cg_iq_a": 297.186249, "cg_iq_raw_a": 291.475311, "cg_iu_a": -249.422821, "cg_iv_a": 264.010376, "cg_iw_a": -14.5875549, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 4482912, "cg_sample_valid": 1, "cg_theta_rad": 3.40434647, "cg_vd_req_v": 6.93658495, "cg_vd_v": 6.93658495, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0526123, "cg_vq_v": -28.0526123, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 79.0796204, "dclink_p_w": 11896.9951, "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": 53.5503235, "temp_inv2_c": 50.7595825, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0997024477, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 492.922394, "values": {"Elec_RPM": -12804.8184, "EncoderCos": 25357, "EncoderSin": 52681, "GapTicks": 39048, "Mech_RPM": -2560.96362, "cg_du": 35.7850266, "cg_dv": 35.4987907, "cg_dw": 64.5012054, "cg_id_a": -1.7312386, "cg_id_raw_a": 2.85284638, "cg_iq_a": 299.171265, "cg_iq_raw_a": 309.079254, "cg_iu_a": -10.104785, "cg_iv_a": 261.944489, "cg_iw_a": -251.839691, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 4487112, "cg_sample_valid": 1, "cg_theta_rad": 1.95730233, "cg_vd_req_v": 6.88822794, "cg_vd_v": 6.88822794, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1141014, "cg_vq_v": -28.1141014, "cg_vu_v": 72.5822754, "cg_vv_v": 36.9509773, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 79.7845612, "dclink_p_w": 12003.0488, "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": 53.5866089, "temp_inv2_c": 50.7490234, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0926527828, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 493.93985, "values": {"Elec_RPM": -12813.1328, "EncoderCos": 24649, "EncoderSin": 52342, "GapTicks": 37720, "Mech_RPM": -2562.62646, "cg_du": 40.5400848, "cg_dv": 34.291111, "cg_dw": 65.7088928, "cg_id_a": 4.72445107, "cg_id_raw_a": 4.073493, "cg_iq_a": 296.946411, "cg_iq_raw_a": 304.616577, "cg_iu_a": -71.2118835, "cg_iv_a": 281.842346, "cg_iw_a": -210.630447, "cg_sample_age_us": 23.772728, "cg_sample_seq": 4492212, "cg_sample_valid": 1, "cg_theta_rad": 2.00498533, "cg_vd_req_v": 6.76117086, "cg_vd_v": 6.76117086, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0890656, "cg_vq_v": -28.0890656, "cg_vu_v": 68.6232376, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 79.7773132, "dclink_p_w": 12001.958, "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": 53.6229248, "temp_inv2_c": 50.8061218, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0968322232, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 494.977325, "values": {"Elec_RPM": -12809.502, "EncoderCos": 27091, "EncoderSin": 53204, "GapTicks": 36850, "Mech_RPM": -2561.90039, "cg_du": 33.5001144, "cg_dv": 54.5378456, "cg_dw": 66.4998856, "cg_id_a": -0.373004198, "cg_id_raw_a": -3.08320022, "cg_iq_a": 302.297974, "cg_iq_raw_a": 294.590424, "cg_iu_a": -131.376648, "cg_iv_a": 293.476593, "cg_iw_a": -162.099945, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 4497316, "cg_sample_valid": 1, "cg_theta_rad": 2.04372239, "cg_vd_req_v": 6.86778641, "cg_vd_v": 6.86778641, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1105328, "cg_vq_v": -28.1105328, "cg_vu_v": 66.4237747, "cg_vv_v": 0, "cg_vw_v": 14.9563465, "control_outputs_enabled": 1, "dclink_i_a": 80.0183334, "dclink_p_w": 12038.2188, "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": 53.6229248, "temp_inv2_c": 50.7638245, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0945159048, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 495.994781, "values": {"Elec_RPM": -12806.9004, "EncoderCos": 24131, "EncoderSin": 52116, "GapTicks": 37020, "Mech_RPM": -2561.38013, "cg_du": 44.3398361, "cg_dv": 33.6545792, "cg_dw": 66.3454208, "cg_id_a": -0.917511284, "cg_id_raw_a": -1.8774451, "cg_iq_a": 295.479156, "cg_iq_raw_a": 293.149902, "cg_iu_a": -102.635284, "cg_iv_a": 295.252563, "cg_iw_a": -192.617279, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4502413, "cg_sample_valid": 1, "cg_theta_rad": 2.02550983, "cg_vd_req_v": 6.85815525, "cg_vd_v": 6.85815525, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.04566, "cg_vq_v": -28.04566, "cg_vu_v": 151.323044, "cg_vv_v": 104.694435, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.9530945, "dclink_p_w": 11993.2334, "enc_isr_hz": 5001, "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": 53.6956787, "temp_inv2_c": 50.8802795, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0942137763, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 497.012238, "values": {"Elec_RPM": -12813.2695, "EncoderCos": 22374, "EncoderSin": 51262, "GapTicks": 37328, "Mech_RPM": -2562.65381, "cg_du": 57.5942459, "cg_dv": 33.9352646, "cg_dw": 66.0647354, "cg_id_a": -4.1821146, "cg_id_raw_a": -7.05046463, "cg_iq_a": 293.597931, "cg_iq_raw_a": 289.371979, "cg_iu_a": -221.768768, "cg_iv_a": 273.252533, "cg_iw_a": -51.4837723, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 4507512, "cg_sample_valid": 1, "cg_theta_rad": 2.12151623, "cg_vd_req_v": 6.93288517, "cg_vd_v": 6.93288517, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9977169, "cg_vq_v": -27.9977169, "cg_vu_v": 76.9812012, "cg_vv_v": 27.7132301, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 79.1031723, "dclink_p_w": 11900.5381, "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": 53.6956787, "temp_inv2_c": 50.9163513, "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": 0.100105286, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 497.987274, "values": {"Elec_RPM": -12808.624, "EncoderCos": 19518, "EncoderSin": 49362, "GapTicks": 36642, "Mech_RPM": -2561.72485, "cg_du": 66.6883011, "cg_dv": 33.3116989, "cg_dw": 49.1896286, "cg_id_a": -2.56960464, "cg_id_raw_a": 2.76298213, "cg_iq_a": 301.149719, "cg_iq_raw_a": 300.990753, "cg_iu_a": -310.529907, "cg_iv_a": 141.433716, "cg_iw_a": 169.096191, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 4512262, "cg_sample_valid": 1, "cg_theta_rad": 2.2790978, "cg_vd_req_v": 6.89181042, "cg_vd_v": 6.89181042, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1710281, "cg_vq_v": -28.1710281, "cg_vu_v": 77.4210892, "cg_vv_v": 51.9073219, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 79.2753372, "dclink_p_w": 11891.5684, "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": 53.6956787, "temp_inv2_c": 50.9694519, "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": 0.105694667, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 499.023682, "values": {"Elec_RPM": -12813.7578, "EncoderCos": 18770, "EncoderSin": 16585, "GapTicks": 38729, "Mech_RPM": -2562.75146, "cg_du": 36.8294296, "cg_dv": 64.7916412, "cg_dw": 35.2083549, "cg_id_a": -7.26211548, "cg_id_raw_a": -0.63529557, "cg_iq_a": 296.90509, "cg_iq_raw_a": 301.837219, "cg_iu_a": 256.214905, "cg_iv_a": -260.510406, "cg_iw_a": 4.29549408, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4517562, "cg_sample_valid": 1, "cg_theta_rad": 4.04679823, "cg_vd_req_v": 7.02590036, "cg_vd_v": 7.02590036, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0248165, "cg_vq_v": -28.0248165, "cg_vu_v": 0, "cg_vv_v": 41.3499031, "cg_vw_v": 30.7924805, "control_outputs_enabled": 1, "dclink_i_a": 79.1847229, "dclink_p_w": 11877.9756, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 53.7685547, "temp_inv2_c": 51.050293, "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": 0.0968322232, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 500.041077, "values": {"Elec_RPM": -12812.7793, "EncoderCos": 38743, "EncoderSin": 53008, "GapTicks": 38585, "Mech_RPM": -2562.55591, "cg_du": 64.9226379, "cg_dv": 62.9887314, "cg_dw": 35.0773621, "cg_id_a": -8.72397995, "cg_id_raw_a": -1.58644474, "cg_iq_a": 297.056152, "cg_iq_raw_a": 300.31488, "cg_iu_a": -9.81483459, "cg_iv_a": -251.304459, "cg_iw_a": 261.119293, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 4522713, "cg_sample_valid": 1, "cg_theta_rad": 1.30620635, "cg_vd_req_v": 7.05059433, "cg_vd_v": 7.05059433, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0551147, "cg_vq_v": -28.0551147, "cg_vu_v": 81.820015, "cg_vv_v": 113.932175, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 79.8679199, "dclink_p_w": 12015.5898, "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": 53.8415833, "temp_inv2_c": 51.0162048, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0983932242, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 501.058472, "values": {"Elec_RPM": -12810.6924, "EncoderCos": 20080, "EncoderSin": 15523, "GapTicks": 36949, "Mech_RPM": -2562.13843, "cg_du": 33.5902023, "cg_dv": 66.4097977, "cg_dw": 44.8346062, "cg_id_a": -0.389971972, "cg_id_raw_a": 1.97994971, "cg_iq_a": 302.129028, "cg_iq_raw_a": 301.747864, "cg_iu_a": 274.916718, "cg_iv_a": -249.129822, "cg_iw_a": -25.7868958, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 4527762, "cg_sample_valid": 1, "cg_theta_rad": 4.07791328, "cg_vd_req_v": 6.90444613, "cg_vd_v": 6.90444613, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1388245, "cg_vq_v": -28.1388245, "cg_vu_v": 97.2162552, "cg_vv_v": 126.689056, "cg_vw_v": 117.891212, "control_outputs_enabled": 1, "dclink_i_a": 79.8679199, "dclink_p_w": 12015.5898, "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": 53.8050537, "temp_inv2_c": 51.0311279, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0943144858, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 502.075928, "values": {"Elec_RPM": -12807.7695, "EncoderCos": 20796, "EncoderSin": 15028, "GapTicks": 36669, "Mech_RPM": -2561.55396, "cg_du": 33.3360596, "cg_dv": 66.6639404, "cg_dw": 50.8101425, "cg_id_a": -4.94979477, "cg_id_raw_a": -7.00522661, "cg_iq_a": 298.885498, "cg_iq_raw_a": 295.199432, "cg_iu_a": 294.017212, "cg_iv_a": -203.57132, "cg_iw_a": -91.8231583, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4532862, "cg_sample_valid": 1, "cg_theta_rad": 4.15183449, "cg_vd_req_v": 6.96745491, "cg_vd_v": 6.96745491, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1088219, "cg_vq_v": -28.1088219, "cg_vu_v": 10.9973145, "cg_vv_v": 42.6695786, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 79.8044968, "dclink_p_w": 12006.0479, "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": 53.8050537, "temp_inv2_c": 50.9694519, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0957244262, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 502.917175, "values": {"Elec_RPM": -12805.5137, "EncoderCos": 14283, "EncoderSin": 43160, "GapTicks": 36873, "Mech_RPM": -2561.10278, "cg_du": 54.2744446, "cg_dv": 66.4790421, "cg_dw": 33.5209579, "cg_id_a": 13.8078995, "cg_id_raw_a": 15.9791718, "cg_iq_a": 304.529663, "cg_iq_raw_a": 305.642517, "cg_iu_a": 123.634964, "cg_iv_a": -296.464264, "cg_iw_a": 172.8293, "cg_sample_age_us": 23.7909088, "cg_sample_seq": 4537063, "cg_sample_valid": 1, "cg_theta_rad": 2.67195559, "cg_vd_req_v": 6.55572748, "cg_vd_v": 6.55572748, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1939659, "cg_vq_v": -28.1939659, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 79.8280563, "dclink_p_w": 12009.5928, "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": 53.8050537, "temp_inv2_c": 51.0801086, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0956237093, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 503.93457, "values": {"Elec_RPM": -12808.4326, "EncoderCos": 13867, "EncoderSin": 42389, "GapTicks": 36717, "Mech_RPM": -2561.68652, "cg_du": 47.9973755, "cg_dv": 66.6207886, "cg_dw": 33.3792114, "cg_id_a": 0.866999149, "cg_id_raw_a": 3.15936756, "cg_iq_a": 300.806274, "cg_iq_raw_a": 296.807098, "cg_iu_a": 183.763489, "cg_iv_a": -293.528534, "cg_iw_a": 109.765038, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 4542163, "cg_sample_valid": 1, "cg_theta_rad": 2.71094251, "cg_vd_req_v": 6.86145401, "cg_vd_v": 6.86145401, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.117815, "cg_vq_v": -28.117815, "cg_vu_v": 73.462059, "cg_vv_v": 113.932175, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": 79.4565506, "dclink_p_w": 11953.7021, "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": 53.8781433, "temp_inv2_c": 51.1526184, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0966811627, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 504.972168, "values": {"Elec_RPM": -12802.8271, "EncoderCos": 53439, "EncoderSin": 29147, "GapTicks": 38644, "Mech_RPM": -2560.56543, "cg_du": 64.8682327, "cg_dv": 36.8269958, "cg_dw": 35.1317635, "cg_id_a": 1.02849257, "cg_id_raw_a": 4.41565657, "cg_iq_a": 305.037811, "cg_iq_raw_a": 313.203613, "cg_iu_a": -59.686348, "cg_iv_a": -226.73114, "cg_iw_a": 286.41748, "cg_sample_age_us": 24.0381813, "cg_sample_seq": 4547316, "cg_sample_valid": 1, "cg_theta_rad": 0.0394885503, "cg_vd_req_v": 6.84244728, "cg_vd_v": 6.84244728, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1931629, "cg_vq_v": -28.1931629, "cg_vu_v": 77.4210892, "cg_vv_v": 113.492287, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 79.7175064, "dclink_p_w": 11992.9609, "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": 53.9147339, "temp_inv2_c": 51.2252808, "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": 0.0978393182, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 505.989563, "values": {"Elec_RPM": -12800.9844, "EncoderCos": 53634, "EncoderSin": 34536, "GapTicks": 37291, "Mech_RPM": -2560.19678, "cg_du": 57.0582352, "cg_dv": 66.098465, "cg_dw": 33.9015388, "cg_id_a": 5.05742836, "cg_id_raw_a": -1.49371648, "cg_iq_a": 297.96347, "cg_iq_raw_a": 299.762939, "cg_iu_a": 90.4356079, "cg_iv_a": -295.340698, "cg_iw_a": 204.90509, "cg_sample_age_us": 23.48909, "cg_sample_seq": 4552412, "cg_sample_valid": 1, "cg_theta_rad": 0.134952188, "cg_vd_req_v": 6.77908659, "cg_vd_v": 6.77908659, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0399837, "cg_vq_v": -28.0399837, "cg_vu_v": 0, "cg_vv_v": 43.549366, "cg_vw_v": 19.795166, "control_outputs_enabled": 1, "dclink_i_a": 79.3369522, "dclink_p_w": 11935.709, "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": 53.951355, "temp_inv2_c": 51.2573547, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988464132, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 507.006958, "values": {"Elec_RPM": -12803.8096, "EncoderCos": 43905, "EncoderSin": 14818, "GapTicks": 38929, "Mech_RPM": -2560.76196, "cg_du": 35.3904915, "cg_dv": 64.6095047, "cg_dw": 36.1995926, "cg_id_a": 0.850275993, "cg_id_raw_a": -13.9593668, "cg_iq_a": 298.332886, "cg_iq_raw_a": 293.474152, "cg_iu_a": 193.041901, "cg_iv_a": 116.787933, "cg_iw_a": -309.829834, "cg_sample_age_us": 26.8199997, "cg_sample_seq": 4557417, "cg_sample_valid": 1, "cg_theta_rad": 5.59024239, "cg_vd_req_v": 6.83944416, "cg_vd_v": 6.83944416, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0874252, "cg_vq_v": -28.0874252, "cg_vu_v": 37.3908691, "cg_vv_v": 21.5547352, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 79.7446899, "dclink_p_w": 11997.0508, "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": 53.951355, "temp_inv2_c": 51.0971375, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0935088098, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 507.977539, "values": {"Elec_RPM": -12812.043, "EncoderCos": 15979, "EncoderSin": 19536, "GapTicks": 38891, "Mech_RPM": -2562.40869, "cg_du": 63.5583038, "cg_dv": 64.6444702, "cg_dw": 35.3555298, "cg_id_a": 0.90167129, "cg_id_raw_a": 6.27851582, "cg_iq_a": 296.821716, "cg_iq_raw_a": 301.165985, "cg_iu_a": 18.3466244, "cg_iv_a": -262.032623, "cg_iw_a": 243.686005, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4562313, "cg_sample_valid": 1, "cg_theta_rad": 3.85419679, "cg_vd_req_v": 6.84870291, "cg_vd_v": 6.84870291, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0214272, "cg_vq_v": -28.0214272, "cg_vu_v": 111.732712, "cg_vv_v": 150.883148, "cg_vw_v": 107.333786, "control_outputs_enabled": 1, "dclink_i_a": 79.8878555, "dclink_p_w": 11983.4473, "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": 53.9147339, "temp_inv2_c": 51.1996155, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0948180333, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 509.018433, "values": {"Elec_RPM": -12804.6504, "EncoderCos": 29190, "EncoderSin": 11759, "GapTicks": 36768, "Mech_RPM": -2560.93018, "cg_du": 52.2916794, "cg_dv": 33.426033, "cg_dw": 66.573967, "cg_id_a": -4.47248363, "cg_id_raw_a": -2.82942605, "cg_iq_a": 296.685913, "cg_iq_raw_a": 292.827454, "cg_iu_a": -302.52002, "cg_iv_a": 114.903229, "cg_iw_a": 187.616791, "cg_sample_age_us": 23.812727, "cg_sample_seq": 4567516, "cg_sample_valid": 1, "cg_theta_rad": 4.80397224, "cg_vd_req_v": 6.94216251, "cg_vd_v": 6.94216251, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0366936, "cg_vq_v": -28.0366936, "cg_vu_v": 42.6695786, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.2771454, "dclink_p_w": 11891.8389, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2612, "hz_tim_isr": 4998, "hz_vsense": 2612, "pwm_moe": 1, "temp_inv1_c": 53.9880371, "temp_inv2_c": 51.3623657, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0971343517, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 510.035828, "values": {"Elec_RPM": -12809.1836, "EncoderCos": 34592, "EncoderSin": 11608, "GapTicks": 37573, "Mech_RPM": -2561.83667, "cg_du": 65.8425751, "cg_dv": 34.1574249, "cg_dw": 40.9987411, "cg_id_a": -4.49729967, "cg_id_raw_a": -0.978051245, "cg_iq_a": 300.067047, "cg_iq_raw_a": 307.064178, "cg_iu_a": -286.500244, "cg_iv_a": 57.4205017, "cg_iw_a": 229.079742, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 4572612, "cg_sample_valid": 1, "cg_theta_rad": 4.85601044, "cg_vd_req_v": 6.95258951, "cg_vd_v": 6.95258951, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1172848, "cg_vq_v": -28.1172848, "cg_vu_v": 66.4237747, "cg_vv_v": 59.385498, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 79.4637985, "dclink_p_w": 11954.792, "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": 53.9880371, "temp_inv2_c": 51.328064, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0989974812, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 511.053223, "values": {"Elec_RPM": -12809.8691, "EncoderCos": 21248, "EncoderSin": 50447, "GapTicks": 38555, "Mech_RPM": -2561.97388, "cg_du": 64.9495544, "cg_dv": 35.0504456, "cg_dw": 62.5864601, "cg_id_a": -3.65287185, "cg_id_raw_a": -16.1403713, "cg_iq_a": 295.990692, "cg_iq_raw_a": 291.059937, "cg_iu_a": -275.155945, "cg_iv_a": 242.11911, "cg_iw_a": 33.0368423, "cg_sample_age_us": 23.6127281, "cg_sample_seq": 4577762, "cg_sample_valid": 1, "cg_theta_rad": 2.17391825, "cg_vd_req_v": 6.93841457, "cg_vd_v": 6.93841457, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0294609, "cg_vq_v": -28.0294609, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.556221, "dclink_p_w": 11933.7012, "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": 54.0614624, "temp_inv2_c": 51.3194885, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0963286757, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 512.070679, "values": {"Elec_RPM": -12814.2764, "EncoderCos": 38994, "EncoderSin": 52894, "GapTicks": 38180, "Mech_RPM": -2562.85522, "cg_du": 65.2904968, "cg_dv": 61.2731552, "cg_dw": 34.7094994, "cg_id_a": -8.70994759, "cg_id_raw_a": -17.2772255, "cg_iq_a": 294.990967, "cg_iq_raw_a": 292.710999, "cg_iu_a": -27.7192879, "cg_iv_a": -240.467545, "cg_iw_a": 268.186829, "cg_sample_age_us": 23.863636, "cg_sample_seq": 4582763, "cg_sample_valid": 1, "cg_theta_rad": 1.31164277, "cg_vd_req_v": 7.07695484, "cg_vd_v": 7.07695484, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9875412, "cg_vq_v": -27.9875412, "cg_vu_v": 32.1121559, "cg_vv_v": 66.8636703, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 80.246666, "dclink_p_w": 12072.5693, "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": 54.1350403, "temp_inv2_c": 51.4332275, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982925147, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 512.911926, "values": {"Elec_RPM": -12812.7891, "EncoderCos": 48221, "EncoderSin": 46948, "GapTicks": 36793, "Mech_RPM": -2562.55786, "cg_du": 45.9949989, "cg_dv": 33.4490738, "cg_dw": 66.5509262, "cg_id_a": 6.15682602, "cg_id_raw_a": 12.5954943, "cg_iq_a": 302.729462, "cg_iq_raw_a": 305.205597, "cg_iu_a": -127.353577, "cg_iv_a": 296.122406, "cg_iw_a": -168.768829, "cg_sample_age_us": 23.5436363, "cg_sample_seq": 4587062, "cg_sample_valid": 1, "cg_theta_rad": 0.777164936, "cg_vd_req_v": 6.77519703, "cg_vd_v": 6.77519703, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.142025, "cg_vq_v": -28.142025, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 79.3858795, "dclink_p_w": 11908.1494, "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": 54.1350403, "temp_inv2_c": 51.3495178, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0953215882, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 513.929382, "values": {"Elec_RPM": -12810.7031, "EncoderCos": 24089, "EncoderSin": 13267, "GapTicks": 36806, "Mech_RPM": -2562.14063, "cg_du": 33.4608383, "cg_dv": 54.037075, "cg_dw": 66.5391617, "cg_id_a": 2.47907043, "cg_id_raw_a": 10.5979767, "cg_iq_a": 301.215057, "cg_iq_raw_a": 298.203552, "cg_iu_a": 166.076477, "cg_iv_a": 125.921387, "cg_iw_a": -291.997864, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4592213, "cg_sample_valid": 1, "cg_theta_rad": 4.33193874, "cg_vd_req_v": 6.84289694, "cg_vd_v": 6.84289694, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1094646, "cg_vq_v": -28.1094646, "cg_vu_v": 112.172607, "cg_vv_v": 106.453995, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.5580368, "dclink_p_w": 11968.9697, "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": 54.1350403, "temp_inv2_c": 51.323761, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104486153, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 514.946716, "values": {"Elec_RPM": -12807.7246, "EncoderCos": 13089, "EncoderSin": 24637, "GapTicks": 36987, "Mech_RPM": -2561.54492, "cg_du": 66.3753357, "cg_dv": 33.6246605, "cg_dw": 43.7371826, "cg_id_a": -4.61899042, "cg_id_raw_a": -3.73275971, "cg_iq_a": 305.215729, "cg_iq_raw_a": 308.927887, "cg_iu_a": -301.28775, "cg_iv_a": 89.7500153, "cg_iw_a": 211.537735, "cg_sample_age_us": 24.0636368, "cg_sample_seq": 4597212, "cg_sample_valid": 1, "cg_theta_rad": 3.56553292, "cg_vd_req_v": 6.98126411, "cg_vd_v": 6.98126411, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1953564, "cg_vq_v": -28.1953564, "cg_vu_v": 76.9812012, "cg_vv_v": 58.9456062, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 79.2064743, "dclink_p_w": 11916.0801, "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": 54.2087097, "temp_inv2_c": 51.4224854, "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": 0.0971343517, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 515.984375, "values": {"Elec_RPM": -12816.0898, "EncoderCos": 49449, "EncoderSin": 45460, "GapTicks": 38488, "Mech_RPM": -2563.21802, "cg_du": 34.9892693, "cg_dv": 37.1787338, "cg_dw": 65.0107269, "cg_id_a": -1.37937772, "cg_id_raw_a": 5.9680109, "cg_iq_a": 299.708374, "cg_iq_raw_a": 309.403931, "cg_iu_a": -258.048859, "cg_iv_a": 262.053223, "cg_iw_a": -4.00434875, "cg_sample_age_us": 23.4236355, "cg_sample_seq": 4602366, "cg_sample_valid": 1, "cg_theta_rad": 0.901024282, "cg_vd_req_v": 6.92518091, "cg_vd_v": 6.92518091, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0625896, "cg_vq_v": -28.0625896, "cg_vu_v": 76.5413055, "cg_vv_v": 36.9509773, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 80.0980682, "dclink_p_w": 12050.2139, "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": 54.2087097, "temp_inv2_c": 51.396698, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101263441, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 517.001709, "values": {"Elec_RPM": -12814.2725, "EncoderCos": 46517, "EncoderSin": 48643, "GapTicks": 38417, "Mech_RPM": -2562.85449, "cg_du": 62.2093201, "cg_dv": 34.9252205, "cg_dw": 65.0747757, "cg_id_a": -3.89700508, "cg_id_raw_a": -11.8027706, "cg_iq_a": 294.627716, "cg_iq_raw_a": 291.131378, "cg_iu_a": -245.327271, "cg_iv_a": 264.409058, "cg_iw_a": -19.0817871, "cg_sample_age_us": 23.59091, "cg_sample_seq": 4607463, "cg_sample_valid": 1, "cg_theta_rad": 0.903620422, "cg_vd_req_v": 6.9901886, "cg_vd_v": 6.9901886, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9640656, "cg_vq_v": -27.9640656, "cg_vu_v": 71.7024918, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.416687, "dclink_p_w": 11912.7705, "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": 54.1718445, "temp_inv2_c": 51.4483032, "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": 0.0966308042, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 517.976807, "values": {"Elec_RPM": -12812.582, "EncoderCos": 25177, "EncoderSin": 52466, "GapTicks": 37653, "Mech_RPM": -2562.51636, "cg_du": 34.2306671, "cg_dv": 40.7677841, "cg_dw": 65.7693329, "cg_id_a": -2.84011555, "cg_id_raw_a": 0.412766129, "cg_iq_a": 297.345978, "cg_iq_raw_a": 306.262604, "cg_iu_a": 45.3120346, "cg_iv_a": 229.107574, "cg_iw_a": -274.419617, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 4612312, "cg_sample_valid": 1, "cg_theta_rad": 1.92420018, "cg_vd_req_v": 6.94470978, "cg_vd_v": 6.92011738, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0702782, "cg_vq_v": -28.0260105, "cg_vu_v": 111.732712, "cg_vv_v": 72.5822754, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 78.7063065, "dclink_p_w": 11806.2109, "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": 54.245636, "temp_inv2_c": 51.4418335, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982925147, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 519.013184, "values": {"Elec_RPM": -12808.0713, "EncoderCos": 14950, "EncoderSin": 44164, "GapTicks": 38311, "Mech_RPM": -2561.61426, "cg_du": 61.9541473, "cg_dv": 65.171669, "cg_dw": 34.828331, "cg_id_a": 5.08247089, "cg_id_raw_a": 7.27829027, "cg_iq_a": 302.932922, "cg_iq_raw_a": 307.09552, "cg_iu_a": 286.695984, "cg_iv_a": -245.143005, "cg_iw_a": -41.5529709, "cg_sample_age_us": 23.7872734, "cg_sample_seq": 4617517, "cg_sample_valid": 1, "cg_theta_rad": 2.82282972, "cg_vd_req_v": 6.75835228, "cg_vd_v": 6.75835228, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1548939, "cg_vq_v": -28.1548939, "cg_vu_v": 109.973145, "cg_vv_v": 149.123581, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 79.9114151, "dclink_p_w": 12022.1328, "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": 54.2825623, "temp_inv2_c": 51.4999084, "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": 0.0984939337, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 520.030579, "values": {"Elec_RPM": -12806.8545, "EncoderCos": 12614, "EncoderSin": 39183, "GapTicks": 36871, "Mech_RPM": -2561.37085, "cg_du": 33.5198898, "cg_dv": 66.4801102, "cg_dw": 45.3076363, "cg_id_a": 1.03246582, "cg_id_raw_a": 1.61171389, "cg_iq_a": 304.603119, "cg_iq_raw_a": 301.183197, "cg_iu_a": 308.406006, "cg_iv_a": -195.597656, "cg_iw_a": -112.808342, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4622613, "cg_sample_valid": 1, "cg_theta_rad": 2.86544394, "cg_vd_req_v": 6.85888386, "cg_vd_v": 6.85888386, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1905804, "cg_vq_v": -28.1905804, "cg_vu_v": 99.4157181, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.494606, "dclink_p_w": 11959.4268, "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": 54.245636, "temp_inv2_c": 51.6141968, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0955229998, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 521.048035, "values": {"Elec_RPM": -12807.2012, "EncoderCos": 12333, "EncoderSin": 38360, "GapTicks": 36656, "Mech_RPM": -2561.44019, "cg_du": 33.3238411, "cg_dv": 66.6761627, "cg_dw": 51.2207336, "cg_id_a": 2.37207699, "cg_id_raw_a": 10.61098, "cg_iq_a": 305.13031, "cg_iq_raw_a": 306.537903, "cg_iu_a": 308.659729, "cg_iv_a": -143.261597, "cg_iw_a": -165.398132, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 4627713, "cg_sample_valid": 1, "cg_theta_rad": 2.9097054, "cg_vd_req_v": 6.83020926, "cg_vd_v": 6.83020926, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1792126, "cg_vq_v": -28.1792126, "cg_vu_v": 78.7407684, "cg_vv_v": 121.850235, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.7120743, "dclink_p_w": 11992.1436, "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": 54.2825623, "temp_inv2_c": 51.5839844, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0980910957, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 522.065491, "values": {"Elec_RPM": -12802.6621, "EncoderCos": 12383, "EncoderSin": 38574, "GapTicks": 36639, "Mech_RPM": -2560.53247, "cg_du": 33.308609, "cg_dv": 66.691391, "cg_dw": 49.8123894, "cg_id_a": -1.54466915, "cg_id_raw_a": -1.62606966, "cg_iq_a": 304.957306, "cg_iq_raw_a": 300.083435, "cg_iu_a": 295.285767, "cg_iv_a": -78.4576263, "cg_iw_a": -216.82814, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4632814, "cg_sample_valid": 1, "cg_theta_rad": 2.94665599, "cg_vd_req_v": 6.91537666, "cg_vd_v": 6.91537666, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1596794, "cg_vq_v": -28.1596794, "cg_vu_v": 108.653458, "cg_vv_v": 142.085297, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.5906601, "dclink_p_w": 11973.8779, "enc_isr_hz": 5001, "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": 54.3195496, "temp_inv2_c": 51.6358032, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988464132, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 523.082825, "values": {"Elec_RPM": -12807.1143, "EncoderCos": 21190, "EncoderSin": 50368, "GapTicks": 38366, "Mech_RPM": -2561.42285, "cg_du": 65.1212082, "cg_dv": 34.8787918, "cg_dw": 62.0149612, "cg_id_a": -2.66560006, "cg_id_raw_a": -17.1920033, "cg_iq_a": 298.698486, "cg_iq_raw_a": 292.192566, "cg_iu_a": -297.264679, "cg_iv_a": 172.784637, "cg_iw_a": 124.480034, "cg_sample_age_us": 23.630909, "cg_sample_seq": 4637812, "cg_sample_valid": 1, "cg_theta_rad": 2.23439312, "cg_vd_req_v": 6.95536995, "cg_vd_v": 6.95536995, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0508366, "cg_vq_v": -28.0508366, "cg_vu_v": 152.202835, "cg_vv_v": 115.69175, "cg_vw_v": 85.7790527, "control_outputs_enabled": 1, "dclink_i_a": 79.0053177, "dclink_p_w": 11885.8174, "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": 54.3565369, "temp_inv2_c": 51.63797, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0990981907, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 523.924072, "values": {"Elec_RPM": -12805.2754, "EncoderCos": 41260, "EncoderSin": 13423, "GapTicks": 36889, "Mech_RPM": -2561.05518, "cg_du": 53.8137398, "cg_dv": 66.4636993, "cg_dw": 33.5363007, "cg_id_a": 2.21813273, "cg_id_raw_a": 5.34793043, "cg_iq_a": 297.608154, "cg_iq_raw_a": 300.465637, "cg_iu_a": 121.351608, "cg_iv_a": -301.502136, "cg_iw_a": 180.150543, "cg_sample_age_us": 23.954546, "cg_sample_seq": 4642162, "cg_sample_valid": 1, "cg_theta_rad": 5.18017483, "cg_vd_req_v": 6.83799076, "cg_vd_v": 6.83799076, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0329399, "cg_vq_v": -28.0329399, "cg_vu_v": 0, "cg_vv_v": 43.1094704, "cg_vw_v": 31.6722641, "control_outputs_enabled": 1, "dclink_i_a": 79.494606, "dclink_p_w": 11924.459, "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": 54.3936157, "temp_inv2_c": 51.6098633, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101162732, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 524.941467, "values": {"Elec_RPM": -12817.5205, "EncoderCos": 41056, "EncoderSin": 13308, "GapTicks": 37018, "Mech_RPM": -2563.50415, "cg_du": 55.4479752, "cg_dv": 66.346817, "cg_dw": 33.6531792, "cg_id_a": 4.40171623, "cg_id_raw_a": 7.45541763, "cg_iq_a": 301.054688, "cg_iq_raw_a": 302.10025, "cg_iu_a": 113.921616, "cg_iv_a": -292.876099, "cg_iw_a": 178.954498, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 4647263, "cg_sample_valid": 1, "cg_theta_rad": 5.16652822, "cg_vd_req_v": 6.81446981, "cg_vd_v": 6.81446981, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1037273, "cg_vq_v": -28.1037273, "cg_vu_v": 77.8609848, "cg_vv_v": 144.724655, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 79.3568802, "dclink_p_w": 11938.707, "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": 54.3936157, "temp_inv2_c": 51.8024902, "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": 0.0986953527, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 525.958862, "values": {"Elec_RPM": -12818.9336, "EncoderCos": 32049, "EncoderSin": 53709, "GapTicks": 36741, "Mech_RPM": -2563.78662, "cg_du": 33.4015198, "cg_dv": 66.5984802, "cg_dw": 49.202198, "cg_id_a": -2.65562558, "cg_id_raw_a": 6.97960138, "cg_iq_a": 296.219055, "cg_iq_raw_a": 295.583313, "cg_iu_a": 301.519684, "cg_iv_a": -154.279709, "cg_iw_a": -147.239975, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 4652313, "cg_sample_valid": 1, "cg_theta_rad": 1.63732982, "cg_vd_req_v": 6.9827323, "cg_vd_v": 6.9827323, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9875412, "cg_vq_v": -27.9875412, "cg_vu_v": 105.134323, "cg_vv_v": 150.883148, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.6232758, "dclink_p_w": 11978.7842, "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": 54.4306946, "temp_inv2_c": 51.7049866, "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": 0.100306705, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 527.030457, "values": {"Elec_RPM": -12809.9336, "EncoderCos": 48511, "EncoderSin": 46490, "GapTicks": 37356, "Mech_RPM": -2561.98682, "cg_du": 42.4772491, "cg_dv": 33.9607353, "cg_dw": 66.0392609, "cg_id_a": 7.52837992, "cg_id_raw_a": 12.9371796, "cg_iq_a": 296.756348, "cg_iq_raw_a": 303.121155, "cg_iu_a": 8.95947075, "cg_iv_a": 252.412354, "cg_iw_a": -261.371826, "cg_sample_age_us": 23.4781818, "cg_sample_seq": 4657662, "cg_sample_valid": 1, "cg_theta_rad": 0.710808516, "cg_vd_req_v": 6.75017357, "cg_vd_v": 6.75017357, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.979248, "cg_vq_v": -27.979248, "cg_vu_v": 131.087982, "cg_vv_v": 73.462059, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 79.9168472, "dclink_p_w": 12022.9502, "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": 54.467804, "temp_inv2_c": 51.7504272, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988967717, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 528.034851, "values": {"Elec_RPM": -12807.2383, "EncoderCos": 21860, "EncoderSin": 14516, "GapTicks": 37574, "Mech_RPM": -2561.44775, "cg_du": 34.1585197, "cg_dv": 65.8414764, "cg_dw": 58.7138557, "cg_id_a": -4.7150507, "cg_id_raw_a": 4.09283257, "cg_iq_a": 297.244263, "cg_iq_raw_a": 303.233093, "cg_iu_a": 43.4273567, "cg_iv_a": 230.956009, "cg_iw_a": -274.383362, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 4662467, "cg_sample_valid": 1, "cg_theta_rad": 4.43474007, "cg_vd_req_v": 6.99064779, "cg_vd_v": 6.99064779, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0147247, "cg_vq_v": -28.0147247, "cg_vu_v": 112.172607, "cg_vv_v": 73.0221634, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.8081207, "dclink_p_w": 12006.5938, "enc_isr_hz": 4999, "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": 54.467804, "temp_inv2_c": 51.6725464, "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": 0.105291829, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 529.041931, "values": {"Elec_RPM": -12809.3564, "EncoderCos": 44251, "EncoderSin": 15117, "GapTicks": 37891, "Mech_RPM": -2561.87134, "cg_du": 34.4466591, "cg_dv": 65.5533447, "cg_dw": 39.8172989, "cg_id_a": -1.2678206, "cg_id_raw_a": -10.8653116, "cg_iq_a": 298.49823, "cg_iq_raw_a": 294.836731, "cg_iu_a": 285.065002, "cg_iv_a": -232.09523, "cg_iw_a": -52.9697723, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 4667663, "cg_sample_valid": 1, "cg_theta_rad": 5.33636713, "cg_vd_req_v": 6.88957119, "cg_vd_v": 6.88957119, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0508385, "cg_vq_v": -28.0508385, "cg_vu_v": 73.462059, "cg_vv_v": 111.732712, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 79.6069641, "dclink_p_w": 11976.3311, "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": 54.5421448, "temp_inv2_c": 51.9154358, "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": 0.103126571, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 530.059387, "values": {"Elec_RPM": -12807.8203, "EncoderCos": 13749, "EncoderSin": 41856, "GapTicks": 36734, "Mech_RPM": -2561.56396, "cg_du": 52.1006966, "cg_dv": 66.6045761, "cg_dw": 33.3954239, "cg_id_a": 0.875621438, "cg_id_raw_a": 9.33404922, "cg_iq_a": 302.754028, "cg_iq_raw_a": 306.48584, "cg_iu_a": 143.025406, "cg_iv_a": -297.080414, "cg_iw_a": 154.055008, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 4672813, "cg_sample_valid": 1, "cg_theta_rad": 2.68296266, "cg_vd_req_v": 6.79491568, "cg_vd_v": 6.79491568, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1122723, "cg_vq_v": -28.1122723, "cg_vu_v": 73.9019547, "cg_vv_v": 119.210884, "cg_vw_v": 89.7380829, "control_outputs_enabled": 1, "dclink_i_a": 79.5000458, "dclink_p_w": 11925.2754, "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": 54.5049438, "temp_inv2_c": 51.8154907, "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": 0.101716645, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 531.076782, "values": {"Elec_RPM": -12802.5645, "EncoderCos": 27524, "EncoderSin": 53128, "GapTicks": 36668, "Mech_RPM": -2560.51294, "cg_du": 33.3351974, "cg_dv": 49.565197, "cg_dw": 66.6648026, "cg_id_a": -7.07630062, "cg_id_raw_a": -1.55248189, "cg_iq_a": 297.302673, "cg_iq_raw_a": 290.468811, "cg_iu_a": 119.213219, "cg_iv_a": 169.921356, "cg_iw_a": -289.134583, "cg_sample_age_us": 23.863636, "cg_sample_seq": 4677813, "cg_sample_valid": 1, "cg_theta_rad": 1.85487199, "cg_vd_req_v": 7.00456238, "cg_vd_v": 7.00456238, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0055275, "cg_vq_v": -28.0055275, "cg_vu_v": 116.571533, "cg_vv_v": 100.295509, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.6649551, "dclink_p_w": 11950.0117, "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": 54.5793762, "temp_inv2_c": 51.9480591, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988967717, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 531.91803, "values": {"Elec_RPM": -12811.8467, "EncoderCos": 39477, "EncoderSin": 52542, "GapTicks": 37306, "Mech_RPM": -2562.36938, "cg_du": 66.0847244, "cg_dv": 57.6155624, "cg_dw": 33.9152756, "cg_id_a": -7.28418112, "cg_id_raw_a": 2.37866211, "cg_iq_a": 297.908936, "cg_iq_raw_a": 301.447662, "cg_iu_a": 3.66787195, "cg_iv_a": -259.495544, "cg_iw_a": 255.827682, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 4682113, "cg_sample_valid": 1, "cg_theta_rad": 1.32154703, "cg_vd_req_v": 7.06541395, "cg_vd_v": 7.06541395, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0048084, "cg_vq_v": -28.0048084, "cg_vu_v": 0.43989256, "cg_vv_v": 60.7051735, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.416687, "dclink_p_w": 11912.7705, "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": 54.6166382, "temp_inv2_c": 51.9328308, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0953215882, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 532.955566, "values": {"Elec_RPM": -12814.5234, "EncoderCos": 20288, "EncoderSin": 49643, "GapTicks": 36881, "Mech_RPM": -2562.90479, "cg_du": 66.4718094, "cg_dv": 33.5281906, "cg_dw": 54.3799591, "cg_id_a": -5.20798922, "cg_id_raw_a": -3.73746061, "cg_iq_a": 296.299652, "cg_iq_raw_a": 292.19809, "cg_iu_a": -304.585938, "cg_iv_a": 185.107544, "cg_iw_a": 119.478394, "cg_sample_age_us": 24.0200005, "cg_sample_seq": 4687312, "cg_sample_valid": 1, "cg_theta_rad": 2.23778415, "cg_vd_req_v": 7.01937723, "cg_vd_v": 7.01937723, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9984131, "cg_vq_v": -27.9984131, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.9567184, "dclink_p_w": 12028.9492, "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": 54.6539001, "temp_inv2_c": 51.9197998, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0970840007, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 533.973022, "values": {"Elec_RPM": -12814.8486, "EncoderCos": 37732, "EncoderSin": 53103, "GapTicks": 37782, "Mech_RPM": -2562.96973, "cg_du": 59.8910751, "cg_dv": 65.6526489, "cg_dw": 34.3473549, "cg_id_a": 2.39596701, "cg_id_raw_a": 4.32271242, "cg_iq_a": 299.800079, "cg_iq_raw_a": 302.379608, "cg_iu_a": 62.2016602, "cg_iv_a": -281.45932, "cg_iw_a": 219.25766, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 4692313, "cg_sample_valid": 1, "cg_theta_rad": 1.36470103, "cg_vd_req_v": 6.88566637, "cg_vd_v": 6.88566637, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0263195, "cg_vq_v": -28.0263195, "cg_vu_v": 110.413033, "cg_vv_v": 151.762939, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 79.3025131, "dclink_p_w": 11895.6445, "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": 54.5793762, "temp_inv2_c": 51.9676819, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0964797437, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 534.990356, "values": {"Elec_RPM": -12812.8398, "EncoderCos": 35658, "EncoderSin": 53444, "GapTicks": 36948, "Mech_RPM": -2562.56787, "cg_du": 45.5409317, "cg_dv": 66.4104767, "cg_dw": 33.5895233, "cg_id_a": -3.40942955, "cg_id_raw_a": 6.62152529, "cg_iq_a": 296.842499, "cg_iq_raw_a": 300.322083, "cg_iu_a": 191.410919, "cg_iv_a": -296.536743, "cg_iw_a": 105.125832, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 4697412, "cg_sample_valid": 1, "cg_theta_rad": 1.45534754, "cg_vd_req_v": 7.00360203, "cg_vd_v": 7.00360203, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9936371, "cg_vq_v": -27.9936371, "cg_vu_v": 22.4345207, "cg_vv_v": 69.9429169, "cg_vw_v": 30.7924805, "control_outputs_enabled": 1, "dclink_i_a": 79.7211304, "dclink_p_w": 11958.4385, "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": 54.6539001, "temp_inv2_c": 51.9284668, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101867706, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 536.007813, "values": {"Elec_RPM": -12804.8301, "EncoderCos": 34773, "EncoderSin": 53558, "GapTicks": 37958, "Mech_RPM": -2560.96606, "cg_du": 39.5894585, "cg_dv": 65.4919434, "cg_dw": 34.5080566, "cg_id_a": -5.93164444, "cg_id_raw_a": 0.722906053, "cg_iq_a": 297.396362, "cg_iq_raw_a": 302.4888, "cg_iu_a": 235.012268, "cg_iv_a": -277.617493, "cg_iw_a": 42.605217, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 4702512, "cg_sample_valid": 1, "cg_theta_rad": 1.50011194, "cg_vd_req_v": 7.03707743, "cg_vd_v": 7.03707743, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9957619, "cg_vq_v": -27.9957619, "cg_vu_v": 0, "cg_vv_v": 44.4291458, "cg_vw_v": 7.03828096, "control_outputs_enabled": 1, "dclink_i_a": 79.7754974, "dclink_p_w": 11966.5938, "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": 54.6539001, "temp_inv2_c": 52.1226196, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0997024477, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 537.025269, "values": {"Elec_RPM": -12806.6289, "EncoderCos": 33826, "EncoderSin": 53640, "GapTicks": 38540, "Mech_RPM": -2561.32568, "cg_du": 35.0364952, "cg_dv": 64.963501, "cg_dw": 37.3529968, "cg_id_a": -1.00134051, "cg_id_raw_a": 3.40969229, "cg_iq_a": 297.639404, "cg_iq_raw_a": 302.789185, "cg_iu_a": 270.531219, "cg_iv_a": -236.661942, "cg_iw_a": -33.869278, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 4707612, "cg_sample_valid": 1, "cg_theta_rad": 1.54457927, "cg_vd_req_v": 6.92150497, "cg_vd_v": 6.92150497, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9963627, "cg_vq_v": -27.9963627, "cg_vu_v": 0, "cg_vv_v": 40.9100075, "cg_vw_v": 42.2296829, "control_outputs_enabled": 1, "dclink_i_a": 79.5616608, "dclink_p_w": 11969.5146, "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": 54.6912537, "temp_inv2_c": 52.011261, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0957747772, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 538.03418, "values": {"Elec_RPM": -12797.71, "EncoderCos": 49414, "EncoderSin": 45229, "GapTicks": 38210, "Mech_RPM": -2559.54199, "cg_du": 34.7366905, "cg_dv": 38.3963737, "cg_dw": 65.2633133, "cg_id_a": 8.90753174, "cg_id_raw_a": -3.44209623, "cg_iq_a": 301.270508, "cg_iq_raw_a": 295.111176, "cg_iu_a": -57.4029884, "cg_iv_a": 279.087799, "cg_iw_a": -221.684814, "cg_sample_age_us": 23.51091, "cg_sample_seq": 4712613, "cg_sample_valid": 1, "cg_theta_rad": 0.725711405, "cg_vd_req_v": 6.73654938, "cg_vd_v": 6.73654938, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0750141, "cg_vq_v": -28.0750141, "cg_vu_v": 45.7488289, "cg_vv_v": 0, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 79.6667709, "dclink_p_w": 11950.2842, "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": 54.6912537, "temp_inv2_c": 52.002533, "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": 0.101313807, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 539.036621, "values": {"Elec_RPM": -12804.8838, "EncoderCos": 12322, "EncoderSin": 27412, "GapTicks": 38636, "Mech_RPM": -2560.97681, "cg_du": 64.8759918, "cg_dv": 35.1240044, "cg_dw": 62.8172913, "cg_id_a": -4.95235729, "cg_id_raw_a": 4.08331871, "cg_iq_a": 293.77121, "cg_iq_raw_a": 299.522278, "cg_iu_a": -267.580994, "cg_iv_a": 235.269043, "cg_iw_a": 32.3119583, "cg_sample_age_us": 23.6054554, "cg_sample_seq": 4717663, "cg_sample_valid": 1, "cg_theta_rad": 3.42558718, "cg_vd_req_v": 7.02235031, "cg_vd_v": 7.02235031, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9086456, "cg_vq_v": -27.9086456, "cg_vu_v": 130.648087, "cg_vv_v": 85.7790527, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 78.8313446, "dclink_p_w": 11824.9678, "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": 54.7286377, "temp_inv2_c": 52.1357422, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0983428657, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 540.054077, "values": {"Elec_RPM": -12811.6738, "EncoderCos": 12934, "EncoderSin": 25450, "GapTicks": 36719, "Mech_RPM": -2562.33472, "cg_du": 66.6186981, "cg_dv": 33.3812981, "cg_dw": 49.2138519, "cg_id_a": -6.45017433, "cg_id_raw_a": -2.9132297, "cg_iq_a": 299.117981, "cg_iq_raw_a": 299.057037, "cg_iu_a": -307.666656, "cg_iv_a": 138.60672, "cg_iw_a": 169.059937, "cg_sample_age_us": 24.0745449, "cg_sample_seq": 4722762, "cg_sample_valid": 1, "cg_theta_rad": 3.5357554, "cg_vd_req_v": 7.03140068, "cg_vd_v": 7.03140068, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0112286, "cg_vq_v": -28.0112286, "cg_vu_v": 40.9100075, "cg_vv_v": 27.7132301, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 79.3025208, "dclink_p_w": 11930.5293, "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": 54.7286377, "temp_inv2_c": 51.9829102, "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": 0.102824442, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 541.071472, "values": {"Elec_RPM": -12810.2539, "EncoderCos": 13282, "EncoderSin": 24576, "GapTicks": 37203, "Mech_RPM": -2562.05078, "cg_du": 66.1789703, "cg_dv": 33.8210297, "cg_dw": 42.7530365, "cg_id_a": -8.52821827, "cg_id_raw_a": -5.66791391, "cg_iq_a": 301.210022, "cg_iq_raw_a": 305.141937, "cg_iu_a": -294.18396, "cg_iv_a": 76.0860901, "cg_iw_a": 218.09787, "cg_sample_age_us": 24.1000004, "cg_sample_seq": 4727862, "cg_sample_valid": 1, "cg_theta_rad": 3.57576275, "cg_vd_req_v": 7.09470415, "cg_vd_v": 7.09470415, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0624065, "cg_vq_v": -28.0624065, "cg_vu_v": 76.9812012, "cg_vv_v": 58.5057106, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 79.6124039, "dclink_p_w": 11977.1494, "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": 54.8034668, "temp_inv2_c": 52.1401062, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0976882577, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 541.91272, "values": {"Elec_RPM": -12804.7656, "EncoderCos": 49694, "EncoderSin": 20592, "GapTicks": 38350, "Mech_RPM": -2560.95313, "cg_du": 34.8643036, "cg_dv": 37.8014984, "cg_dw": 65.1356964, "cg_id_a": 4.54008675, "cg_id_raw_a": 7.53655243, "cg_iq_a": 306.639648, "cg_iq_raw_a": 317.738007, "cg_iu_a": 29.9446526, "cg_iv_a": 249.25914, "cg_iw_a": -279.203796, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 4732112, "cg_sample_valid": 1, "cg_theta_rad": 5.70722342, "cg_vd_req_v": 6.79729223, "cg_vd_v": 6.79729223, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1924934, "cg_vq_v": -28.1924934, "cg_vu_v": 24.6339836, "cg_vv_v": 0, "cg_vw_v": 58.9456062, "control_outputs_enabled": 1, "dclink_i_a": 79.7628174, "dclink_p_w": 11999.7773, "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": 54.8034668, "temp_inv2_c": 52.1422729, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0966308042, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 542.950256, "values": {"Elec_RPM": -12808.2246, "EncoderCos": 47403, "EncoderSin": 17808, "GapTicks": 38281, "Mech_RPM": -2561.64502, "cg_du": 34.8017845, "cg_dv": 61.8229675, "cg_dw": 65.1982117, "cg_id_a": 0.562114358, "cg_id_raw_a": -15.7845078, "cg_iq_a": 302.711334, "cg_iq_raw_a": 298.748352, "cg_iu_a": -51.1328049, "cg_iv_a": 281.081207, "cg_iw_a": -278.478912, "cg_sample_age_us": 23.823637, "cg_sample_seq": 4737216, "cg_sample_valid": 1, "cg_theta_rad": 5.74800205, "cg_vd_req_v": 6.87252998, "cg_vd_v": 6.87252998, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1147099, "cg_vq_v": -28.1147099, "cg_vu_v": 43.9892578, "cg_vv_v": 0, "cg_vw_v": 43.9892578, "control_outputs_enabled": 1, "dclink_i_a": 78.9563904, "dclink_p_w": 11843.7246, "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": 54.8784485, "temp_inv2_c": 52.1532288, "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": 0.101766996, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 543.967651, "values": {"Elec_RPM": -12807.6074, "EncoderCos": 12098, "EncoderSin": 36788, "GapTicks": 38191, "Mech_RPM": -2561.52148, "cg_du": 34.7197418, "cg_dv": 65.2802582, "cg_dw": 61.818676, "cg_id_a": 3.72885394, "cg_id_raw_a": -11.2406006, "cg_iq_a": 307.208038, "cg_iq_raw_a": 304.95874, "cg_iu_a": 223.124268, "cg_iv_a": 57.7467041, "cg_iw_a": -280.870972, "cg_sample_age_us": 23.954546, "cg_sample_seq": 4742364, "cg_sample_valid": 1, "cg_theta_rad": 3.03842688, "cg_vd_req_v": 6.86504316, "cg_vd_v": 6.86504316, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.161129, "cg_vq_v": -28.161129, "cg_vu_v": 95.0167923, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.7718735, "dclink_p_w": 11966.0498, "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": 54.8784485, "temp_inv2_c": 52.1904602, "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": 0.0999038666, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 544.984985, "values": {"Elec_RPM": -12810.9482, "EncoderCos": 19780, "EncoderSin": 49244, "GapTicks": 36783, "Mech_RPM": -2562.1897, "cg_du": 66.5608978, "cg_dv": 33.439106, "cg_dw": 49.9400711, "cg_id_a": -5.1025281, "cg_id_raw_a": -0.767902911, "cg_iq_a": 297.743256, "cg_iq_raw_a": 296.724213, "cg_iu_a": -307.050537, "cg_iv_a": 142.666046, "cg_iw_a": 164.384491, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 4747362, "cg_sample_valid": 1, "cg_theta_rad": 2.27570558, "cg_vd_req_v": 7.02247858, "cg_vd_v": 7.02247858, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9856281, "cg_vq_v": -27.9856281, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.6465073, "dclink_p_w": 11831.8359, "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": 54.8784485, "temp_inv2_c": 52.1773071, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0951201618, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 546.002441, "values": {"Elec_RPM": -12812.6973, "EncoderCos": 51062, "EncoderSin": 22917, "GapTicks": 36716, "Mech_RPM": -2562.53955, "cg_du": 50.9779434, "cg_dv": 33.3783455, "cg_dw": 66.6216583, "cg_id_a": 4.21638012, "cg_id_raw_a": 14.0005922, "cg_iq_a": 302.02597, "cg_iq_raw_a": 303.38443, "cg_iu_a": -165.337128, "cg_iv_a": 307.611694, "cg_iw_a": -142.274567, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 4752513, "cg_sample_valid": 1, "cg_theta_rad": 5.84406424, "cg_vd_req_v": 6.82733297, "cg_vd_v": 6.82733297, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0730019, "cg_vq_v": -28.0730019, "cg_vu_v": 151.762939, "cg_vv_v": 102.494972, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 78.5432053, "dclink_p_w": 11781.7461, "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": 54.9159851, "temp_inv2_c": 52.2979126, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100558482, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 547.019897, "values": {"Elec_RPM": -12807.8896, "EncoderCos": 51961, "EncoderSin": 24837, "GapTicks": 38935, "Mech_RPM": -2561.57788, "cg_du": 64.6037598, "cg_dv": 35.3962402, "cg_dw": 64.088829, "cg_id_a": 5.34709549, "cg_id_raw_a": -8.17245102, "cg_iq_a": 304.692932, "cg_iq_raw_a": 299.106171, "cg_iu_a": -294.618896, "cg_iv_a": 197.901642, "cg_iw_a": 96.7172623, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 4757612, "cg_sample_valid": 1, "cg_theta_rad": 5.98612881, "cg_vd_req_v": 6.79890585, "cg_vd_v": 6.79890585, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.144577, "cg_vq_v": -28.144577, "cg_vu_v": 151.762939, "cg_vv_v": 112.172607, "cg_vw_v": 102.494972, "control_outputs_enabled": 1, "dclink_i_a": 78.4236069, "dclink_p_w": 11763.8057, "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": 54.9159851, "temp_inv2_c": 52.2474365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0983932242, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 548.019714, "values": {"Elec_RPM": -12808.0977, "EncoderCos": 21659, "EncoderSin": 14773, "GapTicks": 37180, "Mech_RPM": -2561.61963, "cg_du": 33.8006248, "cg_dv": 66.1993713, "cg_dw": 56.772831, "cg_id_a": -6.16372967, "cg_id_raw_a": 2.06491041, "cg_iq_a": 298.559937, "cg_iq_raw_a": 302.74231, "cg_iu_a": 291.117737, "cg_iv_a": -84.7640533, "cg_iw_a": -206.353683, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 4762513, "cg_sample_valid": 1, "cg_theta_rad": 4.20216274, "cg_vd_req_v": 7.04376745, "cg_vd_v": 7.04376745, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9920216, "cg_vq_v": -27.9920216, "cg_vu_v": 104.694435, "cg_vv_v": 148.24379, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.0379333, "dclink_p_w": 11890.7236, "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": 54.9535828, "temp_inv2_c": 52.2913208, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988464132, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 549.031372, "values": {"Elec_RPM": -12798.2529, "EncoderCos": 32975, "EncoderSin": 53628, "GapTicks": 37333, "Mech_RPM": -2559.65063, "cg_du": 33.9399414, "cg_dv": 66.0600586, "cg_dw": 42.7921028, "cg_id_a": 4.31822157, "cg_id_raw_a": 3.54759264, "cg_iq_a": 298.543091, "cg_iq_raw_a": 300.817444, "cg_iu_a": 299.345062, "cg_iv_a": -142.971634, "cg_iw_a": -156.373428, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4767662, "cg_sample_valid": 1, "cg_theta_rad": 1.64529216, "cg_vd_req_v": 6.8285737, "cg_vd_v": 6.8285737, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9997902, "cg_vq_v": -27.9997902, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.1937866, "dclink_p_w": 11914.1709, "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": 54.9912109, "temp_inv2_c": 52.2825623, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982421637, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 550.048767, "values": {"Elec_RPM": -12806.75, "EncoderCos": 22318, "EncoderSin": 14355, "GapTicks": 38199, "Mech_RPM": -2561.3501, "cg_du": 34.7272606, "cg_dv": 65.2727356, "cg_dw": 61.6398811, "cg_id_a": 4.98936796, "cg_id_raw_a": -13.0925703, "cg_iq_a": 303.030914, "cg_iq_raw_a": 299.616119, "cg_iu_a": 221.747009, "cg_iv_a": 56.4419556, "cg_iw_a": -278.188965, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 4772714, "cg_sample_valid": 1, "cg_theta_rad": 4.28747845, "cg_vd_req_v": 6.8137517, "cg_vd_v": 6.8137517, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0867729, "cg_vq_v": -28.0867729, "cg_vu_v": 110.852921, "cg_vv_v": 90.6178665, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.177475, "dclink_p_w": 11876.8887, "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": 55.0288696, "temp_inv2_c": 52.2759705, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0974364802, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 551.066223, "values": {"Elec_RPM": -12805.7998, "EncoderCos": 24203, "EncoderSin": 13460, "GapTicks": 36848, "Mech_RPM": -2561.15991, "cg_du": 33.4985733, "cg_dv": 53.7479248, "cg_dw": 66.5014267, "cg_id_a": 1.02001429, "cg_id_raw_a": 9.61432362, "cg_iq_a": 298.583618, "cg_iq_raw_a": 297.500519, "cg_iu_a": 160.096252, "cg_iv_a": 129.400757, "cg_iw_a": -289.497009, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 4777813, "cg_sample_valid": 1, "cg_theta_rad": 4.33874416, "cg_vd_req_v": 6.90005493, "cg_vd_v": 6.90005493, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9886627, "cg_vq_v": -27.9886627, "cg_vu_v": 112.172607, "cg_vv_v": 108.21357, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.556221, "dclink_p_w": 11933.7012, "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": 54.9912109, "temp_inv2_c": 52.4320984, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100558482, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 552.083618, "values": {"Elec_RPM": -12812.2441, "EncoderCos": 25144, "EncoderSin": 13114, "GapTicks": 36872, "Mech_RPM": -2562.44873, "cg_du": 33.5203323, "cg_dv": 46.7955666, "cg_dw": 66.4796677, "cg_id_a": -0.835561752, "cg_id_raw_a": 0.937200665, "cg_iq_a": 296.851166, "cg_iq_raw_a": 290.488068, "cg_iu_a": 96.5245743, "cg_iv_a": 187.282196, "cg_iw_a": -283.806763, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 4782913, "cg_sample_valid": 1, "cg_theta_rad": 4.38464355, "cg_vd_req_v": 6.96196604, "cg_vd_v": 6.96196604, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9539089, "cg_vq_v": -27.9539089, "cg_vu_v": 124.049698, "cg_vv_v": 97.2162552, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.5018616, "dclink_p_w": 11925.5469, "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": 55.0665588, "temp_inv2_c": 52.4034729, "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": 0.102925159, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 552.924866, "values": {"Elec_RPM": -12805.835, "EncoderCos": 52816, "EncoderSin": 37892, "GapTicks": 38730, "Mech_RPM": -2561.16699, "cg_du": 35.209343, "cg_dv": 64.790657, "cg_dw": 36.9744644, "cg_id_a": -1.05454504, "cg_id_raw_a": 6.57902622, "cg_iq_a": 297.417023, "cg_iq_raw_a": 302.555573, "cg_iu_a": 270.45874, "cg_iv_a": -239.887665, "cg_iw_a": -30.5710754, "cg_sample_age_us": 23.4599991, "cg_sample_seq": 4787162, "cg_sample_valid": 1, "cg_theta_rad": 0.28922835, "cg_vd_req_v": 6.95676994, "cg_vd_v": 6.95676994, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9722557, "cg_vq_v": -27.9722557, "cg_vu_v": 0, "cg_vv_v": 41.7897949, "cg_vw_v": 41.3499031, "control_outputs_enabled": 1, "dclink_i_a": 80.1977386, "dclink_p_w": 12065.209, "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": 55.0665588, "temp_inv2_c": 52.4342957, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101565577, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 553.942261, "values": {"Elec_RPM": -12813.2832, "EncoderCos": 11868, "EncoderSin": 35418, "GapTicks": 37457, "Mech_RPM": -2562.65674, "cg_du": 34.052021, "cg_dv": 58.3892212, "cg_dw": 65.9479828, "cg_id_a": 4.06569481, "cg_id_raw_a": -7.58791971, "cg_iq_a": 302.091064, "cg_iq_raw_a": 301.731354, "cg_iu_a": 223.740417, "cg_iv_a": 71.5918579, "cg_iw_a": -295.332275, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 4792212, "cg_sample_valid": 1, "cg_theta_rad": 3.05817819, "cg_vd_req_v": 6.88090754, "cg_vd_v": 6.88090754, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0371838, "cg_vq_v": -28.0371838, "cg_vu_v": 95.8965836, "cg_vv_v": 84.8992691, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.7827454, "dclink_p_w": 11967.6807, "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": 55.0665588, "temp_inv2_c": 52.4761963, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0984939337, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 554.979858, "values": {"Elec_RPM": -12811.002, "EncoderCos": 17710, "EncoderSin": 18019, "GapTicks": 36777, "Mech_RPM": -2562.20044, "cg_du": 48.363266, "cg_dv": 66.5661011, "cg_dw": 33.4338989, "cg_id_a": -2.00245285, "cg_id_raw_a": 7.51512146, "cg_iq_a": 297.441986, "cg_iq_raw_a": 299.306458, "cg_iu_a": 172.491638, "cg_iv_a": -303.531799, "cg_iw_a": 131.040161, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4797412, "cg_sample_valid": 1, "cg_theta_rad": 3.96611929, "cg_vd_req_v": 6.9844203, "cg_vd_v": 6.9844203, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9659233, "cg_vq_v": -27.9659233, "cg_vu_v": 3.95903301, "cg_vv_v": 76.9812012, "cg_vw_v": 46.6286087, "control_outputs_enabled": 1, "dclink_i_a": 79.2010345, "dclink_p_w": 11880.4219, "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": 55.1420593, "temp_inv2_c": 52.4894409, "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": 0.102522321, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 555.997192, "values": {"Elec_RPM": -12794.6094, "EncoderCos": 18432, "EncoderSin": 17363, "GapTicks": 37549, "Mech_RPM": -2558.92188, "cg_du": 41.543335, "cg_dv": 65.8636475, "cg_dw": 34.1363564, "cg_id_a": -11.9240761, "cg_id_raw_a": -3.80068541, "cg_iq_a": 295.395386, "cg_iq_raw_a": 299.585358, "cg_iu_a": 225.226425, "cg_iv_a": -283.199036, "cg_iw_a": 57.9726105, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 4802512, "cg_sample_valid": 1, "cg_theta_rad": 4.00286579, "cg_vd_req_v": 7.19076204, "cg_vd_v": 7.19076204, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9224911, "cg_vq_v": -27.9224911, "cg_vu_v": 0, "cg_vv_v": 46.1887207, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 79.2843933, "dclink_p_w": 11927.8018, "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": 55.0665588, "temp_inv2_c": 52.5203247, "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": 0.103579767, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 557.014587, "values": {"Elec_RPM": -12806.7012, "EncoderCos": 51932, "EncoderSin": 40530, "GapTicks": 37029, "Mech_RPM": -2561.34033, "cg_du": 33.66362, "cg_dv": 66.33638, "cg_dw": 55.5463829, "cg_id_a": -0.231927395, "cg_id_raw_a": 7.95799255, "cg_iq_a": 303.793091, "cg_iq_raw_a": 307.584778, "cg_iu_a": 299.055115, "cg_iv_a": -101.001282, "cg_iw_a": -198.053833, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 4807563, "cg_sample_valid": 1, "cg_theta_rad": 0.421066344, "cg_vd_req_v": 6.96240473, "cg_vd_v": 6.96240473, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0684853, "cg_vq_v": -28.0684853, "cg_vu_v": 73.0221634, "cg_vv_v": 75.6615219, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 78.6990585, "dclink_p_w": 11839.7422, "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": 55.1798706, "temp_inv2_c": 52.4850159, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101666279, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 558.009827, "values": {"Elec_RPM": -12804.959, "EncoderCos": 22835, "EncoderSin": 51116, "GapTicks": 37090, "Mech_RPM": -2560.9917, "cg_du": 55.4341888, "cg_dv": 33.7186584, "cg_dw": 66.2813416, "cg_id_a": -4.94920588, "cg_id_raw_a": 2.07593036, "cg_iq_a": 296.688812, "cg_iq_raw_a": 301.766205, "cg_iu_a": -279.577698, "cg_iv_a": 62.0597382, "cg_iw_a": 217.51796, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 4812517, "cg_sample_valid": 1, "cg_theta_rad": 2.31908131, "cg_vd_req_v": 7.02625513, "cg_vd_v": 7.02625513, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.933672, "cg_vq_v": -27.933672, "cg_vu_v": 151.762939, "cg_vv_v": 145.604446, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 78.7117462, "dclink_p_w": 11841.6514, "enc_isr_hz": 4999, "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": 55.1798706, "temp_inv2_c": 52.5203247, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0993499681, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 559.026123, "values": {"Elec_RPM": -12797.6123, "EncoderCos": 39200, "EncoderSin": 12864, "GapTicks": 38210, "Mech_RPM": -2559.52246, "cg_du": 65.2628098, "cg_dv": 61.4834595, "cg_dw": 34.7371902, "cg_id_a": -0.401674271, "cg_id_raw_a": 5.82656193, "cg_iq_a": 301.597565, "cg_iq_raw_a": 305.823608, "cg_iu_a": -34.9318123, "cg_iv_a": -240.576279, "cg_iw_a": 275.508087, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 4817563, "cg_sample_valid": 1, "cg_theta_rad": 5.07431841, "cg_vd_req_v": 6.91524649, "cg_vd_v": 6.91524649, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.068243, "cg_vq_v": -28.068243, "cg_vu_v": 76.1014175, "cg_vv_v": 113.932175, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 78.911087, "dclink_p_w": 11836.9287, "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": 55.1798706, "temp_inv2_c": 52.6176453, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10121309, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 560.043518, "values": {"Elec_RPM": -12810.3564, "EncoderCos": 17619, "EncoderSin": 47172, "GapTicks": 37641, "Mech_RPM": -2562.07129, "cg_du": 65.7805939, "cg_dv": 40.5952263, "cg_dw": 34.2194023, "cg_id_a": -2.22734523, "cg_id_raw_a": -11.1697321, "cg_iq_a": 304.674652, "cg_iq_raw_a": 296.853394, "cg_iu_a": -232.85939, "cg_iv_a": -59.5020599, "cg_iw_a": 292.36145, "cg_sample_age_us": 23.994545, "cg_sample_seq": 4822713, "cg_sample_valid": 1, "cg_theta_rad": 2.42278218, "cg_vd_req_v": 6.97450209, "cg_vd_v": 6.97450209, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.139534, "cg_vq_v": -28.139534, "cg_vu_v": 59.825386, "cg_vv_v": 65.1041031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.4456787, "dclink_p_w": 11952.0664, "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": 55.1798706, "temp_inv2_c": 52.5977173, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975371897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 561.060913, "values": {"Elec_RPM": -12793.3301, "EncoderCos": 42017, "EncoderSin": 14079, "GapTicks": 36820, "Mech_RPM": -2558.66602, "cg_du": 47.1305847, "cg_dv": 66.5272217, "cg_dw": 33.4727821, "cg_id_a": 1.3234576, "cg_id_raw_a": 6.97709417, "cg_iq_a": 299.229095, "cg_iq_raw_a": 302.278229, "cg_iu_a": 179.99411, "cg_iv_a": -302.734467, "cg_iw_a": 175.583832, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 4827762, "cg_sample_valid": 1, "cg_theta_rad": 5.21517611, "cg_vd_req_v": 6.88598061, "cg_vd_v": 6.88598061, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.02075, "cg_vq_v": -28.02075, "cg_vu_v": 8.79785156, "cg_vv_v": 77.4210892, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 79.4982376, "dclink_p_w": 11925.0039, "enc_isr_hz": 5000, "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": 55.2555847, "temp_inv2_c": 52.6707764, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101162732, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 562.078308, "values": {"Elec_RPM": -12796.7949, "EncoderCos": 42906, "EncoderSin": 14561, "GapTicks": 37828, "Mech_RPM": -2559.35889, "cg_du": 40.2170143, "cg_dv": 65.6105804, "cg_dw": 34.3894196, "cg_id_a": -4.19082355, "cg_id_raw_a": 6.38404322, "cg_iq_a": 296.663239, "cg_iq_raw_a": 303.422119, "cg_iu_a": 230.699249, "cg_iv_a": -280.118317, "cg_iw_a": 49.4190598, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 4832862, "cg_sample_valid": 1, "cg_theta_rad": 5.26359129, "cg_vd_req_v": 6.99983168, "cg_vd_v": 6.99983168, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9762974, "cg_vq_v": -27.9762974, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 11.4372072, "control_outputs_enabled": 1, "dclink_i_a": 79.5471649, "dclink_p_w": 11967.334, "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": 55.2555847, "temp_inv2_c": 52.6619263, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0980910957, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 562.939636, "values": {"Elec_RPM": -12790.166, "EncoderCos": 25898, "EncoderSin": 12913, "GapTicks": 37424, "Mech_RPM": -2558.0332, "cg_du": 34.0218658, "cg_dv": 42.2560272, "cg_dw": 65.9781342, "cg_id_a": 1.16087556, "cg_id_raw_a": -3.53956366, "cg_iq_a": 298.335846, "cg_iq_raw_a": 292.855621, "cg_iu_a": -279.83139, "cg_iv_a": 246.359619, "cg_iw_a": 33.4717636, "cg_sample_age_us": 26.8018188, "cg_sample_seq": 4837167, "cg_sample_valid": 1, "cg_theta_rad": 4.69094133, "cg_vd_req_v": 6.92322874, "cg_vd_v": 6.92322874, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9790726, "cg_vq_v": -27.9790726, "cg_vu_v": 45.3089333, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5450211, "dclink_p_w": 11782.0176, "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": 55.2555847, "temp_inv2_c": 52.6619263, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100004576, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 563.957092, "values": {"Elec_RPM": -12805.5127, "EncoderCos": 30168, "EncoderSin": 11973, "GapTicks": 37621, "Mech_RPM": -2561.10254, "cg_du": 58.6688118, "cg_dv": 34.2017136, "cg_dw": 65.7982864, "cg_id_a": -4.46723747, "cg_id_raw_a": -9.06040859, "cg_iq_a": 296.103821, "cg_iq_raw_a": 290.992706, "cg_iu_a": -267.436035, "cg_iv_a": 243.278915, "cg_iw_a": 24.1571198, "cg_sample_age_us": 23.641819, "cg_sample_seq": 4842264, "cg_sample_valid": 1, "cg_theta_rad": 4.68137264, "cg_vd_req_v": 7.00804758, "cg_vd_v": 7.00804758, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9225655, "cg_vq_v": -27.9225655, "cg_vu_v": 151.762939, "cg_vv_v": 105.574219, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 79.601532, "dclink_p_w": 11975.5137, "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": 55.2555847, "temp_inv2_c": 52.7351074, "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": 0.106198214, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 564.974487, "values": {"Elec_RPM": -12804.8389, "EncoderCos": 40612, "EncoderSin": 51998, "GapTicks": 36780, "Mech_RPM": -2560.96777, "cg_du": 66.5636292, "cg_dv": 49.0937843, "cg_dw": 33.4363708, "cg_id_a": -5.86350822, "cg_id_raw_a": -3.6124239, "cg_iq_a": 296.236877, "cg_iq_raw_a": 296.21344, "cg_iu_a": -211.475525, "cg_iv_a": -74.7245178, "cg_iw_a": 286.200043, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 4847312, "cg_sample_valid": 1, "cg_theta_rad": 1.1726563, "cg_vd_req_v": 7.07159758, "cg_vd_v": 7.07159758, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9061241, "cg_vq_v": -27.9061241, "cg_vu_v": 36.5110817, "cg_vv_v": 44.8690414, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.4435349, "dclink_p_w": 11766.7949, "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": 55.2935181, "temp_inv2_c": 52.7218018, "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": 0.0992996097, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 565.991943, "values": {"Elec_RPM": -12778.4648, "EncoderCos": 23309, "EncoderSin": 51296, "GapTicks": 36811, "Mech_RPM": -2555.69287, "cg_du": 51.8970413, "cg_dv": 33.4653397, "cg_dw": 66.5346603, "cg_id_a": 1.12832499, "cg_id_raw_a": 8.19719219, "cg_iq_a": 297.01297, "cg_iq_raw_a": 301.177887, "cg_iu_a": -172.368439, "cg_iv_a": 299.094421, "cg_iw_a": -182.758942, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 4852513, "cg_sample_valid": 1, "cg_theta_rad": 2.0677669, "cg_vd_req_v": 6.91040516, "cg_vd_v": 6.91040516, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9446888, "cg_vq_v": -27.9446888, "cg_vu_v": 151.762939, "cg_vv_v": 106.014107, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 79.3568802, "dclink_p_w": 11938.707, "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": 55.2935181, "temp_inv2_c": 52.7862244, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0975371897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 567.009338, "values": {"Elec_RPM": -12612.4111, "EncoderCos": 38679, "EncoderSin": 52648, "GapTicks": 38589, "Mech_RPM": -2522.48218, "cg_du": 64.9182892, "cg_dv": 62.6005554, "cg_dw": 35.0817146, "cg_id_a": -0.196423531, "cg_id_raw_a": -18.2173443, "cg_iq_a": 299.828857, "cg_iq_raw_a": 296.660339, "cg_iu_a": -18.4408665, "cg_iv_a": -250.035934, "cg_iw_a": 268.476807, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 4857512, "cg_sample_valid": 1, "cg_theta_rad": 1.32459044, "cg_vd_req_v": 6.8074255, "cg_vd_v": 6.8074255, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0176754, "cg_vq_v": -28.0176754, "cg_vu_v": 81.380127, "cg_vv_v": 151.762939, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 78.6845627, "dclink_p_w": 11837.5615, "enc_isr_hz": 4999, "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": 55.3314514, "temp_inv2_c": 52.830719, "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": 0.10690318, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 567.989075, "values": {"Elec_RPM": -12556.6465, "EncoderCos": 18661, "EncoderSin": 48085, "GapTicks": 38014, "Mech_RPM": -2511.32935, "cg_du": 65.4415054, "cg_dv": 34.5584946, "cg_dw": 39.0825043, "cg_id_a": -6.70428467, "cg_id_raw_a": -8.00159168, "cg_iq_a": 305.483734, "cg_iq_raw_a": 311.25589, "cg_iu_a": -284.941772, "cg_iv_a": 34.5506592, "cg_iw_a": 195.880386, "cg_sample_age_us": 23.994545, "cg_sample_seq": 4862362, "cg_sample_valid": 1, "cg_theta_rad": 2.33919716, "cg_vd_req_v": 6.86394119, "cg_vd_v": 6.86394119, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1484871, "cg_vq_v": -28.1484871, "cg_vu_v": 77.4210892, "cg_vv_v": 75.6615219, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 79.4764862, "dclink_p_w": 11956.7012, "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": 55.3694458, "temp_inv2_c": 52.8284912, "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": 0.0968825817, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 569.020813, "values": {"Elec_RPM": -12534.3213, "EncoderCos": 51229, "EncoderSin": 41928, "GapTicks": 38780, "Mech_RPM": -2506.86426, "cg_du": 35.2546921, "cg_dv": 63.256237, "cg_dw": 64.7453079, "cg_id_a": 3.25267839, "cg_id_raw_a": 12.6053963, "cg_iq_a": 299.146179, "cg_iq_raw_a": 304.562836, "cg_iu_a": 246.284088, "cg_iv_a": 17.0086365, "cg_iw_a": -263.292725, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 4867613, "cg_sample_valid": 1, "cg_theta_rad": 0.491732657, "cg_vd_req_v": 6.69595003, "cg_vd_v": 6.69595003, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9857368, "cg_vq_v": -27.9857368, "cg_vu_v": 109.533249, "cg_vv_v": 112.172607, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.7044907, "dclink_p_w": 11840.5596, "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": 55.4074707, "temp_inv2_c": 52.866333, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10297551, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 570.03833, "values": {"Elec_RPM": -12521.6807, "EncoderCos": 52039, "EncoderSin": 25494, "GapTicks": 37801, "Mech_RPM": -2504.33618, "cg_du": 65.6346741, "cg_dv": 34.3653259, "cg_dw": 59.9488182, "cg_id_a": 5.66873312, "cg_id_raw_a": 13.8420267, "cg_iq_a": 302.767029, "cg_iq_raw_a": 305.617981, "cg_iu_a": -286.282806, "cg_iv_a": 223.852203, "cg_iw_a": 62.4305954, "cg_sample_age_us": 23.7327271, "cg_sample_seq": 4872613, "cg_sample_valid": 1, "cg_theta_rad": 5.97399139, "cg_vd_req_v": 6.59380627, "cg_vd_v": 6.59380627, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0867863, "cg_vq_v": -28.0867863, "cg_vu_v": 122.730026, "cg_vv_v": 81.820015, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": 79.1865387, "dclink_p_w": 11913.0801, "enc_isr_hz": 5000, "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": 55.4074707, "temp_inv2_c": 52.9019775, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100608833, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 571.055603, "values": {"Elec_RPM": -12521.5859, "EncoderCos": 49609, "EncoderSin": 44637, "GapTicks": 37465, "Mech_RPM": -2504.31714, "cg_du": 34.0595093, "cg_dv": 41.9684563, "cg_dw": 65.9404907, "cg_id_a": -3.64802265, "cg_id_raw_a": 0.0644648075, "cg_iq_a": 300.248352, "cg_iq_raw_a": 307.021271, "cg_iu_a": 71.625061, "cg_iv_a": 221.27887, "cg_iw_a": -292.903931, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 4877812, "cg_sample_valid": 1, "cg_theta_rad": 0.659608603, "cg_vd_req_v": 6.80575037, "cg_vd_v": 6.80575037, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0246105, "cg_vq_v": -28.0246105, "cg_vu_v": 149.563477, "cg_vv_v": 98.0960464, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.6939468, "dclink_p_w": 11989.417, "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": 55.4455566, "temp_inv2_c": 52.9176025, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0984939337, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 572.072998, "values": {"Elec_RPM": -12518.7168, "EncoderCos": 12192, "EncoderSin": 29011, "GapTicks": 37152, "Mech_RPM": -2503.74341, "cg_du": 55.9000931, "cg_dv": 33.7749977, "cg_dw": 66.2250061, "cg_id_a": -4.45086908, "cg_id_raw_a": 6.07542849, "cg_iq_a": 294.529968, "cg_iq_raw_a": 298.563721, "cg_iu_a": -202.668274, "cg_iv_a": 291.338226, "cg_iw_a": -88.6699524, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 4882863, "cg_sample_valid": 1, "cg_theta_rad": 3.35898829, "cg_vd_req_v": 6.81699371, "cg_vd_v": 6.81699371, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8949642, "cg_vq_v": -27.8949642, "cg_vu_v": 149.123581, "cg_vv_v": 89.7380829, "cg_vw_v": 124.929489, "control_outputs_enabled": 1, "dclink_i_a": 79.4384308, "dclink_p_w": 11950.9756, "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": 55.4836731, "temp_inv2_c": 52.9354553, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0976378992, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 572.914368, "values": {"Elec_RPM": -12512.7061, "EncoderCos": 26269, "EncoderSin": 52488, "GapTicks": 37802, "Mech_RPM": -2502.54126, "cg_du": 34.3655815, "cg_dv": 40.311512, "cg_dw": 65.6344147, "cg_id_a": 1.9088558, "cg_id_raw_a": -7.25452232, "cg_iq_a": 301.41803, "cg_iq_raw_a": 292.129883, "cg_iu_a": 49.5525665, "cg_iv_a": 228.817612, "cg_iw_a": -307.546448, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 4887063, "cg_sample_valid": 1, "cg_theta_rad": 1.90920615, "cg_vd_req_v": 6.67379856, "cg_vd_v": 6.67379856, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.062933, "cg_vq_v": -28.062933, "cg_vu_v": 121.410347, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.6685791, "dclink_p_w": 11985.6006, "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": 55.5217896, "temp_inv2_c": 53.0270691, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0969329402, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 573.951782, "values": {"Elec_RPM": -12514.7461, "EncoderCos": 43876, "EncoderSin": 15234, "GapTicks": 38343, "Mech_RPM": -2502.94922, "cg_du": 34.8573227, "cg_dv": 65.1426773, "cg_dw": 38.3790359, "cg_id_a": -1.61824238, "cg_id_raw_a": -11.5100613, "cg_iq_a": 296.717285, "cg_iq_raw_a": 291.935394, "cg_iu_a": 231.931534, "cg_iv_a": 49.483139, "cg_iw_a": -281.414673, "cg_sample_age_us": 23.954546, "cg_sample_seq": 4892217, "cg_sample_valid": 1, "cg_theta_rad": 5.54890776, "cg_vd_req_v": 6.71650028, "cg_vd_v": 6.71650028, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9769192, "cg_vq_v": -27.9769192, "cg_vu_v": 77.4210892, "cg_vv_v": 94.5769043, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.3876877, "dclink_p_w": 11908.4209, "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": 55.5217896, "temp_inv2_c": 52.866333, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0968825817, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 574.969238, "values": {"Elec_RPM": -12514.6895, "EncoderCos": 48808, "EncoderSin": 19716, "GapTicks": 36859, "Mech_RPM": -2502.93799, "cg_du": 33.5090866, "cg_dv": 45.8513184, "cg_dw": 66.4909134, "cg_id_a": 3.29073954, "cg_id_raw_a": 7.14497089, "cg_iq_a": 307.842651, "cg_iq_raw_a": 312.102661, "cg_iu_a": 121.895264, "cg_iv_a": 191.087769, "cg_iw_a": -312.983032, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 4897312, "cg_sample_valid": 1, "cg_theta_rad": 5.64980078, "cg_vd_req_v": 6.64812565, "cg_vd_v": 6.64812565, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1743793, "cg_vq_v": -28.1743793, "cg_vu_v": 43.549366, "cg_vv_v": 36.9509773, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 78.1209717, "dclink_p_w": 11718.4092, "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": 55.5599976, "temp_inv2_c": 52.9890442, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0999038666, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 575.986633, "values": {"Elec_RPM": -12518.5039, "EncoderCos": 48763, "EncoderSin": 19645, "GapTicks": 36798, "Mech_RPM": -2503.70068, "cg_du": 33.4534531, "cg_dv": 46.4323654, "cg_dw": 66.5465469, "cg_id_a": 3.60763645, "cg_id_raw_a": 0.565938592, "cg_iq_a": 307.91922, "cg_iq_raw_a": 299.331268, "cg_iu_a": 103.664612, "cg_iv_a": 192.682495, "cg_iw_a": -296.347107, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 4902413, "cg_sample_valid": 1, "cg_theta_rad": 5.65401936, "cg_vd_req_v": 6.64730167, "cg_vd_v": 6.64730167, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1929512, "cg_vq_v": -28.1929512, "cg_vu_v": 111.732712, "cg_vv_v": 87.9785156, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 80.420639, "dclink_p_w": 12063.3672, "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": 55.5217896, "temp_inv2_c": 52.991272, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102119483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 577.003967, "values": {"Elec_RPM": -12519.3828, "EncoderCos": 12267, "EncoderSin": 36634, "GapTicks": 38569, "Mech_RPM": -2503.87646, "cg_du": 35.0634308, "cg_dv": 64.9365692, "cg_dw": 62.674675, "cg_id_a": -4.18776798, "cg_id_raw_a": 4.76771832, "cg_iq_a": 304.197021, "cg_iq_raw_a": 308.071259, "cg_iu_a": 272.379639, "cg_iv_a": -21.4460449, "cg_iw_a": -213.529953, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4907563, "cg_sample_valid": 1, "cg_theta_rad": 2.97972274, "cg_vd_req_v": 6.79502678, "cg_vd_v": 6.79502678, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0836296, "cg_vq_v": -28.0836296, "cg_vu_v": 73.462059, "cg_vv_v": 74.3418427, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 78.8367844, "dclink_p_w": 11860.4619, "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": 55.5982056, "temp_inv2_c": 53.0091553, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103579767, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 577.999268, "values": {"Elec_RPM": -12524.1543, "EncoderCos": 16450, "EncoderSin": 19668, "GapTicks": 38538, "Mech_RPM": -2504.83081, "cg_du": 62.2289619, "cg_dv": 64.9648972, "cg_dw": 35.0351028, "cg_id_a": 0.707757354, "cg_id_raw_a": -12.6401997, "cg_iq_a": 297.812836, "cg_iq_raw_a": 296.502289, "cg_iu_a": 276.620178, "cg_iv_a": -225.172638, "cg_iw_a": 39.0895691, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4912416, "cg_sample_valid": 1, "cg_theta_rad": 4.06385374, "cg_vd_req_v": 6.70061493, "cg_vd_v": 6.70061493, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.952734, "cg_vq_v": -27.952734, "cg_vu_v": 0, "cg_vv_v": 41.7897949, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 79.1502914, "dclink_p_w": 11872.8105, "enc_isr_hz": 5000, "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": 55.5982056, "temp_inv2_c": 53.0964661, "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": 0.107910275, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 579.015564, "values": {"Elec_RPM": -12520.7637, "EncoderCos": 37703, "EncoderSin": 52824, "GapTicks": 37933, "Mech_RPM": -2504.15283, "cg_du": 60.0224838, "cg_dv": 65.5146484, "cg_dw": 34.4853554, "cg_id_a": 2.36289597, "cg_id_raw_a": 3.01706076, "cg_iq_a": 298.665009, "cg_iq_raw_a": 300.634979, "cg_iu_a": 63.9413681, "cg_iv_a": -280.444489, "cg_iw_a": 216.503113, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 4917563, "cg_sample_valid": 1, "cg_theta_rad": 1.36621273, "cg_vd_req_v": 6.67576218, "cg_vd_v": 6.67576218, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9797344, "cg_vq_v": -27.9797344, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 79.9132233, "dclink_p_w": 11987.2529, "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": 55.5982056, "temp_inv2_c": 53.1682129, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102270544, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 580.03302, "values": {"Elec_RPM": -12520.3789, "EncoderCos": 36680, "EncoderSin": 53064, "GapTicks": 36875, "Mech_RPM": -2504.07568, "cg_du": 52.906105, "cg_dv": 66.4764023, "cg_dw": 33.5235977, "cg_id_a": -0.113742352, "cg_id_raw_a": 5.17239857, "cg_iq_a": 298.782501, "cg_iq_raw_a": 297.520386, "cg_iu_a": 136.574005, "cg_iv_a": -293.709747, "cg_iw_a": 157.135742, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4922663, "cg_sample_valid": 1, "cg_theta_rad": 1.40999568, "cg_vd_req_v": 6.7361064, "cg_vd_v": 6.7361064, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9706326, "cg_vq_v": -27.9706326, "cg_vu_v": 80.0604477, "cg_vv_v": 151.762939, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 78.8675919, "dclink_p_w": 11865.0967, "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": 55.6364746, "temp_inv2_c": 53.1816711, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0991989002, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 581.050598, "values": {"Elec_RPM": -12515.834, "EncoderCos": 22222, "EncoderSin": 14685, "GapTicks": 37941, "Mech_RPM": -2503.16675, "cg_du": 34.4923706, "cg_dv": 65.5076294, "cg_dw": 60.1118393, "cg_id_a": 2.45516348, "cg_id_raw_a": -10.4351854, "cg_iq_a": 300.390778, "cg_iq_raw_a": 297.782227, "cg_iu_a": 276.620178, "cg_iv_a": -39.5679779, "cg_iw_a": -237.0522, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 4927712, "cg_sample_valid": 1, "cg_theta_rad": 4.23006535, "cg_vd_req_v": 6.66546488, "cg_vd_v": 6.66546488, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0027885, "cg_vq_v": -28.0027885, "cg_vu_v": 29.4728031, "cg_vv_v": 38.7105446, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 78.9219589, "dclink_p_w": 11873.2764, "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": 55.6364746, "temp_inv2_c": 53.08078, "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": 0.102572672, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 582.067749, "values": {"Elec_RPM": -12515.9297, "EncoderCos": 33424, "EncoderSin": 53438, "GapTicks": 37948, "Mech_RPM": -2503.18604, "cg_du": 34.4986801, "cg_dv": 65.5013199, "cg_dw": 39.9211845, "cg_id_a": 3.32283878, "cg_id_raw_a": 6.97975683, "cg_iq_a": 299.279022, "cg_iq_raw_a": 303.434387, "cg_iu_a": 241.717361, "cg_iv_a": -272.978271, "cg_iw_a": 31.26091, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 4932862, "cg_sample_valid": 1, "cg_theta_rad": 1.52775466, "cg_vd_req_v": 6.66954994, "cg_vd_v": 6.66954994, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9792862, "cg_vq_v": -27.9792862, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 79.057869, "dclink_p_w": 11858.9473, "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": 55.7131042, "temp_inv2_c": 53.1480103, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0986953527, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 583.085205, "values": {"Elec_RPM": -12518.4629, "EncoderCos": 32390, "EncoderSin": 53409, "GapTicks": 36869, "Mech_RPM": -2503.69263, "cg_du": 33.5180435, "cg_dv": 66.4819565, "cg_dw": 46.8895531, "cg_id_a": 1.11105287, "cg_id_raw_a": 4.3222208, "cg_iq_a": 300.166138, "cg_iq_raw_a": 298.756042, "cg_iu_a": 297.279175, "cg_iv_a": -158.266541, "cg_iw_a": -139.012634, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 4937962, "cg_sample_valid": 1, "cg_theta_rad": 1.62565017, "cg_vd_req_v": 6.70576859, "cg_vd_v": 6.70576859, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0098801, "cg_vq_v": -28.0098801, "cg_vu_v": 0, "cg_vv_v": 27.7132301, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 78.6791229, "dclink_p_w": 11836.7432, "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": 55.7131042, "temp_inv2_c": 53.1996155, "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": 0.104234375, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 583.926514, "values": {"Elec_RPM": -12516.7666, "EncoderCos": 53160, "EncoderSin": 34598, "GapTicks": 37217, "Mech_RPM": -2503.35327, "cg_du": 56.2797928, "cg_dv": 66.1656265, "cg_dw": 33.8343735, "cg_id_a": 7.058496, "cg_id_raw_a": 9.49840546, "cg_iq_a": 301.40564, "cg_iq_raw_a": 302.294037, "cg_iu_a": 103.773346, "cg_iv_a": -292.332458, "cg_iw_a": 259.017151, "cg_sample_age_us": 23.48909, "cg_sample_seq": 4942163, "cg_sample_valid": 1, "cg_theta_rad": 0.123665556, "cg_vd_req_v": 6.57721853, "cg_vd_v": 6.57721853, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0184193, "cg_vq_v": -28.0184193, "cg_vu_v": 78.3008804, "cg_vv_v": 144.28476, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 79.2916412, "dclink_p_w": 11928.8926, "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": 55.7131042, "temp_inv2_c": 53.2243652, "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": 0.101766996, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 584.963928, "values": {"Elec_RPM": -12512.2803, "EncoderCos": 53288, "EncoderSin": 32336, "GapTicks": 37418, "Mech_RPM": -2502.45605, "cg_du": 65.9832153, "cg_dv": 58.0141258, "cg_dw": 34.0167847, "cg_id_a": 6.26900721, "cg_id_raw_a": 0.681610227, "cg_iq_a": 303.44519, "cg_iq_raw_a": 301.531891, "cg_iu_a": 176.369736, "cg_iv_a": -293.202332, "cg_iw_a": 116.832581, "cg_sample_age_us": 24.0563641, "cg_sample_seq": 4947266, "cg_sample_valid": 1, "cg_theta_rad": 0.193026185, "cg_vd_req_v": 6.61125231, "cg_vd_v": 6.61125231, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0525322, "cg_vq_v": -28.0525322, "cg_vu_v": 0, "cg_vv_v": 47.5083961, "cg_vw_v": 7.47817326, "control_outputs_enabled": 1, "dclink_i_a": 79.3695679, "dclink_p_w": 11905.7031, "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": 55.7131042, "temp_inv2_c": 53.2783508, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0978393182, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 585.981384, "values": {"Elec_RPM": -12514.2676, "EncoderCos": 52624, "EncoderSin": 37836, "GapTicks": 38791, "Mech_RPM": -2502.85352, "cg_du": 35.2648392, "cg_dv": 64.7351608, "cg_dw": 37.0398293, "cg_id_a": 0.910097599, "cg_id_raw_a": 11.5433664, "cg_iq_a": 297.032532, "cg_iq_raw_a": 304.401306, "cg_iu_a": 266.943054, "cg_iv_a": -240.431274, "cg_iw_a": -26.5117722, "cg_sample_age_us": 23.48909, "cg_sample_seq": 4952362, "cg_sample_valid": 1, "cg_theta_rad": 0.287600249, "cg_vd_req_v": 6.72783279, "cg_vd_v": 6.72783279, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9092598, "cg_vq_v": -27.9092598, "cg_vu_v": 14.5164547, "cg_vv_v": 76.9812012, "cg_vw_v": 77.8609848, "control_outputs_enabled": 1, "dclink_i_a": 78.7806091, "dclink_p_w": 11852.0107, "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": 55.7514648, "temp_inv2_c": 53.1996155, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104586862, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 586.99884, "values": {"Elec_RPM": -12515.1934, "EncoderCos": 12086, "EncoderSin": 35354, "GapTicks": 37475, "Mech_RPM": -2503.03857, "cg_du": 34.0688171, "cg_dv": 58.0929642, "cg_dw": 65.9311829, "cg_id_a": 3.40172648, "cg_id_raw_a": -8.91231346, "cg_iq_a": 304.236298, "cg_iq_raw_a": 303.069794, "cg_iu_a": 264.913422, "cg_iv_a": -7.31097412, "cg_iw_a": -257.602448, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 4957412, "cg_sample_valid": 1, "cg_theta_rad": 3.00818062, "cg_vd_req_v": 6.64454556, "cg_vd_v": 6.64454556, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0650654, "cg_vq_v": -28.0650654, "cg_vu_v": 110.413033, "cg_vv_v": 110.413033, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 79.3369522, "dclink_p_w": 11900.8105, "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": 55.7898865, "temp_inv2_c": 53.3211365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102774091, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 587.969421, "values": {"Elec_RPM": -12517.1855, "EncoderCos": 37437, "EncoderSin": 52811, "GapTicks": 37577, "Mech_RPM": -2503.43701, "cg_du": 58.2619743, "cg_dv": 65.8390503, "cg_dw": 34.1609497, "cg_id_a": 0.772014737, "cg_id_raw_a": -7.57859659, "cg_iq_a": 297.532043, "cg_iq_raw_a": 298.146973, "cg_iu_a": -6.29918242, "cg_iv_a": -252.790421, "cg_iw_a": 259.0896, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 4962312, "cg_sample_valid": 1, "cg_theta_rad": 1.32947886, "cg_vd_req_v": 6.74165344, "cg_vd_v": 6.74165344, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9337692, "cg_vq_v": -27.9337692, "cg_vu_v": 75.2216263, "cg_vv_v": 113.932175, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 78.4652863, "dclink_p_w": 11804.5732, "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": 55.8283386, "temp_inv2_c": 53.2243652, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102774091, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 589.010376, "values": {"Elec_RPM": -12516.5059, "EncoderCos": 19614, "EncoderSin": 48811, "GapTicks": 36896, "Mech_RPM": -2503.30127, "cg_du": 66.4580841, "cg_dv": 33.5419159, "cg_dw": 47.1071815, "cg_id_a": -6.40894175, "cg_id_raw_a": -3.15381479, "cg_iq_a": 299.793396, "cg_iq_raw_a": 300.029236, "cg_iu_a": -305.202087, "cg_iv_a": 117.222839, "cg_iw_a": 187.979248, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 4967512, "cg_sample_valid": 1, "cg_theta_rad": 2.28728294, "cg_vd_req_v": 6.85300636, "cg_vd_v": 6.85300636, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9947472, "cg_vq_v": -27.9947472, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.0234375, "dclink_p_w": 11853.7822, "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": 55.8283386, "temp_inv2_c": 53.2783508, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0989471301, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 590.02771, "values": {"Elec_RPM": -12516.0107, "EncoderCos": 19682, "EncoderSin": 48799, "GapTicks": 36805, "Mech_RPM": -2503.20215, "cg_du": 66.5407867, "cg_dv": 33.4592133, "cg_dw": 47.3842583, "cg_id_a": -7.35777569, "cg_id_raw_a": -7.08628416, "cg_iq_a": 301.241791, "cg_iq_raw_a": 292.955078, "cg_iu_a": -293.749023, "cg_iv_a": 104.356277, "cg_iw_a": 189.392746, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 4972613, "cg_sample_valid": 1, "cg_theta_rad": 2.28660655, "cg_vd_req_v": 6.88424206, "cg_vd_v": 6.88424206, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0203609, "cg_vq_v": -28.0203609, "cg_vu_v": 151.762939, "cg_vv_v": 121.850235, "cg_vw_v": 97.6561432, "control_outputs_enabled": 1, "dclink_i_a": 78.5341492, "dclink_p_w": 11814.9326, "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": 55.8283386, "temp_inv2_c": 53.3459167, "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": 0.105543599, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 591.045105, "values": {"Elec_RPM": -12514.0381, "EncoderCos": 18034, "EncoderSin": 47307, "GapTicks": 38268, "Mech_RPM": -2502.80762, "cg_du": 65.2100067, "cg_dv": 38.1421127, "cg_dw": 34.7899933, "cg_id_a": -0.80950582, "cg_id_raw_a": -0.894899309, "cg_iq_a": 305.317719, "cg_iq_raw_a": 312.178436, "cg_iu_a": -239.745728, "cg_iv_a": -42.1412659, "cg_iw_a": 281.886993, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 4977712, "cg_sample_valid": 1, "cg_theta_rad": 2.39032245, "cg_vd_req_v": 6.74031162, "cg_vd_v": 6.74031162, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0935574, "cg_vq_v": -28.0935574, "cg_vu_v": 64.6642075, "cg_vv_v": 76.9812012, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 80.1506195, "dclink_p_w": 12058.1201, "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": 55.905365, "temp_inv2_c": 53.3684998, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101162732, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 592.062561, "values": {"Elec_RPM": -12511.4902, "EncoderCos": 40733, "EncoderSin": 13671, "GapTicks": 37227, "Mech_RPM": -2502.2981, "cg_du": 56.1970253, "cg_dv": 66.1567307, "cg_dw": 33.8432693, "cg_id_a": -1.5298382, "cg_id_raw_a": -4.23636293, "cg_iq_a": 296.376038, "cg_iq_raw_a": 295.931732, "cg_iu_a": 97.5393982, "cg_iv_a": -296.210571, "cg_iw_a": 245.316986, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 4982762, "cg_sample_valid": 1, "cg_theta_rad": 5.14872885, "cg_vd_req_v": 6.74489498, "cg_vd_v": 6.74489498, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9444427, "cg_vq_v": -27.9444427, "cg_vu_v": 0, "cg_vv_v": 59.385498, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": 78.9056473, "dclink_p_w": 11870.8223, "enc_isr_hz": 5002, "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": 55.905365, "temp_inv2_c": 53.3279114, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101766996, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 593.079895, "values": {"Elec_RPM": -12513.8877, "EncoderCos": 52580, "EncoderSin": 27670, "GapTicks": 37011, "Mech_RPM": -2502.77759, "cg_du": 66.3528137, "cg_dv": 33.6471863, "cg_dw": 44.4953804, "cg_id_a": 2.26704049, "cg_id_raw_a": 10.3056517, "cg_iq_a": 308.000641, "cg_iq_raw_a": 312.100647, "cg_iu_a": -307.376709, "cg_iv_a": 102.544067, "cg_iw_a": 204.832642, "cg_sample_age_us": 24.1509094, "cg_sample_seq": 4987962, "cg_sample_valid": 1, "cg_theta_rad": 6.08025646, "cg_vd_req_v": 6.70560408, "cg_vd_v": 6.70560408, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1514988, "cg_vq_v": -28.1514988, "cg_vu_v": 49.2679672, "cg_vv_v": 37.3908691, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 79.7754974, "dclink_p_w": 12001.6855, "enc_isr_hz": 4998, "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": 55.9439392, "temp_inv2_c": 53.3617249, "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": 0.104737923, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 593.921204, "values": {"Elec_RPM": -12514.6006, "EncoderCos": 29149, "EncoderSin": 12304, "GapTicks": 36842, "Mech_RPM": -2502.92017, "cg_du": 51.5262337, "cg_dv": 33.4932976, "cg_dw": 66.5066986, "cg_id_a": -4.4539752, "cg_id_raw_a": 3.56440639, "cg_iq_a": 295.623016, "cg_iq_raw_a": 296.54834, "cg_iu_a": -169.360199, "cg_iv_a": 301.01532, "cg_iw_a": -131.655136, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 4992163, "cg_sample_valid": 1, "cg_theta_rad": 4.57912064, "cg_vd_req_v": 6.78458118, "cg_vd_v": 6.78458118, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9027672, "cg_vq_v": -27.9027672, "cg_vu_v": 131.087982, "cg_vv_v": 72.1423798, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 79.6305237, "dclink_p_w": 11979.875, "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": 55.905365, "temp_inv2_c": 53.3684998, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10096132, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 594.958679, "values": {"Elec_RPM": -12512.1758, "EncoderCos": 25838, "EncoderSin": 13090, "GapTicks": 37472, "Mech_RPM": -2502.43506, "cg_du": 34.065609, "cg_dv": 42.253952, "cg_dw": 65.9343872, "cg_id_a": -1.5315882, "cg_id_raw_a": -7.31216574, "cg_iq_a": 296.735474, "cg_iq_raw_a": 287.360352, "cg_iu_a": -223.436005, "cg_iv_a": 281.33493, "cg_iw_a": -57.8989334, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 4997267, "cg_sample_valid": 1, "cg_theta_rad": 4.63491821, "cg_vd_req_v": 6.76250792, "cg_vd_v": 6.76250792, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9436531, "cg_vq_v": -27.9436531, "cg_vu_v": 138.126266, "cg_vv_v": 73.462059, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 78.9002075, "dclink_p_w": 11870.0039, "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": 55.9439392, "temp_inv2_c": 53.4226685, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104586862, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 595.976135, "values": {"Elec_RPM": -12514.2227, "EncoderCos": 45176, "EncoderSin": 49135, "GapTicks": 37457, "Mech_RPM": -2502.84448, "cg_du": 65.9480286, "cg_dv": 34.0519714, "cg_dw": 57.9186249, "cg_id_a": -5.90198374, "cg_id_raw_a": -12.0952396, "cg_iq_a": 296.749451, "cg_iq_raw_a": 291.327026, "cg_iu_a": -195.274536, "cg_iv_a": -96.5432739, "cg_iw_a": 291.81781, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 5002316, "cg_sample_valid": 1, "cg_theta_rad": 1.16423166, "cg_vd_req_v": 6.90676641, "cg_vd_v": 6.90676641, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8936787, "cg_vq_v": -27.8936787, "cg_vu_v": 37.3908691, "cg_vv_v": 58.9456062, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.99263, "dclink_p_w": 11849.1611, "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": 55.9825439, "temp_inv2_c": 53.4701538, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101918057, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 596.993591, "values": {"Elec_RPM": -12516.793, "EncoderCos": 32377, "EncoderSin": 12009, "GapTicks": 37169, "Mech_RPM": -2503.35864, "cg_du": 66.2091446, "cg_dv": 33.7908554, "cg_dw": 55.9695816, "cg_id_a": 1.4211061, "cg_id_raw_a": 2.15432715, "cg_iq_a": 300.008362, "cg_iq_raw_a": 300.178223, "cg_iu_a": -305.383301, "cg_iv_a": 185.252533, "cg_iw_a": 106.938011, "cg_sample_age_us": 24.1181812, "cg_sample_seq": 5007463, "cg_sample_valid": 1, "cg_theta_rad": 4.78631449, "cg_vd_req_v": 6.67249203, "cg_vd_v": 6.67249203, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0035534, "cg_vq_v": -28.0035534, "cg_vu_v": 50.1477547, "cg_vv_v": 1.75957024, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.7229462, "dclink_p_w": 11993.7793, "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": 56.0211792, "temp_inv2_c": 53.4746704, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102874793, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 597.968628, "values": {"Elec_RPM": -12516.3877, "EncoderCos": 49589, "EncoderSin": 21059, "GapTicks": 39171, "Mech_RPM": -2503.27759, "cg_du": 35.6104012, "cg_dv": 35.7084007, "cg_dw": 64.389595, "cg_id_a": 1.62590909, "cg_id_raw_a": 8.36118412, "cg_iq_a": 301.723053, "cg_iq_raw_a": 311.791931, "cg_iu_a": -85.6006851, "cg_iv_a": 262.524384, "cg_iw_a": -259.958313, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 5012314, "cg_sample_valid": 1, "cg_theta_rad": 5.77149916, "cg_vd_req_v": 6.70293951, "cg_vd_v": 6.70293951, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.024765, "cg_vq_v": -28.024765, "cg_vu_v": 150.883148, "cg_vv_v": 107.333786, "cg_vw_v": 136.366699, "control_outputs_enabled": 1, "dclink_i_a": 79.6341476, "dclink_p_w": 11980.4199, "enc_isr_hz": 5001, "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": 55.9825439, "temp_inv2_c": 53.4769287, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102673382, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 599.005005, "values": {"Elec_RPM": -12522.0039, "EncoderCos": 51759, "EncoderSin": 40213, "GapTicks": 36891, "Mech_RPM": -2504.40088, "cg_du": 33.537735, "cg_dv": 66.462265, "cg_dw": 54.0199738, "cg_id_a": 0.148489475, "cg_id_raw_a": 8.32213593, "cg_iq_a": 302.274445, "cg_iq_raw_a": 305.041382, "cg_iu_a": 302.534546, "cg_iv_a": -167.21875, "cg_iw_a": -131.908844, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 5017513, "cg_sample_valid": 1, "cg_theta_rad": 0.402984709, "cg_vd_req_v": 6.72958136, "cg_vd_v": 6.72958136, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.998724, "cg_vq_v": -27.998724, "cg_vu_v": 73.9019547, "cg_vv_v": 101.175293, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.0959244, "dclink_p_w": 11899.4482, "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": 56.0598755, "temp_inv2_c": 53.4746704, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101464868, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 600.022461, "values": {"Elec_RPM": -12516.7002, "EncoderCos": 12039, "EncoderSin": 31648, "GapTicks": 38503, "Mech_RPM": -2503.34009, "cg_du": 37.9015884, "cg_dv": 35.0031242, "cg_dw": 64.9968719, "cg_id_a": 5.99004889, "cg_id_raw_a": 5.60138702, "cg_iq_a": 296.742188, "cg_iq_raw_a": 293.309845, "cg_iu_a": -33.9894714, "cg_iv_a": 267.018616, "cg_iw_a": -233.029129, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 5022562, "cg_sample_valid": 1, "cg_theta_rad": 3.23728251, "cg_vd_req_v": 6.61920643, "cg_vd_v": 6.61920643, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8803406, "cg_vq_v": -27.8803406, "cg_vu_v": 151.323044, "cg_vv_v": 102.055069, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.0089417, "dclink_p_w": 11851.6074, "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": 56.0985718, "temp_inv2_c": 53.53125, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103881896, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 601.039856, "values": {"Elec_RPM": -12513.4775, "EncoderCos": 12073, "EncoderSin": 31707, "GapTicks": 38579, "Mech_RPM": -2502.69556, "cg_du": 37.437645, "cg_dv": 35.0727081, "cg_dw": 64.9272919, "cg_id_a": 9.45605087, "cg_id_raw_a": 15.6069059, "cg_iq_a": 300.700714, "cg_iq_raw_a": 295.622162, "cg_iu_a": -18.7308159, "cg_iv_a": 268.28714, "cg_iw_a": -249.556335, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 5027663, "cg_sample_valid": 1, "cg_theta_rad": 3.23847985, "cg_vd_req_v": 6.5674696, "cg_vd_v": 6.5674696, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9855385, "cg_vq_v": -27.9855385, "cg_vu_v": 144.28476, "cg_vv_v": 73.9019547, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 78.6229477, "dclink_p_w": 11793.707, "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": 56.0985718, "temp_inv2_c": 53.5221863, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0992492512, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 602.057373, "values": {"Elec_RPM": -12515.624, "EncoderCos": 50325, "EncoderSin": 43212, "GapTicks": 36857, "Mech_RPM": -2503.12476, "cg_du": 33.5065918, "cg_dv": 53.0191231, "cg_dw": 66.4934082, "cg_id_a": 6.54972267, "cg_id_raw_a": 13.4058075, "cg_iq_a": 304.528992, "cg_iq_raw_a": 301.618256, "cg_iu_a": 163.93811, "cg_iv_a": 131.212952, "cg_iw_a": -295.151062, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 5032813, "cg_sample_valid": 1, "cg_theta_rad": 0.566636443, "cg_vd_req_v": 6.62452221, "cg_vd_v": 6.62452221, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0394821, "cg_vq_v": -28.0394821, "cg_vu_v": 108.653458, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 79.1231079, "dclink_p_w": 11903.5381, "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": 56.1373596, "temp_inv2_c": 53.601532, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101515219, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 603.074768, "values": {"Elec_RPM": -12516.9883, "EncoderCos": 52365, "EncoderSin": 27077, "GapTicks": 36700, "Mech_RPM": -2503.39771, "cg_du": 66.6358566, "cg_dv": 33.3641434, "cg_dw": 48.7756424, "cg_id_a": -1.92899275, "cg_id_raw_a": 3.58660555, "cg_iq_a": 306.752106, "cg_iq_raw_a": 300.205536, "cg_iu_a": -301.28772, "cg_iv_a": 122.949356, "cg_iw_a": 178.338364, "cg_sample_age_us": 24.1290913, "cg_sample_seq": 5037813, "cg_sample_valid": 1, "cg_theta_rad": 6.04525089, "cg_vd_req_v": 6.77914333, "cg_vd_v": 6.77914333, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1197548, "cg_vq_v": -28.1197548, "cg_vu_v": 151.762939, "cg_vv_v": 117.891212, "cg_vw_v": 99.8556061, "control_outputs_enabled": 1, "dclink_i_a": 78.8839035, "dclink_p_w": 11832.8516, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 56.1373596, "temp_inv2_c": 53.6583252, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0977386162, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 603.915955, "values": {"Elec_RPM": -12514.8164, "EncoderCos": 46982, "EncoderSin": 17964, "GapTicks": 38709, "Mech_RPM": -2502.96338, "cg_du": 35.1906891, "cg_dv": 62.8816872, "cg_dw": 64.8093109, "cg_id_a": 3.44458938, "cg_id_raw_a": -16.6970387, "cg_iq_a": 301.053894, "cg_iq_raw_a": 297.83194, "cg_iu_a": 285.572388, "cg_iv_a": -63.2351685, "cg_iw_a": -222.337219, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 5042112, "cg_sample_valid": 1, "cg_theta_rad": 5.48497343, "cg_vd_req_v": 6.64751768, "cg_vd_v": 6.64751768, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0102062, "cg_vq_v": -28.0102062, "cg_vu_v": 98.0960464, "cg_vv_v": 103.374756, "cg_vw_v": 125.369385, "control_outputs_enabled": 1, "dclink_i_a": 78.7316742, "dclink_p_w": 11810.0166, "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": 56.1373596, "temp_inv2_c": 53.6583252, "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": 0.0997024477, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 604.933411, "values": {"Elec_RPM": -12514.8135, "EncoderCos": 47757, "EncoderSin": 18737, "GapTicks": 37113, "Mech_RPM": -2502.96265, "cg_du": 33.7397995, "cg_dv": 55.6429024, "cg_dw": 66.2602005, "cg_id_a": 1.05237913, "cg_id_raw_a": -3.72412753, "cg_iq_a": 300.788879, "cg_iq_raw_a": 300.506683, "cg_iu_a": 198.768433, "cg_iv_a": 106.929565, "cg_iw_a": -305.697998, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5047212, "cg_sample_valid": 1, "cg_theta_rad": 5.57988024, "cg_vd_req_v": 6.70216513, "cg_vd_v": 6.70216513, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0176563, "cg_vq_v": -28.0176563, "cg_vu_v": 37.3908691, "cg_vv_v": 34.3116188, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 78.9328308, "dclink_p_w": 11874.9121, "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": 56.1373596, "temp_inv2_c": 53.6197205, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100558482, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 605.950806, "values": {"Elec_RPM": -12518.248, "EncoderCos": 25692, "EncoderSin": 52080, "GapTicks": 39175, "Mech_RPM": -2503.64966, "cg_du": 35.613884, "cg_dv": 35.8572464, "cg_dw": 64.386116, "cg_id_a": -5.18385696, "cg_id_raw_a": 1.96104181, "cg_iq_a": 293.705078, "cg_iq_raw_a": 303.744873, "cg_iu_a": -83.7160034, "cg_iv_a": 288.728668, "cg_iw_a": -205.012665, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 5052264, "cg_sample_valid": 1, "cg_theta_rad": 2.00709391, "cg_vd_req_v": 6.8695035, "cg_vd_v": 6.8695035, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8162746, "cg_vq_v": -27.8162746, "cg_vu_v": 151.323044, "cg_vv_v": 104.254532, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.6465073, "dclink_p_w": 11797.2412, "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": 56.2149963, "temp_inv2_c": 53.601532, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 606.988403, "values": {"Elec_RPM": -12518.4238, "EncoderCos": 12724, "EncoderSin": 37850, "GapTicks": 36888, "Mech_RPM": -2503.68481, "cg_du": 33.5346298, "cg_dv": 66.4653702, "cg_dw": 54.1406975, "cg_id_a": -0.361579418, "cg_id_raw_a": 10.0359983, "cg_iq_a": 303.225098, "cg_iq_raw_a": 305.939575, "cg_iu_a": 303.839294, "cg_iv_a": -116.586121, "cg_iw_a": -187.253174, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5057463, "cg_sample_valid": 1, "cg_theta_rad": 2.91975355, "cg_vd_req_v": 6.77118206, "cg_vd_v": 6.77118206, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0117645, "cg_vq_v": -28.0117645, "cg_vu_v": 73.9019547, "cg_vv_v": 102.93486, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 78.8367844, "dclink_p_w": 11825.7832, "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": 56.1761475, "temp_inv2_c": 53.6674194, "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": 0.104536511, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 607.954224, "values": {"Elec_RPM": -12521.5605, "EncoderCos": 50971, "EncoderSin": 23562, "GapTicks": 36864, "Mech_RPM": -2504.31201, "cg_du": 54.6779556, "cg_dv": 33.512886, "cg_dw": 66.487114, "cg_id_a": 8.63345718, "cg_id_raw_a": 7.6301527, "cg_iq_a": 306.775818, "cg_iq_raw_a": 303.861115, "cg_iu_a": -202.088379, "cg_iv_a": 294.563934, "cg_iw_a": -92.4755478, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 5062162, "cg_sample_valid": 1, "cg_theta_rad": 5.85806274, "cg_vd_req_v": 6.56726313, "cg_vd_v": 6.56726313, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.095602, "cg_vq_v": -28.095602, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 43.9892578, "control_outputs_enabled": 1, "dclink_i_a": 79.1013641, "dclink_p_w": 11865.4717, "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": 56.2538757, "temp_inv2_c": 53.708374, "temp_inv3_c": null, "temp_motor_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": 149.563477}}
{"type": "telemetry", "t": 608.999756, "values": {"Elec_RPM": -12515.3652, "EncoderCos": 42835, "EncoderSin": 50612, "GapTicks": 38053, "Mech_RPM": -2503.073, "cg_du": 65.4056778, "cg_dv": 34.5943222, "cg_dw": 39.2043877, "cg_id_a": 1.82279742, "cg_id_raw_a": -7.50664902, "cg_iq_a": 302.582855, "cg_iq_raw_a": 296.964233, "cg_iu_a": -22.2102261, "cg_iv_a": -244.998032, "cg_iw_a": 288.80957, "cg_sample_age_us": 23.823637, "cg_sample_seq": 5067467, "cg_sample_valid": 1, "cg_theta_rad": 1.29835582, "cg_vd_req_v": 6.74659014, "cg_vd_v": 6.74659014, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9834023, "cg_vq_v": -27.9834023, "cg_vu_v": 139.445938, "cg_vv_v": 151.762939, "cg_vw_v": 107.773682, "control_outputs_enabled": 1, "dclink_i_a": 79.1593552, "dclink_p_w": 11874.1699, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5001, "hz_app_loop": 2602, "hz_tim_isr": 5000, "hz_vsense": 2602, "pwm_moe": 1, "temp_inv1_c": 56.1761475, "temp_inv2_c": 53.7675476, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102270544, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 610.017212, "values": {"Elec_RPM": -12517.6182, "EncoderCos": 36282, "EncoderSin": 12386, "GapTicks": 37593, "Mech_RPM": -2503.52368, "cg_du": 65.8238144, "cg_dv": 41.5233154, "cg_dw": 34.1761856, "cg_id_a": 0.650559127, "cg_id_raw_a": -6.75362253, "cg_iq_a": 299.81485, "cg_iq_raw_a": 294.097504, "cg_iu_a": -216.404694, "cg_iv_a": -73.8546448, "cg_iw_a": 290.259338, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 5072613, "cg_sample_valid": 1, "cg_theta_rad": 4.93256426, "cg_vd_req_v": 6.71884441, "cg_vd_v": 6.71884441, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9778843, "cg_vq_v": -27.9778843, "cg_vu_v": 151.762939, "cg_vv_v": 151.323044, "cg_vw_v": 98.9758301, "control_outputs_enabled": 1, "dclink_i_a": 78.6863708, "dclink_p_w": 11837.834, "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": 56.2928162, "temp_inv2_c": 53.7288513, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105946444, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 611.034607, "values": {"Elec_RPM": -12514.3613, "EncoderCos": 21418, "EncoderSin": 15363, "GapTicks": 36885, "Mech_RPM": -2502.87231, "cg_du": 33.5322342, "cg_dv": 66.4677658, "cg_dw": 53.2402267, "cg_id_a": -2.54452229, "cg_id_raw_a": -8.39616871, "cg_iq_a": 301.005371, "cg_iq_raw_a": 296.88736, "cg_iu_a": 291.190186, "cg_iv_a": -96.9781952, "cg_iw_a": -194.21199, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 5077612, "cg_sample_valid": 1, "cg_theta_rad": 4.17833614, "cg_vd_req_v": 6.79818583, "cg_vd_v": 6.79818583, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9771957, "cg_vq_v": -27.9771957, "cg_vu_v": 0, "cg_vv_v": 1.31967759, "cg_vw_v": 68.1833496, "control_outputs_enabled": 1, "dclink_i_a": 78.6736832, "dclink_p_w": 11835.9248, "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": 56.3317871, "temp_inv2_c": 53.8131714, "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": 0.104335092, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 612.052063, "values": {"Elec_RPM": -12517.834, "EncoderCos": 34398, "EncoderSin": 53156, "GapTicks": 38627, "Mech_RPM": -2503.56689, "cg_du": 37.3687439, "cg_dv": 64.8844986, "cg_dw": 35.1155014, "cg_id_a": -3.74728942, "cg_id_raw_a": 3.42766333, "cg_iq_a": 296.879242, "cg_iq_raw_a": 303.646271, "cg_iu_a": 250.089691, "cg_iv_a": -262.938721, "cg_iw_a": 12.8490295, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5082762, "cg_sample_valid": 1, "cg_theta_rad": 1.5239439, "cg_vd_req_v": 6.87923908, "cg_vd_v": 6.87923908, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.873045, "cg_vq_v": -27.873045, "cg_vu_v": 31.6722641, "cg_vv_v": 78.3008804, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 78.3601761, "dclink_p_w": 11754.291, "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": 56.2928162, "temp_inv2_c": 53.7675476, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0992996097, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 613.069397, "values": {"Elec_RPM": -12514.0176, "EncoderCos": 33261, "EncoderSin": 53224, "GapTicks": 37734, "Mech_RPM": -2502.80347, "cg_du": 34.303669, "cg_dv": 65.6963348, "cg_dw": 41.0618286, "cg_id_a": 1.85100245, "cg_id_raw_a": 5.08459282, "cg_iq_a": 294.710663, "cg_iq_raw_a": 297.973328, "cg_iu_a": 281.694336, "cg_iv_a": -204.948608, "cg_iw_a": 18.6118011, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 5087862, "cg_sample_valid": 1, "cg_theta_rad": 1.56831789, "cg_vd_req_v": 6.73914051, "cg_vd_v": 6.73914051, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8143177, "cg_vq_v": -27.8143177, "cg_vu_v": 0, "cg_vv_v": 36.9509773, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 79.3858795, "dclink_p_w": 11943.0703, "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": 56.2928162, "temp_inv2_c": 53.7857971, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106852829, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 614.086792, "values": {"Elec_RPM": -12513.6953, "EncoderCos": 48615, "EncoderSin": 45536, "GapTicks": 38554, "Mech_RPM": -2502.73901, "cg_du": 37.4836578, "cg_dv": 35.0493698, "cg_dw": 64.9506302, "cg_id_a": 6.16898918, "cg_id_raw_a": -10.004137, "cg_iq_a": 302.62793, "cg_iq_raw_a": 295.431885, "cg_iu_a": -21.1591549, "cg_iv_a": 273.54248, "cg_iw_a": -290.113159, "cg_sample_age_us": 23.51091, "cg_sample_seq": 5092863, "cg_sample_valid": 1, "cg_theta_rad": 0.705777824, "cg_vd_req_v": 6.66926813, "cg_vd_v": 6.66926813, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9782238, "cg_vq_v": -27.9782238, "cg_vu_v": 137.686371, "cg_vv_v": 73.462059, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 79.5743484, "dclink_p_w": 11971.4238, "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": 56.3707886, "temp_inv2_c": 53.8702698, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0973861292, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 614.92804, "values": {"Elec_RPM": -12514.0439, "EncoderCos": 14959, "EncoderSin": 22171, "GapTicks": 36909, "Mech_RPM": -2502.80884, "cg_du": 66.4460602, "cg_dv": 47.3025513, "cg_dw": 33.5539436, "cg_id_a": -0.0994802117, "cg_id_raw_a": 8.06329632, "cg_iq_a": 297.79718, "cg_iq_raw_a": 297.286072, "cg_iu_a": -169.432678, "cg_iv_a": -128.909027, "cg_iw_a": 298.341705, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 5097213, "cg_sample_valid": 1, "cg_theta_rad": 3.7129693, "cg_vd_req_v": 6.781672, "cg_vd_v": 6.781672, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8845654, "cg_vq_v": -27.8845654, "cg_vu_v": 151.762939, "cg_vv_v": 151.323044, "cg_vw_v": 84.8992691, "control_outputs_enabled": 1, "dclink_i_a": 79.1321716, "dclink_p_w": 11870.0928, "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": 56.3317871, "temp_inv2_c": 53.8131714, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107809566, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 615.965637, "values": {"Elec_RPM": -12512.916, "EncoderCos": 13978, "EncoderSin": 24180, "GapTicks": 38294, "Mech_RPM": -2502.58325, "cg_du": 65.1867981, "cg_dv": 34.8132057, "cg_dw": 38.5092163, "cg_id_a": -6.60546112, "cg_id_raw_a": -3.72158051, "cg_iq_a": 301.668091, "cg_iq_raw_a": 308.863373, "cg_iu_a": -23.8774414, "cg_iv_a": -244.599365, "cg_iw_a": 268.476807, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 5102316, "cg_sample_valid": 1, "cg_theta_rad": 3.8181417, "cg_vd_req_v": 6.89482164, "cg_vd_v": 6.89482164, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9516087, "cg_vq_v": -27.9516087, "cg_vu_v": 0.87978512, "cg_vv_v": 47.9482918, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.8911514, "dclink_p_w": 11868.6416, "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": 56.3317871, "temp_inv2_c": 53.986969, "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": 0.0973861292, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 616.983032, "values": {"Elec_RPM": -12515.7324, "EncoderCos": 53092, "EncoderSin": 32646, "GapTicks": 37858, "Mech_RPM": -2503.14648, "cg_du": 65.58284, "cg_dv": 60.1046219, "cg_dw": 34.4171562, "cg_id_a": 4.06182003, "cg_id_raw_a": 9.05386925, "cg_iq_a": 304.842926, "cg_iq_raw_a": 307.670532, "cg_iu_a": 237.041901, "cg_iv_a": -277.762451, "cg_iw_a": 40.7205429, "cg_sample_age_us": 25.5218182, "cg_sample_seq": 5107367, "cg_sample_valid": 1, "cg_theta_rad": 0.254664153, "cg_vd_req_v": 6.70338392, "cg_vd_v": 6.70338392, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0299892, "cg_vq_v": -28.0299892, "cg_vu_v": 109.093361, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 79.9512787, "dclink_p_w": 12028.1309, "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": 56.4098206, "temp_inv2_c": 53.9388733, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101565577, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 617.948914, "values": {"Elec_RPM": -12518.3145, "EncoderCos": 37997, "EncoderSin": 52568, "GapTicks": 38481, "Mech_RPM": -2503.66284, "cg_du": 62.207489, "cg_dv": 65.0165939, "cg_dw": 34.9834061, "cg_id_a": 1.99347901, "cg_id_raw_a": -13.9706469, "cg_iq_a": 300.48996, "cg_iq_raw_a": 298.572052, "cg_iu_a": 27.6250458, "cg_iv_a": -274.029327, "cg_iw_a": 246.404282, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 5112212, "cg_sample_valid": 1, "cg_theta_rad": 1.34552419, "cg_vd_req_v": 6.74269962, "cg_vd_v": 6.74269962, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9300938, "cg_vq_v": -27.9300938, "cg_vu_v": 10.9973145, "cg_vv_v": 76.9812012, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 79.0796204, "dclink_p_w": 11896.9951, "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": 56.5271912, "temp_inv2_c": 53.9136963, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107205309, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 618.994507, "values": {"Elec_RPM": -12520.1113, "EncoderCos": 47536, "EncoderSin": 18612, "GapTicks": 37384, "Mech_RPM": -2504.02222, "cg_du": 33.9855728, "cg_dv": 57.4390259, "cg_dw": 66.0144272, "cg_id_a": 9.39792061, "cg_id_raw_a": 13.7959166, "cg_iq_a": 304.159637, "cg_iq_raw_a": 303.48642, "cg_iu_a": -87.4491272, "cg_iv_a": 294.99884, "cg_iw_a": -207.549713, "cg_sample_age_us": 23.823637, "cg_sample_seq": 5117467, "cg_sample_valid": 1, "cg_theta_rad": 5.77791691, "cg_vd_req_v": 6.55457878, "cg_vd_v": 6.55457878, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0471706, "cg_vq_v": -28.0471706, "cg_vu_v": 151.323044, "cg_vv_v": 92.3774414, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 78.6030121, "dclink_p_w": 11825.293, "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": 56.4489136, "temp_inv2_c": 54.0328369, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100508124, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 620.011902, "values": {"Elec_RPM": -12519.5293, "EncoderCos": 22027, "EncoderSin": 50236, "GapTicks": 37232, "Mech_RPM": -2503.90576, "cg_du": 55.8934708, "cg_dv": 33.847847, "cg_dw": 66.152153, "cg_id_a": -12.957058, "cg_id_raw_a": -3.73901701, "cg_iq_a": 293.645569, "cg_iq_raw_a": 299.114014, "cg_iu_a": -292.770447, "cg_iv_a": 76.9197083, "cg_iw_a": 215.850739, "cg_sample_age_us": 23.5981827, "cg_sample_seq": 5122516, "cg_sample_valid": 1, "cg_theta_rad": 2.32019758, "cg_vd_req_v": 7.00501347, "cg_vd_v": 7.00501347, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8060589, "cg_vq_v": -27.8060589, "cg_vu_v": 44.4291458, "cg_vv_v": 37.3908691, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 78.5323334, "dclink_p_w": 11814.6592, "enc_isr_hz": 5000, "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": 56.4880371, "temp_inv2_c": 53.9823914, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104687572, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 621.029419, "values": {"Elec_RPM": -12517.5332, "EncoderCos": 51161, "EncoderSin": 24126, "GapTicks": 37607, "Mech_RPM": -2503.50659, "cg_du": 58.891468, "cg_dv": 34.1882362, "cg_dw": 65.8117676, "cg_id_a": 0.138486624, "cg_id_raw_a": 6.03490639, "cg_iq_a": 301.773621, "cg_iq_raw_a": 305.164032, "cg_iu_a": -226.045547, "cg_iv_a": 292.570496, "cg_iw_a": -66.5249634, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 5127663, "cg_sample_valid": 1, "cg_theta_rad": 5.88881493, "cg_vd_req_v": 6.7647624, "cg_vd_v": 6.7647624, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9887333, "cg_vq_v": -27.9887333, "cg_vu_v": 151.762939, "cg_vv_v": 82.6998062, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 78.5957642, "dclink_p_w": 11789.6299, "enc_isr_hz": 4998, "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": 56.4880371, "temp_inv2_c": 53.929718, "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": 0.104133666, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 622.046753, "values": {"Elec_RPM": -12513.6572, "EncoderCos": 39229, "EncoderSin": 13239, "GapTicks": 38659, "Mech_RPM": -2502.73145, "cg_du": 64.8552551, "cg_dv": 62.4569626, "cg_dw": 35.1447449, "cg_id_a": -0.533507347, "cg_id_raw_a": 4.39355135, "cg_iq_a": 299.381348, "cg_iq_raw_a": 303.392639, "cg_iu_a": -20.1805706, "cg_iv_a": -247.281403, "cg_iw_a": 267.461975, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 5132663, "cg_sample_valid": 1, "cg_theta_rad": 5.09078312, "cg_vd_req_v": 6.78041124, "cg_vd_v": 6.78041124, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9443893, "cg_vq_v": -27.9443893, "cg_vu_v": 75.2216263, "cg_vv_v": 113.932175, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 79.1068039, "dclink_p_w": 11901.085, "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": 56.4880371, "temp_inv2_c": 54.0420227, "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": 0.103176929, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 623.064209, "values": {"Elec_RPM": -12515.498, "EncoderCos": 16947, "EncoderSin": 45884, "GapTicks": 36748, "Mech_RPM": -2503.09961, "cg_du": 66.5926514, "cg_dv": 50.4762039, "cg_dw": 33.4073486, "cg_id_a": -5.00231552, "cg_id_raw_a": -7.12287617, "cg_iq_a": 303.407135, "cg_iq_raw_a": 301.110504, "cg_iu_a": -128.803345, "cg_iv_a": -170.589447, "cg_iw_a": 299.392792, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 5137812, "cg_sample_valid": 1, "cg_theta_rad": 2.48553467, "cg_vd_req_v": 6.89510393, "cg_vd_v": 6.89510393, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9914722, "cg_vq_v": -27.9914722, "cg_vu_v": 35.6312981, "cg_vv_v": 44.8690414, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.3728638, "dclink_p_w": 11790.6689, "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": 56.4880371, "temp_inv2_c": 54.2076111, "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": 0.103932247, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 624.081604, "values": {"Elec_RPM": -12517.4424, "EncoderCos": 52320, "EncoderSin": 27323, "GapTicks": 36784, "Mech_RPM": -2503.48853, "cg_du": 66.5595703, "cg_dv": 33.4404335, "cg_dw": 47.2253494, "cg_id_a": 0.0618332624, "cg_id_raw_a": 1.98919046, "cg_iq_a": 308.05722, "cg_iq_raw_a": 300.927948, "cg_iu_a": -299.258118, "cg_iv_a": 196.270645, "cg_iw_a": 114.440506, "cg_sample_age_us": 24.1399994, "cg_sample_seq": 5142963, "cg_sample_valid": 1, "cg_theta_rad": 6.04981279, "cg_vd_req_v": 6.75270653, "cg_vd_v": 6.75270653, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1011028, "cg_vq_v": -28.1011028, "cg_vu_v": 152.202835, "cg_vv_v": 135.486908, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 79.2372818, "dclink_p_w": 11885.8594, "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": 56.5271912, "temp_inv2_c": 54.0397034, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 624.922791, "values": {"Elec_RPM": -12518.3066, "EncoderCos": 43497, "EncoderSin": 50102, "GapTicks": 37087, "Mech_RPM": -2503.66138, "cg_du": 66.2839966, "cg_dv": 33.7159996, "cg_dw": 44.6999664, "cg_id_a": -1.35418129, "cg_id_raw_a": -2.93768692, "cg_iq_a": 302.74176, "cg_iq_raw_a": 298.139862, "cg_iu_a": -286.355286, "cg_iv_a": 82.1025696, "cg_iw_a": 204.252716, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 5147113, "cg_sample_valid": 1, "cg_theta_rad": 1.04827857, "cg_vd_req_v": 6.83164263, "cg_vd_v": 6.83164263, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.96068, "cg_vq_v": -27.96068, "cg_vu_v": 118.3311, "cg_vv_v": 107.773682, "cg_vw_v": 67.303566, "control_outputs_enabled": 1, "dclink_i_a": 78.9817581, "dclink_p_w": 11847.5303, "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": 56.5663757, "temp_inv2_c": 54.0236511, "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": 0.10332799, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 625.940247, "values": {"Elec_RPM": -12517.7891, "EncoderCos": 31083, "EncoderSin": 12231, "GapTicks": 39218, "Mech_RPM": -2503.55786, "cg_du": 64.3470535, "cg_dv": 35.6529503, "cg_dw": 64.2043457, "cg_id_a": -6.28221846, "cg_id_raw_a": -1.56018579, "cg_iq_a": 296.191406, "cg_iq_raw_a": 301.370544, "cg_iu_a": -261.890686, "cg_iv_a": 251.143799, "cg_iw_a": 10.7468872, "cg_sample_age_us": 23.5981827, "cg_sample_seq": 5152263, "cg_sample_valid": 1, "cg_theta_rad": 4.6869483, "cg_vd_req_v": 6.88922644, "cg_vd_v": 6.88922644, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8687038, "cg_vq_v": -27.8687038, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.4489746, "dclink_p_w": 11802.1191, "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": 56.6056519, "temp_inv2_c": 53.8771057, "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": 0.101464868, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 626.977844, "values": {"Elec_RPM": -12514.252, "EncoderCos": 26772, "EncoderSin": 13023, "GapTicks": 39035, "Mech_RPM": -2502.85034, "cg_du": 35.4864235, "cg_dv": 36.320385, "cg_dw": 64.5135727, "cg_id_a": -2.99027014, "cg_id_raw_a": 3.70145249, "cg_iq_a": 296.64093, "cg_iq_raw_a": 306.831116, "cg_iu_a": -289.870941, "cg_iv_a": 196.415619, "cg_iw_a": 93.4553146, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5157368, "cg_sample_valid": 1, "cg_theta_rad": 4.72867346, "cg_vd_req_v": 6.83786964, "cg_vd_v": 6.83786964, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8774948, "cg_vq_v": -27.8774948, "cg_vu_v": 152.202835, "cg_vv_v": 113.492287, "cg_vw_v": 88.4184036, "control_outputs_enabled": 1, "dclink_i_a": 78.795105, "dclink_p_w": 11854.1914, "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": 56.6056519, "temp_inv2_c": 54.0902405, "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": 0.102320895, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 627.948364, "values": {"Elec_RPM": -12518.2705, "EncoderCos": 50547, "EncoderSin": 22939, "GapTicks": 36733, "Mech_RPM": -2503.65405, "cg_du": 49.5281792, "cg_dv": 33.3943214, "cg_dw": 66.6056824, "cg_id_a": 4.96420717, "cg_id_raw_a": 10.3159485, "cg_iq_a": 306.774994, "cg_iq_raw_a": 307.825775, "cg_iu_a": -165.917023, "cg_iv_a": 300.000488, "cg_iw_a": -134.083466, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5162212, "cg_sample_valid": 1, "cg_theta_rad": 5.83524895, "cg_vd_req_v": 6.65897989, "cg_vd_v": 6.65897989, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0717602, "cg_vq_v": -28.0717602, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 78.5432053, "dclink_p_w": 11816.2949, "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": 56.5663757, "temp_inv2_c": 54.1063232, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102874793, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 628.969177, "values": {"Elec_RPM": -12517.6465, "EncoderCos": 12214, "EncoderSin": 32822, "GapTicks": 37801, "Mech_RPM": -2503.5293, "cg_du": 34.3651733, "cg_dv": 40.5894623, "cg_dw": 65.6348267, "cg_id_a": -2.83561754, "cg_id_raw_a": 2.06955385, "cg_iq_a": 297.582428, "cg_iq_raw_a": 307.727631, "cg_iu_a": 113.232986, "cg_iv_a": 176.445267, "cg_iw_a": -289.678253, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 5167362, "cg_sample_valid": 1, "cg_theta_rad": 3.1288898, "cg_vd_req_v": 6.8364296, "cg_vd_v": 6.8364296, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8424454, "cg_vq_v": -27.8424454, "cg_vu_v": 36.9509773, "cg_vv_v": 2.63935518, "cg_vw_v": 59.385498, "control_outputs_enabled": 1, "dclink_i_a": 79.0488129, "dclink_p_w": 11892.3604, "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": 56.6056519, "temp_inv2_c": 54.0557861, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10841383, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 630.006714, "values": {"Elec_RPM": -12511.8896, "EncoderCos": 52570, "EncoderSin": 38042, "GapTicks": 38036, "Mech_RPM": -2502.37793, "cg_du": 39.5331078, "cg_dv": 65.4214935, "cg_dw": 34.5785103, "cg_id_a": 5.28404808, "cg_id_raw_a": 10.1076765, "cg_iq_a": 304.549408, "cg_iq_raw_a": 307.802612, "cg_iu_a": 278.25116, "cg_iv_a": -36.7771912, "cg_iw_a": -241.473969, "cg_sample_age_us": 23.3872719, "cg_sample_seq": 5172517, "cg_sample_valid": 1, "cg_theta_rad": 0.468278438, "cg_vd_req_v": 6.70362997, "cg_vd_v": 6.70362997, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9813442, "cg_vq_v": -27.9813442, "cg_vu_v": 73.462059, "cg_vv_v": 74.7817383, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 77.6588593, "dclink_p_w": 11683.251, "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": 56.644928, "temp_inv2_c": 54.1063232, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101666279, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 631.02417, "values": {"Elec_RPM": -12517.3828, "EncoderCos": 50717, "EncoderSin": 42212, "GapTicks": 37944, "Mech_RPM": -2503.47656, "cg_du": 34.4952545, "cg_dv": 60.2355385, "cg_dw": 65.5047455, "cg_id_a": 10.0010567, "cg_id_raw_a": 14.3844404, "cg_iq_a": 303.611664, "cg_iq_raw_a": 307.547272, "cg_iu_a": 224.501541, "cg_iv_a": 52.7450714, "cg_iw_a": -277.246613, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 5177613, "cg_sample_valid": 1, "cg_theta_rad": 0.518602848, "cg_vd_req_v": 6.58915567, "cg_vd_v": 6.58915567, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.974596, "cg_vq_v": -27.974596, "cg_vu_v": 110.852921, "cg_vv_v": 109.093361, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 79.3496323, "dclink_p_w": 11937.6172, "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": 56.6842651, "temp_inv2_c": 54.0902405, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 632.041565, "values": {"Elec_RPM": -12513.8135, "EncoderCos": 49540, "EncoderSin": 44153, "GapTicks": 37095, "Mech_RPM": -2502.7627, "cg_du": 33.7230301, "cg_dv": 44.43293, "cg_dw": 66.2769699, "cg_id_a": 3.48742652, "cg_id_raw_a": 9.89440441, "cg_iq_a": 302.473145, "cg_iq_raw_a": 309.823242, "cg_iu_a": 102.142365, "cg_iv_a": 199.641327, "cg_iw_a": -301.783691, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 5182712, "cg_sample_valid": 1, "cg_theta_rad": 0.631361246, "cg_vd_req_v": 6.74440908, "cg_vd_v": 6.74440908, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.934948, "cg_vq_v": -27.934948, "cg_vu_v": 22.4345207, "cg_vv_v": 0, "cg_vw_v": 54.1067848, "control_outputs_enabled": 1, "dclink_i_a": 79.3713837, "dclink_p_w": 11940.8887, "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": 56.6842651, "temp_inv2_c": 54.2260742, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102018766, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 633.05896, "values": {"Elec_RPM": -12513.5293, "EncoderCos": 12477, "EncoderSin": 29363, "GapTicks": 36962, "Mech_RPM": -2502.70581, "cg_du": 53.9243469, "cg_dv": 33.6020012, "cg_dw": 66.397995, "cg_id_a": -3.53203988, "cg_id_raw_a": 6.81367779, "cg_iq_a": 296.589417, "cg_iq_raw_a": 299.543976, "cg_iu_a": -243.877518, "cg_iv_a": 272.926331, "cg_iw_a": -110.452484, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 5187763, "cg_sample_valid": 1, "cg_theta_rad": 3.38826394, "cg_vd_req_v": 6.87671423, "cg_vd_v": 6.87671423, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8357925, "cg_vq_v": -27.8357925, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 79.9675903, "dclink_p_w": 11995.4082, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2603, "hz_tim_isr": 5002, "hz_vsense": 2603, "pwm_moe": 1, "temp_inv1_c": 56.7236328, "temp_inv2_c": 54.1707458, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 634.076416, "values": {"Elec_RPM": -12515.1914, "EncoderCos": 48834, "EncoderSin": 45051, "GapTicks": 38760, "Mech_RPM": -2503.03833, "cg_du": 35.2367249, "cg_dv": 37.0111389, "cg_dw": 64.7632751, "cg_id_a": 9.71059799, "cg_id_raw_a": -5.12084341, "cg_iq_a": 300.988831, "cg_iq_raw_a": 296.046295, "cg_iu_a": 17.9479427, "cg_iv_a": 247.881897, "cg_iw_a": -265.829834, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 5192913, "cg_sample_valid": 1, "cg_theta_rad": 0.694038332, "cg_vd_req_v": 6.62196302, "cg_vd_v": 6.62196302, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9062691, "cg_vq_v": -27.9062691, "cg_vu_v": 149.123581, "cg_vv_v": 95.4566803, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.4148712, "dclink_p_w": 11912.498, "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": 56.644928, "temp_inv2_c": 54.2537537, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101464868, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 634.917664, "values": {"Elec_RPM": -12510.8125, "EncoderCos": 13468, "EncoderSin": 39652, "GapTicks": 37723, "Mech_RPM": -2502.1626, "cg_du": 34.294384, "cg_dv": 65.7056122, "cg_dw": 40.7548637, "cg_id_a": -0.846697628, "cg_id_raw_a": -9.34529114, "cg_iq_a": 300.834351, "cg_iq_raw_a": 295.376495, "cg_iu_a": 291.262695, "cg_iv_a": -226.694916, "cg_iw_a": -64.5677872, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 5197163, "cg_sample_valid": 1, "cg_theta_rad": 2.83920193, "cg_vd_req_v": 6.7901988, "cg_vd_v": 6.7901988, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9177704, "cg_vq_v": -27.9177704, "cg_vu_v": 77.4210892, "cg_vv_v": 139.445938, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 77.9633102, "dclink_p_w": 11729.0537, "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": 56.763031, "temp_inv2_c": 54.2445068, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102824442, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 635.934998, "values": {"Elec_RPM": -12518.5859, "EncoderCos": 48541, "EncoderSin": 19955, "GapTicks": 36940, "Mech_RPM": -2503.71729, "cg_du": 33.5824356, "cg_dv": 45.6473541, "cg_dw": 66.4175644, "cg_id_a": 4.40362406, "cg_id_raw_a": 7.1464386, "cg_iq_a": 306.351868, "cg_iq_raw_a": 311.552979, "cg_iu_a": 169.012238, "cg_iv_a": 130.850525, "cg_iw_a": -299.862762, "cg_sample_age_us": 23.823637, "cg_sample_seq": 5202212, "cg_sample_valid": 1, "cg_theta_rad": 5.61087656, "cg_vd_req_v": 6.66657066, "cg_vd_v": 6.66657066, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0715084, "cg_vq_v": -28.0715084, "cg_vu_v": 0.43989256, "cg_vv_v": 0, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 79.3876877, "dclink_p_w": 11908.4209, "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": 56.763031, "temp_inv2_c": 54.2999268, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103126571, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 636.952454, "values": {"Elec_RPM": -12511.5078, "EncoderCos": 49250, "EncoderSin": 20912, "GapTicks": 38459, "Mech_RPM": -2502.30151, "cg_du": 34.9630508, "cg_dv": 37.6068649, "cg_dw": 65.0369492, "cg_id_a": 3.17280269, "cg_id_raw_a": 9.44669914, "cg_iq_a": 305.995636, "cg_iq_raw_a": 314.705231, "cg_iu_a": -56.2794304, "cg_iv_a": 291.483185, "cg_iw_a": -235.203766, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5207312, "cg_sample_valid": 1, "cg_theta_rad": 5.75956345, "cg_vd_req_v": 6.70329237, "cg_vd_v": 6.70329237, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0539227, "cg_vq_v": -28.0539227, "cg_vu_v": 150.883148, "cg_vv_v": 106.014107, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.4199829, "dclink_p_w": 11763.2617, "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": 56.7236328, "temp_inv2_c": 54.3161011, "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": 0.102371253, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 637.92926, "values": {"Elec_RPM": -12517.1406, "EncoderCos": 12227, "EncoderSin": 32801, "GapTicks": 37859, "Mech_RPM": -2503.42822, "cg_du": 34.4177933, "cg_dv": 40.4827614, "cg_dw": 65.5822067, "cg_id_a": -2.02522492, "cg_id_raw_a": 5.59159565, "cg_iq_a": 300.101166, "cg_iq_raw_a": 310.171692, "cg_iu_a": 58.4323044, "cg_iv_a": 227.367859, "cg_iw_a": -285.800171, "cg_sample_age_us": 23.954546, "cg_sample_seq": 5212112, "cg_sample_valid": 1, "cg_theta_rad": 3.17262459, "cg_vd_req_v": 6.83368015, "cg_vd_v": 6.83368015, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8772602, "cg_vq_v": -27.8772602, "cg_vu_v": 58.5057106, "cg_vv_v": 36.9509773, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 79.1702271, "dclink_p_w": 11910.626, "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": 56.84198, "temp_inv2_c": 54.2214355, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103781186, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 638.963989, "values": {"Elec_RPM": -12520.0059, "EncoderCos": 37174, "EncoderSin": 52631, "GapTicks": 37350, "Mech_RPM": -2504.00122, "cg_du": 56.6055222, "cg_dv": 66.0453186, "cg_dw": 33.9546852, "cg_id_a": -5.41426134, "cg_id_raw_a": -11.9234591, "cg_iq_a": 295.820435, "cg_iq_raw_a": 293.732788, "cg_iu_a": 95.1110687, "cg_iv_a": -295.848114, "cg_iw_a": 200.737045, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 5217362, "cg_sample_valid": 1, "cg_theta_rad": 1.39380705, "cg_vd_req_v": 6.92479849, "cg_vd_v": 6.92479849, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8004684, "cg_vq_v": -27.8004684, "cg_vu_v": 6.59838867, "cg_vv_v": 76.9812012, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 78.9853821, "dclink_p_w": 11882.8174, "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": 56.8024902, "temp_inv2_c": 54.4109802, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0979400277, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 639.981323, "values": {"Elec_RPM": -12515.7402, "EncoderCos": 36023, "EncoderSin": 52814, "GapTicks": 36892, "Mech_RPM": -2503.14795, "cg_du": 48.5364723, "cg_dv": 66.4609985, "cg_dw": 33.5390015, "cg_id_a": -2.78686523, "cg_id_raw_a": 8.24861813, "cg_iq_a": 295.747559, "cg_iq_raw_a": 298.470367, "cg_iu_a": 167.200043, "cg_iv_a": -301.755859, "cg_iw_a": 134.555817, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 5222462, "cg_sample_valid": 1, "cg_theta_rad": 1.44770825, "cg_vd_req_v": 6.88572025, "cg_vd_v": 6.88572025, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7929153, "cg_vq_v": -27.7929153, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 78.4435349, "dclink_p_w": 11801.3008, "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": 56.8815002, "temp_inv2_c": 54.4040222, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0988967717, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 641.01886, "values": {"Elec_RPM": -12514.709, "EncoderCos": 40245, "EncoderSin": 51652, "GapTicks": 36784, "Mech_RPM": -2502.94189, "cg_du": 66.5597153, "cg_dv": 50.6174507, "cg_dw": 33.4402847, "cg_id_a": -2.42713928, "cg_id_raw_a": 6.46100473, "cg_iq_a": 302.564545, "cg_iq_raw_a": 302.901031, "cg_iu_a": 179.704163, "cg_iv_a": -293.601013, "cg_iw_a": 113.896835, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 5227567, "cg_sample_valid": 1, "cg_theta_rad": 1.44102967, "cg_vd_req_v": 6.8870225, "cg_vd_v": 6.8870225, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9373245, "cg_vq_v": -27.9373245, "cg_vu_v": 101.615181, "cg_vv_v": 151.762939, "cg_vw_v": 147.803909, "control_outputs_enabled": 1, "dclink_i_a": 79.1448593, "dclink_p_w": 11906.8105, "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": 56.8815002, "temp_inv2_c": 54.3716125, "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": 0.105140768, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 642.036316, "values": {"Elec_RPM": -12519.3057, "EncoderCos": 33743, "EncoderSin": 53076, "GapTicks": 38507, "Mech_RPM": -2503.86108, "cg_du": 35.0067215, "cg_dv": 64.9932785, "cg_dw": 37.9854393, "cg_id_a": -1.50409698, "cg_id_raw_a": 4.31921482, "cg_iq_a": 295.098938, "cg_iq_raw_a": 300.625763, "cg_iu_a": 271.437317, "cg_iv_a": -229.884369, "cg_iw_a": -41.5529556, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5232662, "cg_sample_valid": 1, "cg_theta_rad": 1.55050635, "cg_vd_req_v": 6.85418224, "cg_vd_v": 6.85418224, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7813263, "cg_vq_v": -27.7813263, "cg_vu_v": 0, "cg_vv_v": 41.3499031, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 78.5703888, "dclink_p_w": 11820.3848, "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": 56.84198, "temp_inv2_c": 54.3692932, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102522321, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 643.05365, "values": {"Elec_RPM": -12517.4033, "EncoderCos": 33722, "EncoderSin": 53052, "GapTicks": 38441, "Mech_RPM": -2503.48071, "cg_du": 34.9471207, "cg_dv": 65.0528793, "cg_dw": 38.0955925, "cg_id_a": -0.805978179, "cg_id_raw_a": -17.5185528, "cg_iq_a": 298.903748, "cg_iq_raw_a": 294.110291, "cg_iu_a": 275.641602, "cg_iv_a": -244.273163, "cg_iw_a": -31.3684387, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 5237763, "cg_sample_valid": 1, "cg_theta_rad": 1.56036317, "cg_vd_req_v": 6.86762667, "cg_vd_v": 6.86762667, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8272381, "cg_vq_v": -27.8272381, "cg_vu_v": 100.295509, "cg_vv_v": 151.323044, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 78.4888458, "dclink_p_w": 11808.1172, "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": 57.0003662, "temp_inv2_c": 54.4457397, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100256354, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 644.071106, "values": {"Elec_RPM": -12515.7109, "EncoderCos": 31464, "EncoderSin": 53055, "GapTicks": 36974, "Mech_RPM": -2503.14209, "cg_du": 33.6129265, "cg_dv": 66.3870697, "cg_dw": 53.6635361, "cg_id_a": -4.09023762, "cg_id_raw_a": -6.92054129, "cg_iq_a": 299.357147, "cg_iq_raw_a": 293.984802, "cg_iu_a": 290.284119, "cg_iv_a": -89.8744202, "cg_iw_a": -200.409698, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 5242862, "cg_sample_valid": 1, "cg_theta_rad": 1.66298926, "cg_vd_req_v": 6.91423893, "cg_vd_v": 6.91423893, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8580532, "cg_vq_v": -27.8580532, "cg_vu_v": 0, "cg_vv_v": 20.2350578, "cg_vw_v": 56.3062477, "control_outputs_enabled": 1, "dclink_i_a": 79.0596848, "dclink_p_w": 11859.2197, "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": 57.0003662, "temp_inv2_c": 54.6200867, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106198214, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 644.912476, "values": {"Elec_RPM": -12518.3926, "EncoderCos": 52660, "EncoderSin": 35596, "GapTicks": 36814, "Mech_RPM": -2503.67847, "cg_du": 48.7314072, "cg_dv": 66.5321808, "cg_dw": 33.4678192, "cg_id_a": -0.273838997, "cg_id_raw_a": 3.31301641, "cg_iq_a": 302.089691, "cg_iq_raw_a": 297.606659, "cg_iu_a": 177.348328, "cg_iv_a": -296.138092, "cg_iw_a": 118.789757, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 5247063, "cg_sample_valid": 1, "cg_theta_rad": 0.180846378, "cg_vd_req_v": 6.82924032, "cg_vd_v": 6.82924032, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9244061, "cg_vq_v": -27.9244061, "cg_vu_v": 73.462059, "cg_vv_v": 113.932175, "cg_vw_v": 91.0577545, "control_outputs_enabled": 1, "dclink_i_a": 78.5178375, "dclink_p_w": 11847.0186, "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": 56.9606934, "temp_inv2_c": 54.4109802, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102119483, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 645.92981, "values": {"Elec_RPM": -12515.5, "EncoderCos": 42457, "EncoderSin": 50580, "GapTicks": 38689, "Mech_RPM": -2503.1001, "cg_du": 64.8280945, "cg_dv": 35.1719055, "cg_dw": 37.1619453, "cg_id_a": 1.79728627, "cg_id_raw_a": -7.76236153, "cg_iq_a": 301.889404, "cg_iq_raw_a": 297.476654, "cg_iu_a": -266.493652, "cg_iv_a": 19.1107788, "cg_iw_a": 247.382874, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 5252263, "cg_sample_valid": 1, "cg_theta_rad": 1.10765779, "cg_vd_req_v": 6.79749393, "cg_vd_v": 6.79749393, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8973808, "cg_vq_v": -27.8973808, "cg_vu_v": 151.762939, "cg_vv_v": 149.123581, "cg_vw_v": 91.0577545, "control_outputs_enabled": 1, "dclink_i_a": 78.2623215, "dclink_p_w": 11774.0381, "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": 56.9606934, "temp_inv2_c": 54.4596863, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0982925147, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 646.947144, "values": {"Elec_RPM": -12514.2588, "EncoderCos": 51914, "EncoderSin": 38963, "GapTicks": 36962, "Mech_RPM": -2502.85181, "cg_du": 33.6021805, "cg_dv": 66.3978195, "cg_dw": 45.4374924, "cg_id_a": 4.89876318, "cg_id_raw_a": 5.02420092, "cg_iq_a": 304.735596, "cg_iq_raw_a": 303.225433, "cg_iu_a": 300.468628, "cg_iv_a": -178.816803, "cg_iw_a": -121.651833, "cg_sample_age_us": 23.5618191, "cg_sample_seq": 5257262, "cg_sample_valid": 1, "cg_theta_rad": 0.351780593, "cg_vd_req_v": 6.72341776, "cg_vd_v": 6.72341776, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9698925, "cg_vq_v": -27.9698925, "cg_vu_v": 0, "cg_vv_v": 30.7924805, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 78.1481552, "dclink_p_w": 11756.8623, "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": 57.0003662, "temp_inv2_c": 54.5921326, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101918057, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 647.92865, "values": {"Elec_RPM": -12518.5234, "EncoderCos": 36922, "EncoderSin": 12763, "GapTicks": 38264, "Mech_RPM": -2503.70459, "cg_du": 65.2141647, "cg_dv": 38.6760902, "cg_dw": 34.7858353, "cg_id_a": 3.38653684, "cg_id_raw_a": 5.88921452, "cg_iq_a": 303.572144, "cg_iq_raw_a": 304.942474, "cg_iu_a": -242.572739, "cg_iv_a": -37.3208771, "cg_iw_a": 279.893616, "cg_sample_age_us": 23.954546, "cg_sample_seq": 5262163, "cg_sample_valid": 1, "cg_theta_rad": 4.92259598, "cg_vd_req_v": 6.725142, "cg_vd_v": 6.725142, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9693527, "cg_vq_v": -27.9693527, "cg_vu_v": 37.830761, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5377731, "dclink_p_w": 11815.4785, "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": 57.0003662, "temp_inv2_c": 54.4434204, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106953539, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 648.958679, "values": {"Elec_RPM": -12517.5928, "EncoderCos": 50989, "EncoderSin": 24099, "GapTicks": 37525, "Mech_RPM": -2503.51855, "cg_du": 58.1864395, "cg_dv": 34.1145325, "cg_dw": 65.8854675, "cg_id_a": 3.46123505, "cg_id_raw_a": -1.12148583, "cg_iq_a": 304.203705, "cg_iq_raw_a": 299.036102, "cg_iu_a": -228.945068, "cg_iv_a": 285.394257, "cg_iw_a": -56.4491806, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 5267362, "cg_sample_valid": 1, "cg_theta_rad": 5.89516544, "cg_vd_req_v": 6.73684025, "cg_vd_v": 6.73684025, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9920483, "cg_vq_v": -27.9920483, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 42.6695786, "control_outputs_enabled": 1, "dclink_i_a": 78.2206421, "dclink_p_w": 11767.7676, "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": 57.0400696, "temp_inv2_c": 54.5130615, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102874793, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 649.976074, "values": {"Elec_RPM": -12516.8838, "EncoderCos": 19427, "EncoderSin": 48170, "GapTicks": 37237, "Mech_RPM": -2503.37671, "cg_du": 66.1473846, "cg_dv": 33.8526115, "cg_dw": 43.1629028, "cg_id_a": -6.2293787, "cg_id_raw_a": -8.50452232, "cg_iq_a": 302.617828, "cg_iq_raw_a": 294.365601, "cg_iu_a": -284.253143, "cg_iv_a": 67.2788391, "cg_iw_a": 216.974304, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 5272413, "cg_sample_valid": 1, "cg_theta_rad": 2.31591582, "cg_vd_req_v": 6.95658159, "cg_vd_v": 6.95658159, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9392853, "cg_vq_v": -27.9392853, "cg_vu_v": 144.28476, "cg_vv_v": 113.932175, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 79.7537537, "dclink_p_w": 11998.4141, "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": 57.0400696, "temp_inv2_c": 54.6620178, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104536511, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 650.993469, "values": {"Elec_RPM": -12517.4619, "EncoderCos": 17798, "EncoderSin": 46636, "GapTicks": 37385, "Mech_RPM": -2503.49243, "cg_du": 66.0129013, "cg_dv": 42.6813049, "cg_dw": 33.9870987, "cg_id_a": -3.28115654, "cg_id_raw_a": -3.69632339, "cg_iq_a": 298.613159, "cg_iq_raw_a": 302.133698, "cg_iu_a": -192.99118, "cg_iv_a": -98.8991394, "cg_iw_a": 291.89032, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 5277512, "cg_sample_valid": 1, "cg_theta_rad": 2.42554593, "cg_vd_req_v": 6.90680027, "cg_vd_v": 6.90680027, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8412476, "cg_vq_v": -27.8412476, "cg_vu_v": 44.4291458, "cg_vv_v": 76.5413055, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 78.6465073, "dclink_p_w": 11797.2412, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 57.0400696, "temp_inv2_c": 54.5967712, "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": 0.103176929, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 652.031006, "values": {"Elec_RPM": -12516.5938, "EncoderCos": 19359, "EncoderSin": 48132, "GapTicks": 37466, "Mech_RPM": -2503.31885, "cg_du": 65.9391098, "cg_dv": 34.0608864, "cg_dw": 42.0101089, "cg_id_a": -13.0426083, "cg_id_raw_a": -19.6761265, "cg_iq_a": 299.578064, "cg_iq_raw_a": 287.926331, "cg_iu_a": -123.692955, "cg_iv_a": -175.772308, "cg_iw_a": 299.465271, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 5282615, "cg_sample_valid": 1, "cg_theta_rad": 2.49169135, "cg_vd_req_v": 7.08569241, "cg_vd_v": 7.08569241, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8538036, "cg_vq_v": -27.8538036, "cg_vu_v": 35.6312981, "cg_vv_v": 43.9892578, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.8875275, "dclink_p_w": 11868.0967, "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": 57.079834, "temp_inv2_c": 54.6853638, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101766996, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 653.048523, "values": {"Elec_RPM": -12518.4785, "EncoderCos": 52168, "EncoderSin": 27464, "GapTicks": 36832, "Mech_RPM": -2503.6958, "cg_du": 66.5161438, "cg_dv": 33.4838562, "cg_dw": 46.5731621, "cg_id_a": 3.62153077, "cg_id_raw_a": 3.19464183, "cg_iq_a": 310.262146, "cg_iq_raw_a": 304.581085, "cg_iu_a": -299.548035, "cg_iv_a": 106.095978, "cg_iw_a": 193.452057, "cg_sample_age_us": 24.1654549, "cg_sample_seq": 5287763, "cg_sample_valid": 1, "cg_theta_rad": 6.06723213, "cg_vd_req_v": 6.72578335, "cg_vd_v": 6.72578335, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1028366, "cg_vq_v": -28.1028366, "cg_vu_v": 151.762939, "cg_vv_v": 120.090675, "cg_vw_v": 102.494972, "control_outputs_enabled": 1, "dclink_i_a": 78.4036713, "dclink_p_w": 11760.8154, "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": 57.079834, "temp_inv2_c": 54.5758362, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101918057, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 654.065796, "values": {"Elec_RPM": -12518.0371, "EncoderCos": 52444, "EncoderSin": 28630, "GapTicks": 38190, "Mech_RPM": -2503.60742, "cg_du": 65.2814789, "cg_dv": 34.7185211, "cg_dw": 38.4041672, "cg_id_a": 6.13032913, "cg_id_raw_a": -3.47547793, "cg_iq_a": 310.869263, "cg_iq_raw_a": 303.971588, "cg_iu_a": -282.694672, "cg_iv_a": 36.2541199, "cg_iw_a": 246.440552, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 5292863, "cg_sample_valid": 1, "cg_theta_rad": 6.12960672, "cg_vd_req_v": 6.69612598, "cg_vd_v": 6.69612598, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.1110954, "cg_vq_v": -28.1110954, "cg_vu_v": 142.085297, "cg_vv_v": 118.770996, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 79.4058151, "dclink_p_w": 11946.0693, "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": 57.1195984, "temp_inv2_c": 54.622406, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103982605, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 655.083252, "values": {"Elec_RPM": -12520.709, "EncoderCos": 15601, "EncoderSin": 43738, "GapTicks": 38398, "Mech_RPM": -2504.14185, "cg_du": 61.5449753, "cg_dv": 65.0920639, "cg_dw": 34.9079361, "cg_id_a": 5.5930872, "cg_id_raw_a": 9.59243965, "cg_iq_a": 299.885406, "cg_iq_raw_a": 305.867523, "cg_iu_a": 41.4339447, "cg_iv_a": -272.108398, "cg_iw_a": 230.674469, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 5297913, "cg_sample_valid": 1, "cg_theta_rad": 2.61205196, "cg_vd_req_v": 6.73631954, "cg_vd_v": 6.73631954, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.857729, "cg_vq_v": -27.857729, "cg_vu_v": 74.3418427, "cg_vv_v": 113.932175, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 79.5381012, "dclink_p_w": 11930.9834, "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": 57.1195984, "temp_inv2_c": 54.666687, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0996520892, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 655.924561, "values": {"Elec_RPM": -12519.3047, "EncoderCos": 33638, "EncoderSin": 12380, "GapTicks": 36882, "Mech_RPM": -2503.86084, "cg_du": 66.4700394, "cg_dv": 33.5299606, "cg_dw": 46.9374161, "cg_id_a": -1.08584964, "cg_id_raw_a": 5.50719213, "cg_iq_a": 302.524139, "cg_iq_raw_a": 305.06665, "cg_iu_a": -295.887421, "cg_iv_a": 180.287109, "cg_iw_a": 115.600304, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 5302162, "cg_sample_valid": 1, "cg_theta_rad": 4.76134205, "cg_vd_req_v": 6.83783722, "cg_vd_v": 6.83783722, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9514256, "cg_vq_v": -27.9514256, "cg_vu_v": 127.12896, "cg_vv_v": 83.1396942, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 78.8313446, "dclink_p_w": 11824.9678, "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": 57.1594238, "temp_inv2_c": 54.6713562, "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": 0.104737923, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 656.941956, "values": {"Elec_RPM": -12518.8525, "EncoderCos": 22183, "EncoderSin": 50121, "GapTicks": 38749, "Mech_RPM": -2503.77051, "cg_du": 62.5319672, "cg_dv": 35.2268295, "cg_dw": 64.7731705, "cg_id_a": -4.62249517, "cg_id_raw_a": -14.2668419, "cg_iq_a": 293.554108, "cg_iq_raw_a": 289.72467, "cg_iu_a": -248.33551, "cg_iv_a": 259.153717, "cg_iw_a": -10.8181992, "cg_sample_age_us": 23.6781826, "cg_sample_seq": 5307312, "cg_sample_valid": 1, "cg_theta_rad": 2.14189291, "cg_vd_req_v": 6.95188904, "cg_vd_v": 6.95188904, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.717617, "cg_vq_v": -27.717617, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.869072, "dclink_p_w": 11680.623, "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": 57.1594238, "temp_inv2_c": 54.7811584, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105795369, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 657.918762, "values": {"Elec_RPM": -12522.2695, "EncoderCos": 36632, "EncoderSin": 52596, "GapTicks": 36967, "Mech_RPM": -2504.45386, "cg_du": 53.0270996, "cg_dv": 66.3927536, "cg_dw": 33.6072464, "cg_id_a": -1.52641606, "cg_id_raw_a": 5.13015842, "cg_iq_a": 298.111938, "cg_iq_raw_a": 296.73291, "cg_iu_a": 135.667908, "cg_iv_a": -293.238586, "cg_iw_a": 157.570663, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5311963, "cg_sample_valid": 1, "cg_theta_rad": 1.41036034, "cg_vd_req_v": 6.88290882, "cg_vd_v": 6.88290882, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7989502, "cg_vq_v": -27.7989502, "cg_vu_v": 73.9019547, "cg_vv_v": 117.451309, "cg_vw_v": 84.4593658, "control_outputs_enabled": 1, "dclink_i_a": 78.914711, "dclink_p_w": 11872.1855, "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": 57.1993103, "temp_inv2_c": 54.7834778, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104536511, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 658.953491, "values": {"Elec_RPM": -12520.1514, "EncoderCos": 50879, "EncoderSin": 41504, "GapTicks": 39179, "Mech_RPM": -2504.03027, "cg_du": 35.6179276, "cg_dv": 64.3820724, "cg_dw": 64.1842117, "cg_id_a": 2.34155941, "cg_id_raw_a": 10.7234621, "cg_iq_a": 303.908295, "cg_iq_raw_a": 309.098846, "cg_iu_a": 262.158875, "cg_iv_a": -2.74420166, "cg_iw_a": -259.414673, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 5317313, "cg_sample_valid": 1, "cg_theta_rad": 0.483793914, "cg_vd_req_v": 6.79499531, "cg_vd_v": 6.79499531, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9359188, "cg_vq_v": -27.9359188, "cg_vu_v": 73.9019547, "cg_vv_v": 74.3418427, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 78.873024, "dclink_p_w": 11831.2197, "enc_isr_hz": 4998, "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": 57.1993103, "temp_inv2_c": 54.6690063, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105593957, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 659.970825, "values": {"Elec_RPM": -12519.6016, "EncoderCos": 49186, "EncoderSin": 44433, "GapTicks": 36850, "Mech_RPM": -2503.92041, "cg_du": 33.5005417, "cg_dv": 49.0268402, "cg_dw": 66.4994583, "cg_id_a": 2.5051024, "cg_id_raw_a": -3.06210184, "cg_iq_a": 302.715424, "cg_iq_raw_a": 294.886444, "cg_iu_a": 146.903503, "cg_iv_a": 162.708862, "cg_iw_a": -309.612366, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 5322412, "cg_sample_valid": 1, "cg_theta_rad": 0.60869211, "cg_vd_req_v": 6.80608273, "cg_vd_v": 6.80608273, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8596497, "cg_vq_v": -27.8596497, "cg_vu_v": 149.123581, "cg_vv_v": 84.4593658, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.791481, "dclink_p_w": 11853.6465, "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": 57.2791443, "temp_inv2_c": 54.7975159, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101464868, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 660.988159, "values": {"Elec_RPM": -12519.6289, "EncoderCos": 12547, "EncoderSin": 30013, "GapTicks": 36955, "Mech_RPM": -2503.92578, "cg_du": 49.5048637, "cg_dv": 33.5957642, "cg_dw": 66.4042358, "cg_id_a": -0.878948927, "cg_id_raw_a": 9.76824856, "cg_iq_a": 290.897034, "cg_iq_raw_a": 292.070068, "cg_iu_a": -150.259689, "cg_iv_a": 296.412354, "cg_iw_a": -146.152679, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 5327463, "cg_sample_valid": 1, "cg_theta_rad": 3.31632566, "cg_vd_req_v": 6.8512845, "cg_vd_v": 6.8512845, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6655312, "cg_vq_v": -27.6655312, "cg_vu_v": 143.404984, "cg_vv_v": 73.462059, "cg_vw_v": 101.615181, "control_outputs_enabled": 1, "dclink_i_a": 79.0923004, "dclink_p_w": 11898.9033, "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": 57.1993103, "temp_inv2_c": 54.7647705, "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": 0.103630126, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 662.025757, "values": {"Elec_RPM": -12516.0313, "EncoderCos": 51220, "EncoderSin": 40779, "GapTicks": 37703, "Mech_RPM": -2503.2063, "cg_du": 34.2759247, "cg_dv": 65.7240753, "cg_dw": 59.1266632, "cg_id_a": -0.183218002, "cg_id_raw_a": 10.7071438, "cg_iq_a": 302.947052, "cg_iq_raw_a": 308.229889, "cg_iu_a": 51.1835365, "cg_iv_a": 228.745117, "cg_iw_a": -279.92865, "cg_sample_age_us": 23.5400009, "cg_sample_seq": 5332617, "cg_sample_valid": 1, "cg_theta_rad": 0.663653135, "cg_vd_req_v": 6.86025953, "cg_vd_v": 6.86025953, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8928204, "cg_vq_v": -27.8928204, "cg_vu_v": 149.123581, "cg_vv_v": 98.9758301, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.4580383, "dclink_p_w": 11803.4824, "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": 57.2391968, "temp_inv2_c": 54.8396606, "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": 0.103176929, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 663.043152, "values": {"Elec_RPM": -12517.7363, "EncoderCos": 48310, "EncoderSin": 45494, "GapTicks": 38281, "Mech_RPM": -2503.54736, "cg_du": 38.5391998, "cg_dv": 34.8010483, "cg_dw": 65.1989517, "cg_id_a": 8.49673462, "cg_id_raw_a": -8.90997028, "cg_iq_a": 304.468872, "cg_iq_raw_a": 297.463348, "cg_iu_a": -28.154213, "cg_iv_a": 276.55072, "cg_iw_a": -248.396515, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 5337713, "cg_sample_valid": 1, "cg_theta_rad": 0.726593137, "cg_vd_req_v": 6.68010139, "cg_vd_v": 6.68010139, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9246807, "cg_vq_v": -27.9246807, "cg_vu_v": 119.650772, "cg_vv_v": 88.4184036, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.7787933, "dclink_p_w": 11817.085, "enc_isr_hz": 5001, "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": 57.3191528, "temp_inv2_c": 54.7834778, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0997528061, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 664.060486, "values": {"Elec_RPM": -12518.4492, "EncoderCos": 47552, "EncoderSin": 46390, "GapTicks": 36900, "Mech_RPM": -2503.68994, "cg_du": 46.6316299, "cg_dv": 33.5457649, "cg_dw": 66.4542389, "cg_id_a": 4.11831474, "cg_id_raw_a": 8.37820721, "cg_iq_a": 302.326904, "cg_iq_raw_a": 303.130219, "cg_iu_a": -125.541389, "cg_iv_a": 305.545807, "cg_iw_a": -180.00441, "cg_sample_age_us": 23.4963627, "cg_sample_seq": 5342813, "cg_sample_valid": 1, "cg_theta_rad": 0.774245083, "cg_vd_req_v": 6.77970076, "cg_vd_v": 6.77970076, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8862705, "cg_vq_v": -27.8862705, "cg_vu_v": 151.323044, "cg_vv_v": 84.4593658, "cg_vw_v": 148.24379, "control_outputs_enabled": 1, "dclink_i_a": 79.0361252, "dclink_p_w": 11890.4521, "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": 57.2791443, "temp_inv2_c": 54.9522705, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0995513797, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 665.077942, "values": {"Elec_RPM": -12515.7217, "EncoderCos": 45886, "EncoderSin": 48006, "GapTicks": 38641, "Mech_RPM": -2503.14429, "cg_du": 62.6433754, "cg_dv": 35.1281967, "cg_dw": 64.8718033, "cg_id_a": 2.50815153, "cg_id_raw_a": -9.93668079, "cg_iq_a": 301.84021, "cg_iq_raw_a": 296.931763, "cg_iu_a": -252.539795, "cg_iv_a": 269.120758, "cg_iw_a": -16.5809631, "cg_sample_age_us": 23.6018181, "cg_sample_seq": 5347912, "cg_sample_valid": 1, "cg_theta_rad": 0.890188873, "cg_vd_req_v": 6.83170509, "cg_vd_v": 6.83170509, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8698997, "cg_vq_v": -27.8698997, "cg_vu_v": 42.6695786, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 79.4329987, "dclink_p_w": 11915.2178, "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": 57.2791443, "temp_inv2_c": 54.9123535, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103378341, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 665.91925, "values": {"Elec_RPM": -12514.4814, "EncoderCos": 12611, "EncoderSin": 35574, "GapTicks": 37873, "Mech_RPM": -2502.89624, "cg_du": 34.4306793, "cg_dv": 59.803772, "cg_dw": 65.5693207, "cg_id_a": 2.36461115, "cg_id_raw_a": -13.7702379, "cg_iq_a": 301.996277, "cg_iq_raw_a": 301.212708, "cg_iu_a": 234.541077, "cg_iv_a": 57.4567871, "cg_iw_a": -291.997864, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 5352162, "cg_sample_valid": 1, "cg_theta_rad": 3.04031706, "cg_vd_req_v": 6.81273127, "cg_vd_v": 6.81273127, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.873806, "cg_vq_v": -27.873806, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 79.3296967, "dclink_p_w": 11934.6172, "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": 57.2791443, "temp_inv2_c": 54.8912354, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105442896, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 666.936646, "values": {"Elec_RPM": -12516.041, "EncoderCos": 50154, "EncoderSin": 22670, "GapTicks": 36919, "Mech_RPM": -2503.20825, "cg_du": 46.5843315, "cg_dv": 33.56353, "cg_dw": 66.43647, "cg_id_a": 7.42672491, "cg_id_raw_a": 12.188138, "cg_iq_a": 304.825745, "cg_iq_raw_a": 306.864685, "cg_iu_a": -133.080109, "cg_iv_a": 299.058136, "cg_iw_a": -165.978027, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5357212, "cg_sample_valid": 1, "cg_theta_rad": 5.80071306, "cg_vd_req_v": 6.6742897, "cg_vd_v": 6.6742897, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9724731, "cg_vq_v": -27.9724731, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 30.7924805, "control_outputs_enabled": 1, "dclink_i_a": 79.1992188, "dclink_p_w": 11880.1494, "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": 57.3191528, "temp_inv2_c": 54.905304, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 667.908936, "values": {"Elec_RPM": -12514.291, "EncoderCos": 50810, "EncoderSin": 23920, "GapTicks": 37338, "Mech_RPM": -2502.85815, "cg_du": 56.572464, "cg_dv": 33.94384, "cg_dw": 66.05616, "cg_id_a": 4.38543844, "cg_id_raw_a": 2.64206338, "cg_iq_a": 300.676086, "cg_iq_raw_a": 298.340515, "cg_iu_a": -305.020874, "cg_iv_a": 259.226196, "cg_iw_a": 3.6068573, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5361964, "cg_sample_valid": 1, "cg_theta_rad": 5.97573519, "cg_vd_req_v": 6.74429417, "cg_vd_v": 6.74429417, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8558025, "cg_vq_v": -27.8558025, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.3184967, "dclink_p_w": 11748.0391, "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": 57.399292, "temp_inv2_c": 54.9522705, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100860603, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 668.94812, "values": {"Elec_RPM": -12518.3779, "EncoderCos": 36157, "EncoderSin": 52630, "GapTicks": 36820, "Mech_RPM": -2503.67554, "cg_du": 49.6291847, "cg_dv": 66.5269699, "cg_dw": 33.4730301, "cg_id_a": -3.32354641, "cg_id_raw_a": -1.40967464, "cg_iq_a": 297.837311, "cg_iq_raw_a": 293.248962, "cg_iu_a": 166.910095, "cg_iv_a": -291.535095, "cg_iw_a": 124.625015, "cg_sample_age_us": 23.8745461, "cg_sample_seq": 5367263, "cg_sample_valid": 1, "cg_theta_rad": 1.43713343, "cg_vd_req_v": 6.94064665, "cg_vd_v": 6.94064665, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7745247, "cg_vq_v": -27.7745247, "cg_vu_v": 80.0604477, "cg_vv_v": 151.762939, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 78.2677536, "dclink_p_w": 11774.8555, "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": 57.3191528, "temp_inv2_c": 54.9335022, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100759894, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 669.965576, "values": {"Elec_RPM": -12516.6309, "EncoderCos": 39845, "EncoderSin": 13779, "GapTicks": 38307, "Mech_RPM": -2503.32617, "cg_du": 61.4079208, "cg_dv": 65.175293, "cg_dw": 34.824707, "cg_id_a": 2.55324244, "cg_id_raw_a": -11.974349, "cg_iq_a": 302.025787, "cg_iq_raw_a": 299.135498, "cg_iu_a": 31.9380627, "cg_iv_a": -279.248444, "cg_iw_a": 247.310379, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 5372412, "cg_sample_valid": 1, "cg_theta_rad": 5.11745691, "cg_vd_req_v": 6.75428486, "cg_vd_v": 6.75428486, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9329224, "cg_vq_v": -27.9329224, "cg_vu_v": 0, "cg_vv_v": 56.3062477, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.2188263, "dclink_p_w": 11767.4951, "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": 57.399292, "temp_inv2_c": 54.9664001, "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": 0.105140768, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 671.003052, "values": {"Elec_RPM": -12518.7998, "EncoderCos": 17285, "EncoderSin": 45909, "GapTicks": 36745, "Mech_RPM": -2503.76001, "cg_du": 66.5948792, "cg_dv": 48.8448715, "cg_dw": 33.4051208, "cg_id_a": -5.11585999, "cg_id_raw_a": -6.64361095, "cg_iq_a": 303.794464, "cg_iq_raw_a": 302.419067, "cg_iu_a": -143.445862, "cg_iv_a": -158.338989, "cg_iw_a": 301.784851, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5377562, "cg_sample_valid": 1, "cg_theta_rad": 2.46590638, "cg_vd_req_v": 6.93630743, "cg_vd_v": 6.93630743, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9182587, "cg_vq_v": -27.9182587, "cg_vu_v": 40.4701157, "cg_vv_v": 76.9812012, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 79.11586, "dclink_p_w": 11867.6455, "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": 57.3191528, "temp_inv2_c": 55.0393066, "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": 0.10725566, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 672.020508, "values": {"Elec_RPM": -12520.0918, "EncoderCos": 41056, "EncoderSin": 14293, "GapTicks": 36912, "Mech_RPM": -2504.01831, "cg_du": 52.3824081, "cg_dv": 66.4434052, "cg_dw": 33.5565948, "cg_id_a": 3.53618097, "cg_id_raw_a": 10.7809582, "cg_iq_a": 299.296051, "cg_iq_raw_a": 299.380371, "cg_iu_a": 140.742035, "cg_iv_a": -292.984863, "cg_iw_a": 152.242828, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 5382613, "cg_sample_valid": 1, "cg_theta_rad": 5.18514967, "cg_vd_req_v": 6.73918247, "cg_vd_v": 6.73918247, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8612785, "cg_vq_v": -27.8612785, "cg_vu_v": 105.574219, "cg_vv_v": 151.762939, "cg_vw_v": 146.924118, "control_outputs_enabled": 1, "dclink_i_a": 78.8585281, "dclink_p_w": 11829.0449, "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": 57.3591919, "temp_inv2_c": 54.9804993, "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": 0.105543599, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 673.037903, "values": {"Elec_RPM": -12518.1992, "EncoderCos": 43092, "EncoderSin": 15375, "GapTicks": 38973, "Mech_RPM": -2503.63989, "cg_du": 36.5492668, "cg_dv": 64.5691147, "cg_dw": 35.4308815, "cg_id_a": 0.940420628, "cg_id_raw_a": 7.23673964, "cg_iq_a": 298.238647, "cg_iq_raw_a": 305.226715, "cg_iu_a": 253.677826, "cg_iv_a": -286.424713, "cg_iw_a": 78.7040787, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 5387712, "cg_sample_valid": 1, "cg_theta_rad": 5.28856182, "cg_vd_req_v": 6.7919178, "cg_vd_v": 6.7919178, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8641243, "cg_vq_v": -27.8641243, "cg_vu_v": 0, "cg_vv_v": 41.7897949, "cg_vw_v": 31.2323723, "control_outputs_enabled": 1, "dclink_i_a": 78.6791229, "dclink_p_w": 11802.1338, "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": 57.4394226, "temp_inv2_c": 55.0841064, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103831537, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 674.055359, "values": {"Elec_RPM": -12519.7217, "EncoderCos": 30163, "EncoderSin": 52779, "GapTicks": 38661, "Mech_RPM": -2503.94434, "cg_du": 35.1467171, "cg_dv": 64.8532867, "cg_dw": 62.6632805, "cg_id_a": -7.24988413, "cg_id_raw_a": 3.70225501, "cg_iq_a": 298.809479, "cg_iq_raw_a": 304.722931, "cg_iu_a": 227.183594, "cg_iv_a": 67.1338501, "cg_iw_a": -294.317444, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 5392763, "cg_sample_valid": 1, "cg_theta_rad": 1.78244603, "cg_vd_req_v": 6.99700356, "cg_vd_v": 6.99700356, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8082352, "cg_vq_v": -27.8082352, "cg_vu_v": 37.3908691, "cg_vv_v": 37.3908691, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 78.6410675, "dclink_p_w": 11796.4258, "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": 57.4394226, "temp_inv2_c": 55.0463562, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.1107805, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 675.072693, "values": {"Elec_RPM": -12519.0771, "EncoderCos": 28632, "EncoderSin": 12815, "GapTicks": 36941, "Mech_RPM": -2503.81543, "cg_du": 47.4814529, "cg_dv": 33.5833626, "cg_dw": 66.4166412, "cg_id_a": -3.21883297, "cg_id_raw_a": 3.68816137, "cg_iq_a": 295.145935, "cg_iq_raw_a": 295.393372, "cg_iu_a": -142.104828, "cg_iv_a": 291.483185, "cg_iw_a": -149.378357, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 5397812, "cg_sample_valid": 1, "cg_theta_rad": 4.55661011, "cg_vd_req_v": 6.92211485, "cg_vd_v": 6.92211485, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7807159, "cg_vq_v": -27.7807159, "cg_vu_v": 47.5083961, "cg_vv_v": 0, "cg_vw_v": 5.71860361, "control_outputs_enabled": 1, "dclink_i_a": 78.8059769, "dclink_p_w": 11890.4941, "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": 57.4394226, "temp_inv2_c": 55.1784973, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 675.914001, "values": {"Elec_RPM": -12514.457, "EncoderCos": 40169, "EncoderSin": 51482, "GapTicks": 36856, "Mech_RPM": -2502.89136, "cg_du": 66.4939651, "cg_dv": 50.7182846, "cg_dw": 33.5060349, "cg_id_a": -1.79340398, "cg_id_raw_a": 6.49473238, "cg_iq_a": 299.541718, "cg_iq_raw_a": 299.428406, "cg_iu_a": -143.337128, "cg_iv_a": -160.11496, "cg_iw_a": 303.452087, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 5402163, "cg_sample_valid": 1, "cg_theta_rad": 1.2299813, "cg_vd_req_v": 6.91485691, "cg_vd_v": 6.91485691, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8152294, "cg_vq_v": -27.8152294, "cg_vu_v": 150.443253, "cg_vv_v": 151.323044, "cg_vw_v": 97.2162552, "control_outputs_enabled": 1, "dclink_i_a": 78.5703888, "dclink_p_w": 11785.8232, "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": 57.5197754, "temp_inv2_c": 55.1596069, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 676.931396, "values": {"Elec_RPM": -12513.6484, "EncoderCos": 38011, "EncoderSin": 52220, "GapTicks": 38686, "Mech_RPM": -2502.72974, "cg_du": 62.6649437, "cg_dv": 64.8300705, "cg_dw": 35.1699295, "cg_id_a": -0.654464722, "cg_id_raw_a": -16.4876022, "cg_iq_a": 299.43692, "cg_iq_raw_a": 297.092041, "cg_iu_a": 18.999012, "cg_iv_a": -271.637238, "cg_iw_a": 252.638214, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 5407262, "cg_sample_valid": 1, "cg_theta_rad": 1.3417325, "cg_vd_req_v": 6.90354538, "cg_vd_v": 6.90354538, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7951736, "cg_vq_v": -27.7951736, "cg_vu_v": 0.43989256, "cg_vv_v": 51.9073219, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5395813, "dclink_p_w": 11815.75, "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": 57.5600281, "temp_inv2_c": 55.1218262, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100256354, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 677.888123, "values": {"Elec_RPM": -12518.209, "EncoderCos": 52131, "EncoderSin": 27736, "GapTicks": 37118, "Mech_RPM": -2503.64185, "cg_du": 66.2562714, "cg_dv": 33.7437286, "cg_dw": 44.7556763, "cg_id_a": 4.26607513, "cg_id_raw_a": 8.57507229, "cg_iq_a": 308.34845, "cg_iq_raw_a": 313.215912, "cg_iu_a": -307.594177, "cg_iv_a": 103.305206, "cg_iw_a": 204.288971, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 5411812, "cg_sample_valid": 1, "cg_theta_rad": 6.07264757, "cg_vd_req_v": 6.77168226, "cg_vd_v": 6.77168226, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -28.0023918, "cg_vq_v": -28.0023918, "cg_vu_v": 41.7897949, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5975723, "dclink_p_w": 11789.9014, "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": 57.5197754, "temp_inv2_c": 55.1761169, "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": 0.109571986, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 678.94281, "values": {"Elec_RPM": -12514.9766, "EncoderCos": 12533, "EncoderSin": 31247, "GapTicks": 37780, "Mech_RPM": -2502.99536, "cg_du": 40.9404106, "cg_dv": 34.345993, "cg_dw": 65.654007, "cg_id_a": 1.41177845, "cg_id_raw_a": -9.59374714, "cg_iq_a": 297.007355, "cg_iq_raw_a": 292.984192, "cg_iu_a": -62.4046402, "cg_iv_a": 247.120758, "cg_iw_a": -268.004456, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 5417313, "cg_sample_valid": 1, "cg_theta_rad": 3.24083662, "cg_vd_req_v": 6.82549238, "cg_vd_v": 6.82549238, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7609348, "cg_vq_v": -27.7609348, "cg_vu_v": 150.883148, "cg_vv_v": 107.773682, "cg_vw_v": 141.205521, "control_outputs_enabled": 1, "dclink_i_a": 79.235466, "dclink_p_w": 11920.4414, "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": 57.5197754, "temp_inv2_c": 55.1974182, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105392538, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 679.960266, "values": {"Elec_RPM": -12518.5449, "EncoderCos": 17592, "EncoderSin": 46203, "GapTicks": 37001, "Mech_RPM": -2503.70898, "cg_du": 66.3623047, "cg_dv": 45.8789978, "cg_dw": 33.6376915, "cg_id_a": -3.10785913, "cg_id_raw_a": 0.362121105, "cg_iq_a": 301.806335, "cg_iq_raw_a": 295.555847, "cg_iu_a": -190.01918, "cg_iv_a": -116.00621, "cg_iw_a": 306.025391, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 5422313, "cg_sample_valid": 1, "cg_theta_rad": 2.44495988, "cg_vd_req_v": 6.93752718, "cg_vd_v": 6.93752718, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8726254, "cg_vq_v": -27.8726254, "cg_vu_v": 112.612495, "cg_vv_v": 113.492287, "cg_vw_v": 70.3828125, "control_outputs_enabled": 1, "dclink_i_a": 78.6247559, "dclink_p_w": 11828.5645, "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": 57.5600281, "temp_inv2_c": 55.1524963, "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": 0.100004576, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 680.977722, "values": {"Elec_RPM": -12514.6592, "EncoderCos": 16213, "EncoderSin": 44387, "GapTicks": 38367, "Mech_RPM": -2502.93188, "cg_du": 65.1205139, "cg_dv": 61.5716705, "cg_dw": 34.8794899, "cg_id_a": 2.70631671, "cg_id_raw_a": -12.4560614, "cg_iq_a": 303.809265, "cg_iq_raw_a": 301.311768, "cg_iu_a": -33.7357635, "cg_iv_a": -244.59935, "cg_iw_a": 278.335114, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 5427412, "cg_sample_valid": 1, "cg_theta_rad": 2.55585575, "cg_vd_req_v": 6.81162596, "cg_vd_v": 6.81162596, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8970795, "cg_vq_v": -27.8970795, "cg_vu_v": 1.31967759, "cg_vv_v": 41.3499031, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 78.0611649, "dclink_p_w": 11743.7754, "enc_isr_hz": 5000, "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": 57.5600281, "temp_inv2_c": 55.2329102, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104687572, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 682.015198, "values": {"Elec_RPM": -12517.4072, "EncoderCos": 13129, "EncoderSin": 27670, "GapTicks": 38833, "Mech_RPM": -2503.48145, "cg_du": 64.6963654, "cg_dv": 35.3036308, "cg_dw": 62.7393532, "cg_id_a": -4.37581682, "cg_id_raw_a": 1.98895156, "cg_iq_a": 293.422821, "cg_iq_raw_a": 299.086426, "cg_iu_a": -264.500244, "cg_iv_a": 238.5672, "cg_iw_a": 25.9330521, "cg_sample_age_us": 23.6963634, "cg_sample_seq": 5432613, "cg_sample_valid": 1, "cg_theta_rad": 3.42595077, "cg_vd_req_v": 6.97263288, "cg_vd_v": 6.97263288, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6842728, "cg_vq_v": -27.6842728, "cg_vu_v": 151.762939, "cg_vv_v": 109.093361, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 78.35112, "dclink_p_w": 11787.3975, "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": 57.6003418, "temp_inv2_c": 55.192688, "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": 0.106198214, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 683.032715, "values": {"Elec_RPM": -12516.9746, "EncoderCos": 16681, "EncoderSin": 45105, "GapTicks": 36822, "Mech_RPM": -2503.39502, "cg_du": 66.5247269, "cg_dv": 48.2950935, "cg_dw": 33.4752731, "cg_id_a": -2.84751987, "cg_id_raw_a": 0.414856642, "cg_iq_a": 302.294373, "cg_iq_raw_a": 306.192505, "cg_iu_a": 148.933151, "cg_iv_a": -300.451111, "cg_iw_a": 151.517944, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 5437615, "cg_sample_valid": 1, "cg_theta_rad": 2.68751812, "cg_vd_req_v": 6.90652847, "cg_vd_v": 6.90652847, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8662453, "cg_vq_v": -27.8662453, "cg_vu_v": 21.9946289, "cg_vv_v": 78.7407684, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 78.4109192, "dclink_p_w": 11761.9023, "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": 57.5600281, "temp_inv2_c": 55.368042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103176929, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 684.050049, "values": {"Elec_RPM": -12515.9805, "EncoderCos": 14326, "EncoderSin": 24344, "GapTicks": 38352, "Mech_RPM": -2503.19604, "cg_du": 65.1337662, "cg_dv": 34.8662338, "cg_dw": 38.4600258, "cg_id_a": -7.42671108, "cg_id_raw_a": -5.67155218, "cg_iq_a": 301.467621, "cg_iq_raw_a": 308.361694, "cg_iu_a": -276.27948, "cg_iv_a": 91.5259399, "cg_iw_a": 198.598694, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 5442812, "cg_sample_valid": 1, "cg_theta_rad": 3.59746957, "cg_vd_req_v": 6.99645042, "cg_vd_v": 6.99645042, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8597984, "cg_vq_v": -27.8597984, "cg_vu_v": 76.9812012, "cg_vv_v": 75.2216263, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.7751694, "dclink_p_w": 11851.1924, "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": 57.6003418, "temp_inv2_c": 55.3253174, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102774091, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 685.067566, "values": {"Elec_RPM": -12517.3184, "EncoderCos": 13898, "EncoderSin": 40046, "GapTicks": 38631, "Mech_RPM": -2503.46362, "cg_du": 35.1198845, "cg_dv": 64.8801117, "cg_dw": 37.5031281, "cg_id_a": -2.22376871, "cg_id_raw_a": 5.83216047, "cg_iq_a": 298.510162, "cg_iq_raw_a": 302.227631, "cg_iu_a": 273.285767, "cg_iv_a": -240.503815, "cg_iw_a": -32.7819595, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 5447812, "cg_sample_valid": 1, "cg_theta_rad": 2.80668592, "cg_vd_req_v": 6.90411139, "cg_vd_v": 6.90411139, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7992001, "cg_vq_v": -27.7992001, "cg_vu_v": 0, "cg_vv_v": 54.9865723, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 78.5631409, "dclink_p_w": 11819.2949, "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": 57.640686, "temp_inv2_c": 55.2257996, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104486153, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 686.084839, "values": {"Elec_RPM": -12519.2686, "EncoderCos": 13865, "EncoderSin": 39915, "GapTicks": 38441, "Mech_RPM": -2503.85376, "cg_du": 34.9470329, "cg_dv": 65.0529633, "cg_dw": 38.3309326, "cg_id_a": 1.84066963, "cg_id_raw_a": -10.2781324, "cg_iq_a": 300.288513, "cg_iq_raw_a": 294.717346, "cg_iu_a": 278.214905, "cg_iv_a": -246.846466, "cg_iw_a": -31.3684464, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 5452913, "cg_sample_valid": 1, "cg_theta_rad": 2.80688143, "cg_vd_req_v": 6.83292055, "cg_vd_v": 6.83292055, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8223495, "cg_vq_v": -27.8223495, "cg_vu_v": 109.973145, "cg_vv_v": 149.563477, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 78.9600143, "dclink_p_w": 11879.001, "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": 57.6003418, "temp_inv2_c": 55.3016052, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 686.926147, "values": {"Elec_RPM": -12519.21, "EncoderCos": 20662, "EncoderSin": 48862, "GapTicks": 36974, "Mech_RPM": -2503.84204, "cg_du": 66.3871918, "cg_dv": 33.6128082, "cg_dw": 52.9195213, "cg_id_a": -6.55192661, "cg_id_raw_a": 0.788436949, "cg_iq_a": 296.449554, "cg_iq_raw_a": 292.50174, "cg_iu_a": -295.090057, "cg_iv_a": 156.656128, "cg_iw_a": 138.433929, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 5457213, "cg_sample_valid": 1, "cg_theta_rad": 2.25140905, "cg_vd_req_v": 7.01654339, "cg_vd_v": 7.01654339, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7440186, "cg_vq_v": -27.7440186, "cg_vu_v": 142.085297, "cg_vv_v": 103.814644, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 79.2010345, "dclink_p_w": 11880.4219, "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": 57.6810608, "temp_inv2_c": 55.2850037, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107859924, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 687.893799, "values": {"Elec_RPM": -12520.3369, "EncoderCos": 35717, "EncoderSin": 52621, "GapTicks": 37126, "Mech_RPM": -2504.06738, "cg_du": 46.5360565, "cg_dv": 66.248558, "cg_dw": 33.751442, "cg_id_a": -4.35944271, "cg_id_raw_a": -11.2549219, "cg_iq_a": 297.452148, "cg_iq_raw_a": 289.574341, "cg_iu_a": 298.692688, "cg_iv_a": -161.27478, "cg_iw_a": -137.417908, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 5461865, "cg_sample_valid": 1, "cg_theta_rad": 1.62461627, "cg_vd_req_v": 6.98408318, "cg_vd_v": 6.98408318, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.752739, "cg_vq_v": -27.752739, "cg_vu_v": 7.47817326, "cg_vv_v": 44.8690414, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 79.4184952, "dclink_p_w": 11913.042, "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": 57.6810608, "temp_inv2_c": 55.2992249, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103126571, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 688.937561, "values": {"Elec_RPM": -12520.6348, "EncoderCos": 49144, "EncoderSin": 44115, "GapTicks": 37331, "Mech_RPM": -2504.12695, "cg_du": 33.9378433, "cg_dv": 43.0061493, "cg_dw": 66.0621567, "cg_id_a": 3.84723878, "cg_id_raw_a": -2.08960342, "cg_iq_a": 303.486786, "cg_iq_raw_a": 295.448853, "cg_iu_a": 69.1242371, "cg_iv_a": 214.899994, "cg_iw_a": -284.024231, "cg_sample_age_us": 23.4381809, "cg_sample_seq": 5467213, "cg_sample_valid": 1, "cg_theta_rad": 0.636680067, "cg_vd_req_v": 6.84598017, "cg_vd_v": 6.84598017, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.857893, "cg_vq_v": -27.857893, "cg_vu_v": 112.172607, "cg_vv_v": 84.0194778, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.6283798, "dclink_p_w": 11794.5225, "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": 57.7214966, "temp_inv2_c": 55.3846741, "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": 0.106802478, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 689.955017, "values": {"Elec_RPM": -12515.7236, "EncoderCos": 24367, "EncoderSin": 14259, "GapTicks": 37098, "Mech_RPM": -2503.14478, "cg_du": 33.7260895, "cg_dv": 54.6177368, "cg_dw": 66.2739105, "cg_id_a": -1.93057287, "cg_id_raw_a": -1.77731013, "cg_iq_a": 298.348083, "cg_iq_raw_a": 300.453369, "cg_iu_a": 189.961182, "cg_iv_a": 114.504547, "cg_iw_a": -304.465729, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 5472362, "cg_sample_valid": 1, "cg_theta_rad": 4.32847977, "cg_vd_req_v": 6.88803864, "cg_vd_v": 6.88803864, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8069763, "cg_vq_v": -27.8069763, "cg_vu_v": 2.63935518, "cg_vv_v": 0.43989256, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 79.1303558, "dclink_p_w": 11904.6279, "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": 57.640686, "temp_inv2_c": 55.368042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.0996520892, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 690.972412, "values": {"Elec_RPM": -12515.9863, "EncoderCos": 25500, "EncoderSin": 13853, "GapTicks": 37049, "Mech_RPM": -2503.19727, "cg_du": 33.6815033, "cg_dv": 46.1330185, "cg_dw": 66.3184967, "cg_id_a": 0.106891394, "cg_id_raw_a": 3.12192154, "cg_iq_a": 296.995361, "cg_iq_raw_a": 302.795837, "cg_iu_a": 165.569077, "cg_iv_a": 124.399124, "cg_iw_a": -289.968201, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 5477462, "cg_sample_valid": 1, "cg_theta_rad": 4.34577274, "cg_vd_req_v": 6.84452391, "cg_vd_v": 6.84452391, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7813454, "cg_vq_v": -27.7813454, "cg_vu_v": 36.5110817, "cg_vv_v": 3.07924795, "cg_vw_v": 59.385498, "control_outputs_enabled": 1, "dclink_i_a": 78.6156998, "dclink_p_w": 11792.6201, "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": 57.7619629, "temp_inv2_c": 55.3442993, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105493248, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 691.989868, "values": {"Elec_RPM": -12512.8662, "EncoderCos": 46006, "EncoderSin": 47748, "GapTicks": 38205, "Mech_RPM": -2502.57324, "cg_du": 61.011673, "cg_dv": 34.7320824, "cg_dw": 65.2679214, "cg_id_a": 1.6747669, "cg_id_raw_a": -4.72637224, "cg_iq_a": 301.415985, "cg_iq_raw_a": 296.706329, "cg_iu_a": -241.521667, "cg_iv_a": 274.484863, "cg_iw_a": -32.9631805, "cg_sample_age_us": 23.6127281, "cg_sample_seq": 5482512, "cg_sample_valid": 1, "cg_theta_rad": 0.877114117, "cg_vd_req_v": 6.89164257, "cg_vd_v": 6.89164257, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8051643, "cg_vq_v": -27.8051643, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 78.0647888, "dclink_p_w": 11709.9814, "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": 57.7619629, "temp_inv2_c": 55.3989258, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104939342, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 693.027405, "values": {"Elec_RPM": -12515.7676, "EncoderCos": 26808, "EncoderSin": 13355, "GapTicks": 38847, "Mech_RPM": -2503.15356, "cg_du": 35.3161316, "cg_dv": 36.7163391, "cg_dw": 64.6838684, "cg_id_a": 3.54963493, "cg_id_raw_a": -14.0317888, "cg_iq_a": 301.300476, "cg_iq_raw_a": 293.868683, "cg_iu_a": 18.4191132, "cg_iv_a": 249.87529, "cg_iw_a": -268.294403, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 5487663, "cg_sample_valid": 1, "cg_theta_rad": 4.47095919, "cg_vd_req_v": 6.77986336, "cg_vd_v": 6.77986336, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8814316, "cg_vq_v": -27.8814316, "cg_vu_v": 44.8690414, "cg_vv_v": 0, "cg_vw_v": 31.2323723, "control_outputs_enabled": 1, "dclink_i_a": 78.85672, "dclink_p_w": 11863.4619, "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": 57.7619629, "temp_inv2_c": 55.368042, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 694.0448, "values": {"Elec_RPM": -12514.0605, "EncoderCos": 13494, "EncoderSin": 26506, "GapTicks": 37111, "Mech_RPM": -2502.81201, "cg_du": 66.2623444, "cg_dv": 33.7376556, "cg_dw": 55.1895599, "cg_id_a": -8.84141159, "cg_id_raw_a": -10.1266785, "cg_iq_a": 297.736511, "cg_iq_raw_a": 294.11908, "cg_iu_a": -164.43103, "cg_iv_a": -131.699829, "cg_iw_a": 296.130859, "cg_sample_age_us": 26.3036366, "cg_sample_seq": 5492666, "cg_sample_valid": 1, "cg_theta_rad": 3.71246648, "cg_vd_req_v": 7.04838705, "cg_vd_v": 7.04838705, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7611294, "cg_vq_v": -27.7611294, "cg_vu_v": 12.3169918, "cg_vv_v": 41.7897949, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 78.4109192, "dclink_p_w": 11796.3936, "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": 57.7619629, "temp_inv2_c": 55.3822937, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103378341, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 695.062256, "values": {"Elec_RPM": -12516.1816, "EncoderCos": 30285, "EncoderSin": 12671, "GapTicks": 37831, "Mech_RPM": -2503.23633, "cg_du": 58.9991531, "cg_dv": 34.3920746, "cg_dw": 65.6079254, "cg_id_a": -1.59859395, "cg_id_raw_a": -5.21639299, "cg_iq_a": 295.380249, "cg_iq_raw_a": 292.443481, "cg_iu_a": -227.277832, "cg_iv_a": 272.45517, "cg_iw_a": -45.1773453, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 5497862, "cg_sample_valid": 1, "cg_theta_rad": 4.63669825, "cg_vd_req_v": 6.86836481, "cg_vd_v": 6.86836481, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7387314, "cg_vq_v": -27.7387314, "cg_vu_v": 77.4210892, "cg_vv_v": 37.3908691, "cg_vw_v": 43.549366, "control_outputs_enabled": 1, "dclink_i_a": 78.6845627, "dclink_p_w": 11802.9502, "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": 57.8430481, "temp_inv2_c": 55.4203491, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104939342, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 696.079712, "values": {"Elec_RPM": -12518.0029, "EncoderCos": 31497, "EncoderSin": 12576, "GapTicks": 38474, "Mech_RPM": -2503.60059, "cg_du": 65.0231552, "cg_dv": 34.9768448, "cg_dw": 61.7729836, "cg_id_a": 1.09887528, "cg_id_raw_a": -14.9662094, "cg_iq_a": 299.337952, "cg_iq_raw_a": 293.893036, "cg_iu_a": -277.765503, "cg_iv_a": 244.040039, "cg_iw_a": 33.7254715, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 5502962, "cg_sample_valid": 1, "cg_theta_rad": 4.70402765, "cg_vd_req_v": 6.81189299, "cg_vd_v": 6.81189299, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8229179, "cg_vq_v": -27.8229179, "cg_vu_v": 41.7897949, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.9107513, "dclink_p_w": 11686.875, "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": 57.8024902, "temp_inv2_c": 55.3965454, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 696.920898, "values": {"Elec_RPM": -12518.5488, "EncoderCos": 12571, "EncoderSin": 31991, "GapTicks": 39185, "Mech_RPM": -2503.70972, "cg_du": 36.1075897, "cg_dv": 35.6235046, "cg_dw": 64.3764954, "cg_id_a": 6.21669006, "cg_id_raw_a": -7.88757038, "cg_iq_a": 295.288635, "cg_iq_raw_a": 291.433228, "cg_iu_a": -96.1113968, "cg_iv_a": 279.196533, "cg_iw_a": -183.085144, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 5507163, "cg_sample_valid": 1, "cg_theta_rad": 3.27368259, "cg_vd_req_v": 6.74061203, "cg_vd_v": 6.74061203, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7065067, "cg_vq_v": -27.7065067, "cg_vu_v": 54.5466805, "cg_vv_v": 0, "cg_vw_v": 19.3552723, "control_outputs_enabled": 1, "dclink_i_a": 78.3638, "dclink_p_w": 11754.834, "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": 57.7619629, "temp_inv2_c": 55.5418091, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105795369, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 697.868591, "values": {"Elec_RPM": -12522.3125, "EncoderCos": 16624, "EncoderSin": 44820, "GapTicks": 37461, "Mech_RPM": -2504.4624, "cg_du": 65.9437027, "cg_dv": 57.7916985, "cg_dw": 34.0562935, "cg_id_a": -4.8822093, "cg_id_raw_a": 0.54987365, "cg_iq_a": 301.288635, "cg_iq_raw_a": 303.676056, "cg_iu_a": 2.21811843, "cg_iv_a": -263.083679, "cg_iw_a": 260.86557, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 5511813, "cg_sample_valid": 1, "cg_theta_rad": 2.58742952, "cg_vd_req_v": 6.9800458, "cg_vd_v": 6.9800458, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8322067, "cg_vq_v": -27.8322067, "cg_vu_v": 14.5164547, "cg_vv_v": 77.4210892, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 78.4199829, "dclink_p_w": 11763.2617, "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": 57.8024902, "temp_inv2_c": 55.534668, "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": 0.109974824, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 698.932495, "values": {"Elec_RPM": -12522.8906, "EncoderCos": 41013, "EncoderSin": 14417, "GapTicks": 36889, "Mech_RPM": -2504.57813, "cg_du": 52.2811661, "cg_dv": 66.463829, "cg_dw": 33.536171, "cg_id_a": 4.74425268, "cg_id_raw_a": 7.75007296, "cg_iq_a": 301.930817, "cg_iq_raw_a": 300.181, "cg_iu_a": 140.959503, "cg_iv_a": -296.174316, "cg_iw_a": 155.214813, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 5517213, "cg_sample_valid": 1, "cg_theta_rad": 5.19378757, "cg_vd_req_v": 6.76326227, "cg_vd_v": 6.76326227, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8833027, "cg_vq_v": -27.8833027, "cg_vu_v": 0, "cg_vv_v": 68.1833496, "cg_vw_v": 12.7568836, "control_outputs_enabled": 1, "dclink_i_a": 78.5885162, "dclink_p_w": 11823.1123, "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": 57.8430481, "temp_inv2_c": 55.4822083, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105291829, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 699.94989, "values": {"Elec_RPM": -12515.7529, "EncoderCos": 43071, "EncoderSin": 15532, "GapTicks": 39182, "Mech_RPM": -2503.15063, "cg_du": 36.0391235, "cg_dv": 64.3793716, "cg_dw": 35.6206284, "cg_id_a": -2.45884776, "cg_id_raw_a": 7.37434101, "cg_iq_a": 298.320587, "cg_iq_raw_a": 303.797455, "cg_iu_a": 259.078186, "cg_iv_a": -257.755859, "cg_iw_a": -1.3223114, "cg_sample_age_us": 23.863636, "cg_sample_seq": 5522312, "cg_sample_valid": 1, "cg_theta_rad": 5.30504894, "cg_vd_req_v": 6.93030119, "cg_vd_v": 6.93030119, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7849083, "cg_vq_v": -27.7849083, "cg_vu_v": 10.5574207, "cg_vv_v": 76.9812012, "cg_vw_v": 76.5413055, "control_outputs_enabled": 1, "dclink_i_a": 78.3166885, "dclink_p_w": 11782.2178, "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": 57.8430481, "temp_inv2_c": 55.5585327, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 700.967285, "values": {"Elec_RPM": -12515.0313, "EncoderCos": 15311, "EncoderSin": 42793, "GapTicks": 37168, "Mech_RPM": -2503.00635, "cg_du": 54.8346367, "cg_dv": 66.2102509, "cg_dw": 33.7897453, "cg_id_a": -3.2526567, "cg_id_raw_a": -4.35671329, "cg_iq_a": 296.293396, "cg_iq_raw_a": 295.918701, "cg_iu_a": 110.949623, "cg_iv_a": -299.90741, "cg_iw_a": 188.957794, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 5527462, "cg_sample_valid": 1, "cg_theta_rad": 2.64600253, "cg_vd_req_v": 6.94726753, "cg_vd_v": 6.94726753, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7169685, "cg_vq_v": -27.7169685, "cg_vu_v": 27.7132301, "cg_vv_v": 67.743454, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.853096, "dclink_p_w": 11862.916, "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": 57.9243164, "temp_inv2_c": 55.4869995, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 701.98468, "values": {"Elec_RPM": -12514.917, "EncoderCos": 28864, "EncoderSin": 52452, "GapTicks": 37490, "Mech_RPM": -2502.9834, "cg_du": 34.0818253, "cg_dv": 57.3857994, "cg_dw": 65.9181747, "cg_id_a": 2.76721001, "cg_id_raw_a": 6.74593735, "cg_iq_a": 296.933105, "cg_iq_raw_a": 297.621399, "cg_iu_a": 194.96283, "cg_iv_a": 87.3579102, "cg_iw_a": -282.32074, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 5532463, "cg_sample_valid": 1, "cg_theta_rad": 1.80149603, "cg_vd_req_v": 6.87281752, "cg_vd_v": 6.87281752, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7040749, "cg_vq_v": -27.7040749, "cg_vu_v": 124.049698, "cg_vv_v": 108.653458, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 78.4072952, "dclink_p_w": 11795.8486, "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": 57.9243164, "temp_inv2_c": 55.422699, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 703.002075, "values": {"Elec_RPM": -12516.7041, "EncoderCos": 26615, "EncoderSin": 51911, "GapTicks": 37773, "Mech_RPM": -2503.34082, "cg_du": 34.3394241, "cg_dv": 40.977581, "cg_dw": 65.6605759, "cg_id_a": -8.40095329, "cg_id_raw_a": -5.06150532, "cg_iq_a": 296.661285, "cg_iq_raw_a": 303.817657, "cg_iu_a": 59.9183006, "cg_iv_a": 226.389252, "cg_iw_a": -286.307556, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 5537562, "cg_sample_valid": 1, "cg_theta_rad": 1.92033589, "cg_vd_req_v": 7.05939007, "cg_vd_v": 7.05939007, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7013836, "cg_vq_v": -27.7013836, "cg_vu_v": 115.251846, "cg_vv_v": 82.2599106, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 78.8802795, "dclink_p_w": 11832.3076, "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": 57.8836365, "temp_inv2_c": 55.5680847, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 704.039612, "values": {"Elec_RPM": -12514.4912, "EncoderCos": 46176, "EncoderSin": 17896, "GapTicks": 38478, "Mech_RPM": -2502.89819, "cg_du": 34.9806671, "cg_dv": 65.0193329, "cg_dw": 61.9916649, "cg_id_a": 3.125319, "cg_id_raw_a": 13.9148293, "cg_iq_a": 304.651398, "cg_iq_raw_a": 310.615265, "cg_iu_a": 276.40271, "cg_iv_a": -33.0440674, "cg_iw_a": -243.358643, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5542713, "cg_sample_valid": 1, "cg_theta_rad": 5.50196838, "cg_vd_req_v": 6.78967142, "cg_vd_v": 6.78967142, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9159164, "cg_vq_v": -27.9159164, "cg_vu_v": 106.014107, "cg_vv_v": 136.806595, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.6809387, "dclink_p_w": 11837.0166, "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": 57.8836365, "temp_inv2_c": 55.5394287, "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": 0.101867706, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 705.057007, "values": {"Elec_RPM": -12515.1572, "EncoderCos": 47036, "EncoderSin": 18773, "GapTicks": 37710, "Mech_RPM": -2503.03149, "cg_du": 34.2826424, "cg_dv": 58.6429024, "cg_dw": 65.7173538, "cg_id_a": 1.84152937, "cg_id_raw_a": 3.87644458, "cg_iq_a": 301.043671, "cg_iq_raw_a": 301.321899, "cg_iu_a": 163.32196, "cg_iv_a": 150.385956, "cg_iw_a": -313.707916, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5547813, "cg_sample_valid": 1, "cg_theta_rad": 5.60968208, "cg_vd_req_v": 6.80930281, "cg_vd_v": 6.80930281, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8256645, "cg_vq_v": -27.8256645, "cg_vu_v": 40.4701157, "cg_vv_v": 36.9509773, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 79.2155304, "dclink_p_w": 11917.4424, "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": 57.9649963, "temp_inv2_c": 55.5919495, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.101162732, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 706.074463, "values": {"Elec_RPM": -12514.8828, "EncoderCos": 13011, "EncoderSin": 36968, "GapTicks": 36897, "Mech_RPM": -2502.97656, "cg_du": 33.5431023, "cg_dv": 66.4568939, "cg_dw": 51.7565117, "cg_id_a": 2.15770936, "cg_id_raw_a": -8.02675915, "cg_iq_a": 301.500824, "cg_iq_raw_a": 297.3237, "cg_iu_a": 302.896973, "cg_iv_a": -134.454346, "cg_iw_a": -168.442627, "cg_sample_age_us": 23.823637, "cg_sample_seq": 5552962, "cg_sample_valid": 1, "cg_theta_rad": 2.92003965, "cg_vd_req_v": 6.84153938, "cg_vd_v": 6.84153938, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8105335, "cg_vq_v": -27.829998, "cg_vu_v": 73.462059, "cg_vv_v": 97.6561432, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 78.8059769, "dclink_p_w": 11890.4941, "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": 58.0057373, "temp_inv2_c": 55.6254272, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 706.91571, "values": {"Elec_RPM": -12510.3701, "EncoderCos": 34057, "EncoderSin": 52726, "GapTicks": 39215, "Mech_RPM": -2502.07397, "cg_du": 35.6501007, "cg_dv": 64.3498993, "cg_dw": 36.1222076, "cg_id_a": -4.78836823, "cg_id_raw_a": 0.718506694, "cg_iq_a": 295.793457, "cg_iq_raw_a": 301.301941, "cg_iu_a": 262.666321, "cg_iv_a": -248.259979, "cg_iw_a": -14.4063339, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5557162, "cg_sample_valid": 1, "cg_theta_rad": 1.53876448, "cg_vd_req_v": 7.02297449, "cg_vd_v": 7.02297449, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6735649, "cg_vq_v": -27.6735649, "cg_vu_v": 0, "cg_vv_v": 40.4701157, "cg_vw_v": 35.6312981, "control_outputs_enabled": 1, "dclink_i_a": 78.0176697, "dclink_p_w": 11702.9131, "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": 58.0057373, "temp_inv2_c": 55.630188, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104133666, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 708.133057, "values": {"Elec_RPM": -12515.7637, "EncoderCos": 12797, "EncoderSin": 35573, "GapTicks": 38008, "Mech_RPM": -2503.15283, "cg_du": 34.5534286, "cg_dv": 59.9588165, "cg_dw": 65.4465714, "cg_id_a": 6.6045742, "cg_id_raw_a": 11.1262751, "cg_iq_a": 302.410156, "cg_iq_raw_a": 305.687134, "cg_iu_a": 223.522964, "cg_iv_a": 54.9197235, "cg_iw_a": -278.442688, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 5563163, "cg_sample_valid": 1, "cg_theta_rad": 3.03186154, "cg_vd_req_v": 6.76407814, "cg_vd_v": 6.76407814, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8215466, "cg_vq_v": -27.8215466, "cg_vu_v": 84.0194778, "cg_vv_v": 72.5822754, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 78.6773148, "dclink_p_w": 11836.4707, "enc_isr_hz": 4998, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2578, "hz_tim_isr": 4998, "hz_vsense": 2578, "pwm_moe": 1, "temp_inv1_c": 57.8836365, "temp_inv2_c": 55.6278076, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 708.927246, "values": {"Elec_RPM": -12516.1826, "EncoderCos": 13664, "EncoderSin": 26262, "GapTicks": 36941, "Mech_RPM": -2503.23657, "cg_du": 66.417099, "cg_dv": 33.582901, "cg_dw": 52.4444618, "cg_id_a": -9.84163761, "cg_id_raw_a": -6.45138741, "cg_iq_a": 293.757263, "cg_iq_raw_a": 290.774139, "cg_iu_a": -304.984619, "cg_iv_a": 163.506226, "cg_iw_a": 141.478394, "cg_sample_age_us": 24.1072731, "cg_sample_seq": 5567212, "cg_sample_valid": 1, "cg_theta_rad": 3.50769901, "cg_vd_req_v": 7.08667421, "cg_vd_v": 7.08667421, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6469574, "cg_vq_v": -27.6469574, "cg_vu_v": 56.3062477, "cg_vv_v": 0.87978512, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.4797821, "dclink_p_w": 11772.2324, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5001, "hz_app_loop": 2602, "hz_tim_isr": 5000, "hz_vsense": 2602, "pwm_moe": 1, "temp_inv1_c": 58.0057373, "temp_inv2_c": 55.6684875, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 709.944641, "values": {"Elec_RPM": -12516.209, "EncoderCos": 14126, "EncoderSin": 25103, "GapTicks": 37314, "Mech_RPM": -2503.2417, "cg_du": 66.0779114, "cg_dv": 33.9220848, "cg_dw": 43.6603737, "cg_id_a": -9.00094986, "cg_id_raw_a": -8.10427666, "cg_iq_a": 299.137299, "cg_iq_raw_a": 303.851166, "cg_iu_a": -294.328918, "cg_iv_a": 82.0663147, "cg_iw_a": 212.262604, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 5572312, "cg_sample_valid": 1, "cg_theta_rad": 3.56213188, "cg_vd_req_v": 7.05652094, "cg_vd_v": 7.05652094, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7618885, "cg_vq_v": -27.7618885, "cg_vu_v": 41.3499031, "cg_vv_v": 17.5957031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5957642, "dclink_p_w": 11720.4814, "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": 58.0057373, "temp_inv2_c": 55.7308044, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100759894, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 710.961975, "values": {"Elec_RPM": -12517.9111, "EncoderCos": 13777, "EncoderSin": 25936, "GapTicks": 36860, "Mech_RPM": -2503.58228, "cg_du": 66.4903107, "cg_dv": 33.5096893, "cg_dw": 50.1385231, "cg_id_a": -2.76604795, "cg_id_raw_a": 0.602755308, "cg_iq_a": 296.864563, "cg_iq_raw_a": 297.333771, "cg_iu_a": -276.823181, "cg_iv_a": 62.095993, "cg_iw_a": 214.727188, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 5577414, "cg_sample_valid": 1, "cg_theta_rad": 3.57861257, "cg_vd_req_v": 6.9515624, "cg_vd_v": 6.9515624, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7042027, "cg_vq_v": -27.7042027, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": 78.7044907, "dclink_p_w": 11805.9395, "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": 58.0057373, "temp_inv2_c": 55.6541138, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105644308, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 711.979431, "values": {"Elec_RPM": -12515.8711, "EncoderCos": 15190, "EncoderSin": 22860, "GapTicks": 37282, "Mech_RPM": -2503.17432, "cg_du": 66.1065903, "cg_dv": 44.1490593, "cg_dw": 33.8934097, "cg_id_a": -1.84769559, "cg_id_raw_a": 4.35865068, "cg_iq_a": 297.105255, "cg_iq_raw_a": 296.177643, "cg_iu_a": -181.320663, "cg_iv_a": -111.729446, "cg_iw_a": 293.05011, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 5582512, "cg_sample_valid": 1, "cg_theta_rad": 3.70261407, "cg_vd_req_v": 6.92544985, "cg_vd_v": 6.92544985, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7371101, "cg_vq_v": -27.7371101, "cg_vu_v": 150.883148, "cg_vv_v": 151.762939, "cg_vw_v": 88.8582916, "control_outputs_enabled": 1, "dclink_i_a": 79.0343094, "dclink_p_w": 11890.1787, "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": 58.0057373, "temp_inv2_c": 55.8075562, "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": 150.443253}}
{"type": "telemetry", "t": 712.996826, "values": {"Elec_RPM": -12513.9355, "EncoderCos": 13423, "EncoderSin": 38358, "GapTicks": 36794, "Mech_RPM": -2502.78711, "cg_du": 33.4490967, "cg_dv": 66.5509033, "cg_dw": 49.5569496, "cg_id_a": -1.20699525, "cg_id_raw_a": -1.66534448, "cg_iq_a": 303.227051, "cg_iq_raw_a": 299.127625, "cg_iu_a": 294.270935, "cg_iv_a": -220.823395, "cg_iw_a": -73.4475479, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 5587512, "cg_sample_valid": 1, "cg_theta_rad": 2.88284755, "cg_vd_req_v": 6.92156363, "cg_vd_v": 6.92156363, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8230515, "cg_vq_v": -27.8230515, "cg_vu_v": 30.3525867, "cg_vv_v": 52.7871094, "cg_vw_v": 84.4593658, "control_outputs_enabled": 1, "dclink_i_a": 79.173851, "dclink_p_w": 11911.1719, "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": 58.0873413, "temp_inv2_c": 55.7068176, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105090402, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 714.034424, "values": {"Elec_RPM": -12515.1768, "EncoderCos": 52602, "EncoderSin": 32552, "GapTicks": 37860, "Mech_RPM": -2503.0354, "cg_du": 65.5816422, "cg_dv": 59.5900421, "cg_dw": 34.418354, "cg_id_a": 5.45388508, "cg_id_raw_a": -3.70473075, "cg_iq_a": 306.735291, "cg_iq_raw_a": 305.369598, "cg_iu_a": 190.72229, "cg_iv_a": -298.783875, "cg_iw_a": 108.061577, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 5592666, "cg_sample_valid": 1, "cg_theta_rad": 0.199086979, "cg_vd_req_v": 6.82030058, "cg_vd_v": 6.82030058, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9046745, "cg_vq_v": -27.9046745, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 140.765625, "control_outputs_enabled": 1, "dclink_i_a": 78.046669, "dclink_p_w": 11741.5947, "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": 58.1691284, "temp_inv2_c": 55.8051758, "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": 0.104486153, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 715.051758, "values": {"Elec_RPM": -12517.0361, "EncoderCos": 51860, "EncoderSin": 38052, "GapTicks": 38029, "Mech_RPM": -2503.40723, "cg_du": 34.572403, "cg_dv": 65.427597, "cg_dw": 39.621048, "cg_id_a": 10.0791683, "cg_id_raw_a": 12.3115749, "cg_iq_a": 305.89856, "cg_iq_raw_a": 310.486786, "cg_iu_a": 282.96283, "cg_iv_a": -229.159454, "cg_iw_a": -53.8033752, "cg_sample_age_us": 23.4963627, "cg_sample_seq": 5597762, "cg_sample_valid": 1, "cg_theta_rad": 0.30467096, "cg_vd_req_v": 6.71321821, "cg_vd_v": 6.71321821, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8697796, "cg_vq_v": -27.8697796, "cg_vu_v": 10.5574207, "cg_vv_v": 70.3828125, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": 78.2913132, "dclink_p_w": 11778.3994, "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": 58.0873413, "temp_inv2_c": 55.8388367, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104586862, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 716.069214, "values": {"Elec_RPM": -12518.9863, "EncoderCos": 12840, "EncoderSin": 35725, "GapTicks": 38221, "Mech_RPM": -2503.79736, "cg_du": 34.7468643, "cg_dv": 60.8786049, "cg_dw": 65.2531357, "cg_id_a": 0.934662342, "cg_id_raw_a": 6.75994921, "cg_iq_a": 298.14801, "cg_iq_raw_a": 301.070831, "cg_iu_a": 226.205017, "cg_iv_a": 46.2211914, "cg_iw_a": -272.426208, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 5602813, "cg_sample_valid": 1, "cg_theta_rad": 3.02399755, "cg_vd_req_v": 6.88508892, "cg_vd_v": 6.88508892, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7299557, "cg_vq_v": -27.7299557, "cg_vu_v": 99.8556061, "cg_vv_v": 73.9019547, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 78.8259125, "dclink_p_w": 11858.8262, "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": 58.1282043, "temp_inv2_c": 55.821991, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 717.08667, "values": {"Elec_RPM": -12514.0801, "EncoderCos": 51038, "EncoderSin": 40438, "GapTicks": 37434, "Mech_RPM": -2502.81592, "cg_du": 34.031105, "cg_dv": 65.968895, "cg_dw": 57.5097389, "cg_id_a": 2.40997171, "cg_id_raw_a": -5.59008694, "cg_iq_a": 303.568329, "cg_iq_raw_a": 298.701508, "cg_iu_a": 286.877197, "cg_iv_a": -64.6124725, "cg_iw_a": -222.264725, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 5607962, "cg_sample_valid": 1, "cg_theta_rad": 0.437676698, "cg_vd_req_v": 6.89197636, "cg_vd_v": 6.89197636, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8199673, "cg_vq_v": -27.8199673, "cg_vu_v": 21.9946289, "cg_vv_v": 40.0302238, "cg_vw_v": 80.9402313, "control_outputs_enabled": 1, "dclink_i_a": 78.1445236, "dclink_p_w": 11721.9424, "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": 58.1282043, "temp_inv2_c": 55.9423523, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 718.118652, "values": {"Elec_RPM": -12518.8193, "EncoderCos": 50944, "EncoderSin": 24820, "GapTicks": 38587, "Mech_RPM": -2503.76392, "cg_du": 62.3292198, "cg_dv": 35.0795097, "cg_dw": 64.9204941, "cg_id_a": 11.4170218, "cg_id_raw_a": -0.866340637, "cg_iq_a": 308.040802, "cg_iq_raw_a": 303.839844, "cg_iu_a": -252.648529, "cg_iv_a": 307.031799, "cg_iw_a": -110.41626, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 5612962, "cg_sample_valid": 1, "cg_theta_rad": 5.91146374, "cg_vd_req_v": 6.65338993, "cg_vd_v": 6.65338993, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9366779, "cg_vq_v": -27.9366779, "cg_vu_v": 76.9812012, "cg_vv_v": 37.3908691, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 78.3402405, "dclink_p_w": 11751.2998, "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": 58.1691284, "temp_inv2_c": 55.7427673, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107608154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 718.921936, "values": {"Elec_RPM": -12520.0869, "EncoderCos": 46172, "EncoderSin": 47411, "GapTicks": 37796, "Mech_RPM": -2504.01733, "cg_du": 58.8540039, "cg_dv": 34.360775, "cg_dw": 65.6392212, "cg_id_a": -6.20861053, "cg_id_raw_a": 4.55985451, "cg_iq_a": 297.321198, "cg_iq_raw_a": 302.912506, "cg_iu_a": -223.725952, "cg_iv_a": 283.654541, "cg_iw_a": -59.9285812, "cg_sample_age_us": 23.5872726, "cg_sample_seq": 5617113, "cg_sample_valid": 1, "cg_theta_rad": 0.858856857, "cg_vd_req_v": 7.10801125, "cg_vd_v": 7.10801125, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6845169, "cg_vq_v": -27.6845169, "cg_vu_v": 114.811958, "cg_vv_v": 71.7024918, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 79.1611633, "dclink_p_w": 11874.4414, "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": 58.1691284, "temp_inv2_c": 55.894165, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 719.939331, "values": {"Elec_RPM": -12515.2129, "EncoderCos": 27976, "EncoderSin": 52206, "GapTicks": 36882, "Mech_RPM": -2503.04248, "cg_du": 33.5295258, "cg_dv": 50.7887993, "cg_dw": 66.4704742, "cg_id_a": -2.9407599, "cg_id_raw_a": 2.22284913, "cg_iq_a": 296.665619, "cg_iq_raw_a": 300.429626, "cg_iu_a": 155.167084, "cg_iv_a": 150.929596, "cg_iw_a": -306.09668, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 5622312, "cg_sample_valid": 1, "cg_theta_rad": 1.84507704, "cg_vd_req_v": 6.99911642, "cg_vd_v": 6.99911642, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6676826, "cg_vq_v": -27.6676826, "cg_vu_v": 39.1504402, "cg_vv_v": 36.9509773, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 78.22789, "dclink_p_w": 11734.4473, "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": 58.1282043, "temp_inv2_c": 55.8075562, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 720.956787, "values": {"Elec_RPM": -12515.2695, "EncoderCos": 44222, "EncoderSin": 48992, "GapTicks": 36926, "Mech_RPM": -2503.05396, "cg_du": 66.4308548, "cg_dv": 33.5691452, "cg_dw": 53.1479836, "cg_id_a": 0.17396605, "cg_id_raw_a": 5.59611177, "cg_iq_a": 301.762329, "cg_iq_raw_a": 300.90155, "cg_iu_a": -296.757263, "cg_iv_a": 163.868652, "cg_iw_a": 132.888611, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 5627313, "cg_sample_valid": 1, "cg_theta_rad": 0.988252044, "cg_vd_req_v": 6.92659235, "cg_vd_v": 6.92659235, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7828712, "cg_vq_v": -27.7828712, "cg_vu_v": 151.323044, "cg_vv_v": 144.28476, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 77.9651184, "dclink_p_w": 11695.0303, "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": 58.1691284, "temp_inv2_c": 55.841217, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10675212, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 721.974121, "values": {"Elec_RPM": -12510.1563, "EncoderCos": 42253, "EncoderSin": 50268, "GapTicks": 38880, "Mech_RPM": -2502.03125, "cg_du": 64.6542206, "cg_dv": 35.3457794, "cg_dw": 36.8104439, "cg_id_a": -2.52606726, "cg_id_raw_a": 2.90540624, "cg_iq_a": 300.809174, "cg_iq_raw_a": 310.239777, "cg_iu_a": -266.058746, "cg_iv_a": 9.97735596, "cg_iw_a": 256.08139, "cg_sample_age_us": 23.8199997, "cg_sample_seq": 5632412, "cg_sample_valid": 1, "cg_theta_rad": 1.11091995, "cg_vd_req_v": 7.00856686, "cg_vd_v": 7.00856686, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7330074, "cg_vq_v": -27.7330074, "cg_vu_v": 54.5466805, "cg_vv_v": 37.3908691, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.1249237, "dclink_p_w": 11869.0059, "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": 58.210083, "temp_inv2_c": 55.9351196, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 723.011658, "values": {"Elec_RPM": -12515.6035, "EncoderCos": 29609, "EncoderSin": 52498, "GapTicks": 38880, "Mech_RPM": -2503.12061, "cg_du": 35.3459206, "cg_dv": 62.9860153, "cg_dw": 64.6540756, "cg_id_a": -5.43866873, "cg_id_raw_a": 1.44986987, "cg_iq_a": 298.392761, "cg_iq_raw_a": 302.145813, "cg_iu_a": -123.258026, "cg_iv_a": 290.9758, "cg_iw_a": -167.717773, "cg_sample_age_us": 26.7327271, "cg_sample_seq": 5637617, "cg_sample_valid": 1, "cg_theta_rad": 2.0258894, "cg_vd_req_v": 7.04942608, "cg_vd_v": 7.04942608, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7124405, "cg_vq_v": -27.7124405, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 28.1531239, "control_outputs_enabled": 1, "dclink_i_a": 79.0959244, "dclink_p_w": 11899.4482, "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": 58.210083, "temp_inv2_c": 55.9568481, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.100659192, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 724.008972, "values": {"Elec_RPM": -12515.7227, "EncoderCos": 39998, "EncoderSin": 51312, "GapTicks": 36829, "Mech_RPM": -2503.14453, "cg_du": 66.5189667, "cg_dv": 51.5872498, "cg_dw": 33.4810333, "cg_id_a": -6.85774517, "cg_id_raw_a": -9.04271698, "cg_iq_a": 301.981049, "cg_iq_raw_a": 299.862549, "cg_iu_a": -115.683067, "cg_iv_a": -182.767365, "cg_iw_a": 298.450439, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 5642612, "cg_sample_valid": 1, "cg_theta_rad": 1.23086905, "cg_vd_req_v": 7.09606266, "cg_vd_v": 7.09606266, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7638416, "cg_vq_v": -27.7638416, "cg_vu_v": 40.0302238, "cg_vv_v": 77.4210892, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.7153702, "dclink_p_w": 11807.5713, "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": 58.2510986, "temp_inv2_c": 55.8749084, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 725.04657, "values": {"Elec_RPM": -12518.9541, "EncoderCos": 43641, "EncoderSin": 49418, "GapTicks": 36840, "Mech_RPM": -2503.79077, "cg_du": 66.5089493, "cg_dv": 33.4910507, "cg_dw": 48.5140724, "cg_id_a": -6.77318382, "cg_id_raw_a": -3.90668726, "cg_iq_a": 304.565887, "cg_iq_raw_a": 299.746246, "cg_iu_a": -124.707779, "cg_iv_a": -179.831619, "cg_iw_a": 304.539398, "cg_sample_age_us": 26.5618191, "cg_sample_seq": 5647717, "cg_sample_valid": 1, "cg_theta_rad": 1.24464548, "cg_vd_req_v": 7.11633205, "cg_vd_v": 7.11633205, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8218403, "cg_vq_v": -27.8218403, "cg_vu_v": 136.806595, "cg_vv_v": 150.443253, "cg_vw_v": 102.494972, "control_outputs_enabled": 1, "dclink_i_a": 78.3275604, "dclink_p_w": 11783.8525, "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": 58.2510986, "temp_inv2_c": 55.9399414, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105392538, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 726.063904, "values": {"Elec_RPM": -12520.8086, "EncoderCos": 38600, "EncoderSin": 51768, "GapTicks": 38435, "Mech_RPM": -2504.16162, "cg_du": 65.0584793, "cg_dv": 61.6218376, "cg_dw": 34.9415207, "cg_id_a": 0.832505226, "cg_id_raw_a": -6.59820938, "cg_iq_a": 299.343445, "cg_iq_raw_a": 305.584686, "cg_iu_a": 48.8639297, "cg_iv_a": -280.335754, "cg_iw_a": 231.471832, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5652813, "cg_sample_valid": 1, "cg_theta_rad": 1.36217546, "cg_vd_req_v": 6.95714235, "cg_vd_v": 6.95714235, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6943188, "cg_vq_v": -27.6943188, "cg_vu_v": 0, "cg_vv_v": 45.7488289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.849472, "dclink_p_w": 11827.6865, "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": 58.2921448, "temp_inv2_c": 55.9423523, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.103378341, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 727.081299, "values": {"Elec_RPM": -12513.9072, "EncoderCos": 36375, "EncoderSin": 52337, "GapTicks": 36911, "Mech_RPM": -2502.78149, "cg_du": 51.4929886, "cg_dv": 66.4444351, "cg_dw": 33.5555649, "cg_id_a": 0.0330549479, "cg_id_raw_a": 8.26064491, "cg_iq_a": 297.387878, "cg_iq_raw_a": 301.406067, "cg_iu_a": 143.279114, "cg_iv_a": -302.009583, "cg_iw_a": 158.730453, "cg_sample_age_us": 23.812727, "cg_sample_seq": 5657912, "cg_sample_valid": 1, "cg_theta_rad": 1.42131019, "cg_vd_req_v": 6.9456234, "cg_vd_v": 6.9456234, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6637363, "cg_vq_v": -27.6637363, "cg_vu_v": 0, "cg_vv_v": 49.707859, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 78.2804413, "dclink_p_w": 11742.3301, "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": 5000, "hz_vsense": 2600, "pwm_moe": 1, "temp_inv1_c": 58.2921448, "temp_inv2_c": 56.01474, "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": 0.109723046, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 728.113342, "values": {"Elec_RPM": -12516.2148, "EncoderCos": 35107, "EncoderSin": 52504, "GapTicks": 37540, "Mech_RPM": -2503.24292, "cg_du": 42.2786789, "cg_dv": 65.8719711, "cg_dw": 34.1280289, "cg_id_a": -7.91005993, "cg_id_raw_a": -2.32692003, "cg_iq_a": 297.494537, "cg_iq_raw_a": 301.43573, "cg_iu_a": 164.844193, "cg_iv_a": -293.601013, "cg_iw_a": 128.756805, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 5663012, "cg_sample_valid": 1, "cg_theta_rad": 1.44057214, "cg_vd_req_v": 7.10931444, "cg_vd_v": 7.10931444, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6563129, "cg_vq_v": -27.6563129, "cg_vu_v": 0, "cg_vv_v": 45.7488289, "cg_vw_v": 4.39892578, "control_outputs_enabled": 1, "dclink_i_a": 78.2496338, "dclink_p_w": 11737.709, "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": 58.333252, "temp_inv2_c": 56.0123596, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10725566, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 728.916687, "values": {"Elec_RPM": -12517.7295, "EncoderCos": 14856, "EncoderSin": 41679, "GapTicks": 37071, "Mech_RPM": -2503.5459, "cg_du": 46.2865105, "cg_dv": 66.2990112, "cg_dw": 33.7009888, "cg_id_a": -3.45748615, "cg_id_raw_a": -4.6025281, "cg_iq_a": 297.658142, "cg_iq_raw_a": 289.817932, "cg_iu_a": 244.218201, "cg_iv_a": -271.673492, "cg_iw_a": 27.4552994, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 5667163, "cg_sample_valid": 1, "cg_theta_rad": 2.76550293, "cg_vd_req_v": 7.0024662, "cg_vd_v": 7.0024662, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6862392, "cg_vq_v": -27.6862392, "cg_vu_v": 15.836132, "cg_vv_v": 77.4210892, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 78.289505, "dclink_p_w": 11778.1279, "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": 58.333252, "temp_inv2_c": 56.0679321, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106047153, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 729.934082, "values": {"Elec_RPM": -12517.7832, "EncoderCos": 26645, "EncoderSin": 51749, "GapTicks": 37767, "Mech_RPM": -2503.55664, "cg_du": 34.3338127, "cg_dv": 40.9697876, "cg_dw": 65.6661835, "cg_id_a": 0.68921262, "cg_id_raw_a": -7.34226084, "cg_iq_a": 301.110779, "cg_iq_raw_a": 294.01947, "cg_iu_a": 54.3005066, "cg_iv_a": 223.997192, "cg_iw_a": -278.297699, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 5672163, "cg_sample_valid": 1, "cg_theta_rad": 1.91804659, "cg_vd_req_v": 6.93202496, "cg_vd_v": 6.93202496, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7455692, "cg_vq_v": -27.7455692, "cg_vu_v": 112.612495, "cg_vv_v": 85.3391571, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 78.8893356, "dclink_p_w": 11868.3682, "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": 58.333252, "temp_inv2_c": 56.0969849, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.003372}}
{"type": "telemetry", "t": 730.951477, "values": {"Elec_RPM": -12514.3867, "EncoderCos": 47580, "EncoderSin": 19565, "GapTicks": 36821, "Mech_RPM": -2502.87744, "cg_du": 33.4739456, "cg_dv": 52.0662498, "cg_dw": 66.5260544, "cg_id_a": 4.43651676, "cg_id_raw_a": 4.09267092, "cg_iq_a": 309.31665, "cg_iq_raw_a": 309.67868, "cg_iu_a": 179.99411, "cg_iv_a": 139.730286, "cg_iw_a": -319.724396, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5677312, "cg_sample_valid": 1, "cg_theta_rad": 5.60551882, "cg_vd_req_v": 6.76929188, "cg_vd_v": 6.76929188, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9759197, "cg_vq_v": -27.9759197, "cg_vu_v": 32.9919434, "cg_vv_v": 0, "cg_vw_v": 44.8690414, "control_outputs_enabled": 1, "dclink_i_a": 77.9578705, "dclink_p_w": 11728.2354, "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": 58.333252, "temp_inv2_c": 56.0002747, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 731.968933, "values": {"Elec_RPM": -12514.8945, "EncoderCos": 48377, "EncoderSin": 20531, "GapTicks": 37305, "Mech_RPM": -2502.979, "cg_du": 33.9141998, "cg_dv": 43.0657616, "cg_dw": 66.0858002, "cg_id_a": 4.92239046, "cg_id_raw_a": 6.9641037, "cg_iq_a": 309.350006, "cg_iq_raw_a": 316.203766, "cg_iu_a": 94.4949188, "cg_iv_a": 212.181686, "cg_iw_a": -306.676605, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5682412, "cg_sample_valid": 1, "cg_theta_rad": 5.66374254, "cg_vd_req_v": 6.81519222, "cg_vd_v": 6.81519222, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9781132, "cg_vq_v": -27.9781132, "cg_vu_v": 29.912693, "cg_vv_v": 0, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 77.7965851, "dclink_p_w": 11703.9717, "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": 58.333252, "temp_inv2_c": 56.0558472, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.109773397, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 732.986389, "values": {"Elec_RPM": -12514.4727, "EncoderCos": 48509, "EncoderSin": 20717, "GapTicks": 37642, "Mech_RPM": -2502.89453, "cg_du": 34.2208862, "cg_dv": 41.4538879, "cg_dw": 65.7791138, "cg_id_a": 2.658319, "cg_id_raw_a": -4.31227255, "cg_iq_a": 305.864075, "cg_iq_raw_a": 297.275909, "cg_iu_a": 57.2362595, "cg_iv_a": 228.020233, "cg_iw_a": -285.2565, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 5687513, "cg_sample_valid": 1, "cg_theta_rad": 5.68899536, "cg_vd_req_v": 6.85275078, "cg_vd_v": 6.85275078, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8903313, "cg_vq_v": -27.8903313, "cg_vu_v": 137.686371, "cg_vv_v": 74.3418427, "cg_vw_v": 124.929489, "control_outputs_enabled": 1, "dclink_i_a": 78.8204727, "dclink_p_w": 11858.0078, "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": 58.3743896, "temp_inv2_c": 56.1163635, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 734.023865, "values": {"Elec_RPM": -12517.0605, "EncoderCos": 13724, "EncoderSin": 38780, "GapTicks": 37043, "Mech_RPM": -2503.41211, "cg_du": 33.6762848, "cg_dv": 66.3237152, "cg_dw": 46.1337852, "cg_id_a": -2.92984009, "cg_id_raw_a": -2.31727409, "cg_iq_a": 300.634827, "cg_iq_raw_a": 298.099426, "cg_iu_a": 179.305481, "cg_iv_a": 128.277222, "cg_iw_a": -307.582703, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 5692666, "cg_sample_valid": 1, "cg_theta_rad": 3.08399963, "cg_vd_req_v": 6.99277592, "cg_vd_v": 6.99277592, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7535496, "cg_vq_v": -27.7535496, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 55.8663559, "control_outputs_enabled": 1, "dclink_i_a": 78.2079544, "dclink_p_w": 11765.8594, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 58.4155884, "temp_inv2_c": 56.036499, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106147863, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 735.021179, "values": {"Elec_RPM": -12516.3203, "EncoderCos": 20169, "EncoderSin": 48227, "GapTicks": 36927, "Mech_RPM": -2503.26416, "cg_du": 66.4298019, "cg_dv": 33.5701981, "cg_dw": 47.2033157, "cg_id_a": -10.6932564, "cg_id_raw_a": -6.17818928, "cg_iq_a": 296.893982, "cg_iq_raw_a": 297.668243, "cg_iu_a": -302.628784, "cg_iv_a": 116.534241, "cg_iw_a": 186.094543, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 5697662, "cg_sample_valid": 1, "cg_theta_rad": 2.28198361, "cg_vd_req_v": 7.17634535, "cg_vd_v": 7.17634535, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6798401, "cg_vq_v": -27.6798401, "cg_vu_v": 76.9812012, "cg_vv_v": 44.4291458, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 77.7023544, "dclink_p_w": 11689.7949, "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": 58.3743896, "temp_inv2_c": 56.0389099, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10675212, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 736.058777, "values": {"Elec_RPM": -12516.7393, "EncoderCos": 50898, "EncoderSin": 24954, "GapTicks": 38837, "Mech_RPM": -2503.3479, "cg_du": 63.0769806, "cg_dv": 35.3063698, "cg_dw": 64.6936264, "cg_id_a": 9.94222641, "cg_id_raw_a": -2.21820211, "cg_iq_a": 306.436768, "cg_iq_raw_a": 302.923523, "cg_iu_a": -257.577698, "cg_iv_a": 273.14386, "cg_iw_a": -15.5661469, "cg_sample_age_us": 23.7072735, "cg_sample_seq": 5702812, "cg_sample_valid": 1, "cg_theta_rad": 5.93370342, "cg_vd_req_v": 6.7243681, "cg_vd_v": 6.7243681, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8988247, "cg_vq_v": -27.8988247, "cg_vu_v": 151.762939, "cg_vv_v": 112.612495, "cg_vw_v": 84.8992691, "control_outputs_enabled": 1, "dclink_i_a": 77.861824, "dclink_p_w": 11679.5361, "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": 58.3743896, "temp_inv2_c": 56.0679321, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10675212, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 737.076111, "values": {"Elec_RPM": -12514.1387, "EncoderCos": 51352, "EncoderSin": 26169, "GapTicks": 37291, "Mech_RPM": -2502.82764, "cg_du": 66.0984573, "cg_dv": 33.9015427, "cg_dw": 56.8722, "cg_id_a": 3.75613213, "cg_id_raw_a": -4.29115677, "cg_iq_a": 306.733612, "cg_iq_raw_a": 302.782074, "cg_iu_a": -305.781982, "cg_iv_a": 212.616608, "cg_iw_a": 93.1653671, "cg_sample_age_us": 24.1654549, "cg_sample_seq": 5707912, "cg_sample_valid": 1, "cg_theta_rad": 5.99372339, "cg_vd_req_v": 6.85677767, "cg_vd_v": 6.85677767, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.887804, "cg_vq_v": -27.887804, "cg_vu_v": 58.9456062, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.9397507, "dclink_p_w": 11691.2256, "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": 58.4155884, "temp_inv2_c": 56.1260376, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 738.112732, "values": {"Elec_RPM": -12519, "EncoderCos": 36804, "EncoderSin": 52195, "GapTicks": 37214, "Mech_RPM": -2503.80005, "cg_du": 55.2802811, "cg_dv": 66.1682434, "cg_dw": 33.8317566, "cg_id_a": -3.31993389, "cg_id_raw_a": -3.16628361, "cg_iq_a": 299.819824, "cg_iq_raw_a": 300.327179, "cg_iu_a": 294.742096, "cg_iv_a": -163.123199, "cg_iw_a": -131.618896, "cg_sample_age_us": 26.772728, "cg_sample_seq": 5712866, "cg_sample_valid": 1, "cg_theta_rad": 1.61530256, "cg_vd_req_v": 7.07500219, "cg_vd_v": 7.07500219, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6923923, "cg_vq_v": -27.6923923, "cg_vu_v": 29.0329094, "cg_vv_v": 65.1041031, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 77.9633102, "dclink_p_w": 11729.0537, "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": 58.4155884, "temp_inv2_c": 56.1308899, "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": 0.109773397, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 739.087708, "values": {"Elec_RPM": -12515.5449, "EncoderCos": 32285, "EncoderSin": 52636, "GapTicks": 36937, "Mech_RPM": -2503.10889, "cg_du": 33.5794411, "cg_dv": 66.4205627, "cg_dw": 48.023819, "cg_id_a": 1.39960241, "cg_id_raw_a": 10.9378557, "cg_iq_a": 297.301453, "cg_iq_raw_a": 298.684387, "cg_iu_a": 301.519714, "cg_iv_a": -168.306091, "cg_iw_a": -133.213623, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 5717963, "cg_sample_valid": 1, "cg_theta_rad": 1.62003529, "cg_vd_req_v": 6.93768215, "cg_vd_v": 6.93768215, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6534748, "cg_vq_v": -27.6534748, "cg_vu_v": 109.093361, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 78.1209717, "dclink_p_w": 11718.4092, "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": 58.4568176, "temp_inv2_c": 56.1721191, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 739.928833, "values": {"Elec_RPM": -12523.0645, "EncoderCos": 15563, "EncoderSin": 22476, "GapTicks": 36963, "Mech_RPM": -2504.61279, "cg_du": 66.3964386, "cg_dv": 47.7711487, "cg_dw": 33.6035614, "cg_id_a": 1.72142148, "cg_id_raw_a": 4.4835186, "cg_iq_a": 299.0242, "cg_iq_raw_a": 300.550873, "cg_iu_a": -96.0751495, "cg_iv_a": -195.017807, "cg_iw_a": 291.092957, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 5722214, "cg_sample_valid": 1, "cg_theta_rad": 3.76850963, "cg_vd_req_v": 6.87633514, "cg_vd_v": 6.87633514, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.731144, "cg_vq_v": -27.731144, "cg_vu_v": 124.489601, "cg_vv_v": 150.883148, "cg_vw_v": 102.055069, "control_outputs_enabled": 1, "dclink_i_a": 78.0339813, "dclink_p_w": 11739.6855, "enc_isr_hz": 5000, "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": 58.4155884, "temp_inv2_c": 56.1551208, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 740.946289, "values": {"Elec_RPM": -12517.5215, "EncoderCos": 13166, "EncoderSin": 36751, "GapTicks": 38241, "Mech_RPM": -2503.50439, "cg_du": 34.765419, "cg_dv": 65.234581, "cg_dw": 61.0858383, "cg_id_a": -8.51297283, "cg_id_raw_a": 2.61427045, "cg_iq_a": 300.441833, "cg_iq_raw_a": 304.42276, "cg_iu_a": 276.910126, "cg_iv_a": -40.0028992, "cg_iw_a": -236.907227, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 5727213, "cg_sample_valid": 1, "cg_theta_rad": 2.96723557, "cg_vd_req_v": 7.12768364, "cg_vd_v": 7.12768364, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7201366, "cg_vq_v": -27.7201366, "cg_vu_v": 73.9019547, "cg_vv_v": 75.2216263, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 78.2623215, "dclink_p_w": 11774.0381, "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": 58.4155884, "temp_inv2_c": 56.2911377, "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": 0.104939342, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 741.963684, "values": {"Elec_RPM": -12517.9453, "EncoderCos": 18391, "EncoderSin": 18760, "GapTicks": 37008, "Mech_RPM": -2503.58911, "cg_du": 48.3835716, "cg_dv": 66.3558044, "cg_dw": 33.6441917, "cg_id_a": -2.16140652, "cg_id_raw_a": 8.03938484, "cg_iq_a": 292.531616, "cg_iq_raw_a": 296.473633, "cg_iu_a": 167.598724, "cg_iv_a": -296.101837, "cg_iw_a": 128.503113, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 5732412, "cg_sample_valid": 1, "cg_theta_rad": 3.95643783, "cg_vd_req_v": 6.99123859, "cg_vd_v": 6.99123859, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5869217, "cg_vq_v": -27.5869217, "cg_vu_v": 10.1175289, "cg_vv_v": 77.4210892, "cg_vw_v": 60.2652817, "control_outputs_enabled": 1, "dclink_i_a": 78.5595169, "dclink_p_w": 11818.749, "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": 58.4981079, "temp_inv2_c": 56.17453, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 742.981079, "values": {"Elec_RPM": -12519.0059, "EncoderCos": 51246, "EncoderSin": 39588, "GapTicks": 36872, "Mech_RPM": -2503.80127, "cg_du": 33.5200119, "cg_dv": 66.4799881, "cg_dw": 51.3892937, "cg_id_a": 4.35572815, "cg_id_raw_a": 15.5338621, "cg_iq_a": 305.146698, "cg_iq_raw_a": 307.084351, "cg_iu_a": 308.224792, "cg_iv_a": -146.559753, "cg_iw_a": -161.665039, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 5737463, "cg_sample_valid": 1, "cg_theta_rad": 0.40100801, "cg_vd_req_v": 6.90015411, "cg_vd_v": 6.90015411, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8194542, "cg_vq_v": -27.8194542, "cg_vu_v": 3.95903301, "cg_vv_v": 33.4318352, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 78.4562225, "dclink_p_w": 11768.6982, "enc_isr_hz": 5002, "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": 58.4981079, "temp_inv2_c": 56.2303467, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 743.998535, "values": {"Elec_RPM": -12519.9082, "EncoderCos": 20308, "EncoderSin": 17060, "GapTicks": 37989, "Mech_RPM": -2503.98169, "cg_du": 34.5360947, "cg_dv": 65.4639053, "cg_dw": 40.3308945, "cg_id_a": -1.52717125, "cg_id_raw_a": -0.235209629, "cg_iq_a": 298.09137, "cg_iq_raw_a": 300.278595, "cg_iu_a": 283.868958, "cg_iv_a": -216.474152, "cg_iw_a": -67.3948135, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 5742612, "cg_sample_valid": 1, "cg_theta_rad": 4.09443235, "cg_vd_req_v": 6.97437525, "cg_vd_v": 6.97437525, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6955967, "cg_vq_v": -27.6955967, "cg_vu_v": 104.694435, "cg_vv_v": 151.323044, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 79.037941, "dclink_p_w": 11890.7246, "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": 58.4568176, "temp_inv2_c": 56.271698, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 745.015869, "values": {"Elec_RPM": -12516.6592, "EncoderCos": 50200, "EncoderSin": 41899, "GapTicks": 38012, "Mech_RPM": -2503.33179, "cg_du": 34.5572319, "cg_dv": 60.2171593, "cg_dw": 65.4427643, "cg_id_a": 8.58421135, "cg_id_raw_a": 10.5438795, "cg_iq_a": 305.920563, "cg_iq_raw_a": 308.536133, "cg_iu_a": 227.473541, "cg_iv_a": 54.3760376, "cg_iw_a": -281.849579, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 5747663, "cg_sample_valid": 1, "cg_theta_rad": 0.531203568, "cg_vd_req_v": 6.80138016, "cg_vd_v": 6.80138016, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8137665, "cg_vq_v": -27.8137665, "cg_vu_v": 100.735397, "cg_vv_v": 73.9019547, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 77.9252548, "dclink_p_w": 11689.0508, "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": 58.5808105, "temp_inv2_c": 56.1939392, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106147863, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 746.033325, "values": {"Elec_RPM": -12515.8262, "EncoderCos": 13050, "EncoderSin": 29351, "GapTicks": 37187, "Mech_RPM": -2503.16528, "cg_du": 54.8986282, "cg_dv": 33.8065872, "cg_dw": 66.1934128, "cg_id_a": -6.66912937, "cg_id_raw_a": -4.09203005, "cg_iq_a": 292.419312, "cg_iq_raw_a": 287.532104, "cg_iu_a": -204.552948, "cg_iv_a": 280.066406, "cg_iw_a": -75.5134506, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 5752712, "cg_sample_valid": 1, "cg_theta_rad": 3.35700607, "cg_vd_req_v": 7.09531975, "cg_vd_v": 7.09531975, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.574789, "cg_vq_v": -27.574789, "cg_vu_v": 76.9812012, "cg_vv_v": 31.2323723, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": 78.4670944, "dclink_p_w": 11804.8447, "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": 58.5394287, "temp_inv2_c": 56.3666687, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 747.070923, "values": {"Elec_RPM": -12515.8398, "EncoderCos": 33458, "EncoderSin": 52543, "GapTicks": 38091, "Mech_RPM": -2503.16797, "cg_du": 34.6287041, "cg_dv": 65.3712921, "cg_dw": 39.7677574, "cg_id_a": 4.90648413, "cg_id_raw_a": 6.60167074, "cg_iq_a": 299.442383, "cg_iq_raw_a": 304.139587, "cg_iu_a": 301.664673, "cg_iv_a": -175.264893, "cg_iw_a": -55.6155853, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 5757962, "cg_sample_valid": 1, "cg_theta_rad": 1.61156642, "cg_vd_req_v": 6.88421869, "cg_vd_v": 6.88421869, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6798325, "cg_vq_v": -27.6798325, "cg_vu_v": 102.055069, "cg_vv_v": 150.883148, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 78.8059769, "dclink_p_w": 11821.1621, "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": 58.5394287, "temp_inv2_c": 56.3081665, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 748.073547, "values": {"Elec_RPM": -12522.3193, "EncoderCos": 15927, "EncoderSin": 43322, "GapTicks": 38076, "Mech_RPM": -2504.46387, "cg_du": 60.2377319, "cg_dv": 65.3847504, "cg_dw": 34.6152496, "cg_id_a": 3.89203978, "cg_id_raw_a": -12.2299995, "cg_iq_a": 299.316101, "cg_iq_raw_a": 296.983368, "cg_iu_a": 47.4141769, "cg_iv_a": -282.764099, "cg_iw_a": 235.349915, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 5762812, "cg_sample_valid": 1, "cg_theta_rad": 2.6232183, "cg_vd_req_v": 6.87597275, "cg_vd_v": 6.87597275, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7063274, "cg_vq_v": -27.7063274, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.8437042, "dclink_p_w": 11711.0596, "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": 58.5808105, "temp_inv2_c": 56.3228149, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.104184017, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 749.062195, "values": {"Elec_RPM": -12519.6494, "EncoderCos": 44351, "EncoderSin": 16727, "GapTicks": 36989, "Mech_RPM": -2503.92993, "cg_du": 33.6271439, "cg_dv": 66.3728561, "cg_dw": 46.9266891, "cg_id_a": 5.26341629, "cg_id_raw_a": 5.64953232, "cg_iq_a": 304.486206, "cg_iq_raw_a": 302.474396, "cg_iu_a": 301.700928, "cg_iv_a": -165.297852, "cg_iw_a": -136.403076, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5767862, "cg_sample_valid": 1, "cg_theta_rad": 5.38428259, "cg_vd_req_v": 6.79364586, "cg_vd_v": 6.79364586, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8767281, "cg_vq_v": -27.8767281, "cg_vu_v": 30.7924805, "cg_vv_v": 62.0248489, "cg_vw_v": 84.4593658, "control_outputs_enabled": 1, "dclink_i_a": 77.9560547, "dclink_p_w": 11659.3789, "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": 58.5808105, "temp_inv2_c": 56.3008728, "temp_inv3_c": null, "temp_motor_c": 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": 150.883148}}
{"type": "telemetry", "t": 749.923645, "values": {"Elec_RPM": -12520.9238, "EncoderCos": 23953, "EncoderSin": 50532, "GapTicks": 36997, "Mech_RPM": -2504.18481, "cg_du": 50.6861687, "cg_dv": 33.6338577, "cg_dw": 66.3661423, "cg_id_a": -5.35387516, "cg_id_raw_a": 6.87707996, "cg_iq_a": 291.222137, "cg_iq_raw_a": 293.9599, "cg_iu_a": -160.697922, "cg_iv_a": 295.723724, "cg_iw_a": -135.025803, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 5772213, "cg_sample_valid": 1, "cg_theta_rad": 2.06203079, "cg_vd_req_v": 7.08569384, "cg_vd_v": 7.08569384, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5422249, "cg_vq_v": -27.5422249, "cg_vu_v": 128.008743, "cg_vv_v": 72.1423798, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 78.2586975, "dclink_p_w": 11773.4932, "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": 58.6222229, "temp_inv2_c": 56.3106384, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 750.940979, "values": {"Elec_RPM": -12519.5977, "EncoderCos": 34284, "EncoderSin": 12917, "GapTicks": 37635, "Mech_RPM": -2503.91943, "cg_du": 65.7862091, "cg_dv": 34.2137871, "cg_dw": 42.0268898, "cg_id_a": -1.90480232, "cg_id_raw_a": -5.04858732, "cg_iq_a": 297.249695, "cg_iq_raw_a": 292.579407, "cg_iu_a": -275.627136, "cg_iv_a": 57.3117981, "cg_iw_a": 218.315338, "cg_sample_age_us": 24.0527267, "cg_sample_seq": 5777263, "cg_sample_valid": 1, "cg_theta_rad": 4.8440814, "cg_vd_req_v": 6.967453, "cg_vd_v": 6.967453, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7027035, "cg_vq_v": -27.7027035, "cg_vu_v": 151.762939, "cg_vv_v": 146.924118, "cg_vw_v": 104.254532, "control_outputs_enabled": 1, "dclink_i_a": 78.5540848, "dclink_p_w": 11783.3779, "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": 58.6222229, "temp_inv2_c": 56.3666687, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102874793, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 751.958374, "values": {"Elec_RPM": -12517.5244, "EncoderCos": 35547, "EncoderSin": 13069, "GapTicks": 38703, "Mech_RPM": -2503.50488, "cg_du": 64.8151855, "cg_dv": 37.6969337, "cg_dw": 35.1848145, "cg_id_a": 4.74762154, "cg_id_raw_a": -8.83425617, "cg_iq_a": 302.021973, "cg_iq_raw_a": 296.897919, "cg_iu_a": -248.480484, "cg_iv_a": -23.2944794, "cg_iw_a": 271.774963, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 5782363, "cg_sample_valid": 1, "cg_theta_rad": 4.90161657, "cg_vd_req_v": 6.82256937, "cg_vd_v": 6.82256937, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8002033, "cg_vq_v": -27.8002033, "cg_vu_v": 120.970459, "cg_vv_v": 113.052383, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 78.6048203, "dclink_p_w": 11790.9883, "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": 58.5808105, "temp_inv2_c": 56.3617859, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.102723733, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 752.97583, "values": {"Elec_RPM": -12516.6748, "EncoderCos": 37890, "EncoderSin": 13539, "GapTicks": 37096, "Mech_RPM": -2503.33496, "cg_du": 66.2758484, "cg_dv": 54.5494385, "cg_dw": 33.7241516, "cg_id_a": 1.66996586, "cg_id_raw_a": -0.469507843, "cg_iq_a": 301.736023, "cg_iq_raw_a": 300.144684, "cg_iu_a": -92.2333069, "cg_iv_a": -199.511993, "cg_iw_a": 291.7453, "cg_sample_age_us": 24.005455, "cg_sample_seq": 5787462, "cg_sample_valid": 1, "cg_theta_rad": 5.01805878, "cg_vd_req_v": 6.89568424, "cg_vd_v": 6.89568424, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7971687, "cg_vq_v": -27.7971687, "cg_vu_v": 39.590332, "cg_vv_v": 77.8609848, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.47435, "dclink_p_w": 11805.9365, "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": 58.5808105, "temp_inv2_c": 56.2911377, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.108262755, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 753.993225, "values": {"Elec_RPM": -12515.5664, "EncoderCos": 38074, "EncoderSin": 13620, "GapTicks": 37314, "Mech_RPM": -2503.11328, "cg_du": 66.0773621, "cg_dv": 56.0160866, "cg_dw": 33.9226341, "cg_id_a": -0.310915947, "cg_id_raw_a": 6.27352524, "cg_iq_a": 298.5578, "cg_iq_raw_a": 300.542694, "cg_iu_a": -93.3206253, "cg_iv_a": -199.983215, "cg_iw_a": 293.303833, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 5792563, "cg_sample_valid": 1, "cg_theta_rad": 5.03476906, "cg_vd_req_v": 6.94555616, "cg_vd_v": 6.94555616, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7164497, "cg_vq_v": -27.7164497, "cg_vu_v": 147.364014, "cg_vv_v": 151.762939, "cg_vw_v": 80.9402313, "control_outputs_enabled": 1, "dclink_i_a": 78.2260742, "dclink_p_w": 11768.585, "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": 58.6636963, "temp_inv2_c": 56.3106384, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 755.010742, "values": {"Elec_RPM": -12513.6826, "EncoderCos": 33218, "EncoderSin": 52512, "GapTicks": 37740, "Mech_RPM": -2502.73657, "cg_du": 34.3099976, "cg_dv": 65.6900024, "cg_dw": 41.4688759, "cg_id_a": 2.6820724, "cg_id_raw_a": 4.30810642, "cg_iq_a": 298.152771, "cg_iq_raw_a": 301.787476, "cg_iu_a": 248.893646, "cg_iv_a": -266.454376, "cg_iw_a": 17.56073, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 5797612, "cg_sample_valid": 1, "cg_theta_rad": 1.53729999, "cg_vd_req_v": 6.94594336, "cg_vd_v": 6.94594336, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6242447, "cg_vq_v": -27.6242447, "cg_vu_v": 99.8556061, "cg_vv_v": 138.126266, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 78.6030121, "dclink_p_w": 11825.293, "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": 58.6222229, "temp_inv2_c": 56.383728, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105543599, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 756.048218, "values": {"Elec_RPM": -12515.1309, "EncoderCos": 36420, "EncoderSin": 13237, "GapTicks": 37332, "Mech_RPM": -2503.02612, "cg_du": 66.0615997, "cg_dv": 43.8184547, "cg_dw": 33.9384003, "cg_id_a": 0.327281117, "cg_id_raw_a": -2.01192689, "cg_iq_a": 298.531311, "cg_iq_raw_a": 293.868896, "cg_iu_a": 109.101181, "cg_iv_a": -269.208923, "cg_iw_a": 251.695892, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 5802767, "cg_sample_valid": 1, "cg_theta_rad": 5.15400839, "cg_vd_req_v": 6.89906883, "cg_vd_v": 6.89906883, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7370892, "cg_vq_v": -27.7370892, "cg_vu_v": 109.533249, "cg_vv_v": 152.202835, "cg_vw_v": 119.650772, "control_outputs_enabled": 1, "dclink_i_a": 78.1318436, "dclink_p_w": 11720.04, "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": 58.7467651, "temp_inv2_c": 56.3471375, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 757.065613, "values": {"Elec_RPM": -12511.0527, "EncoderCos": 36023, "EncoderSin": 52269, "GapTicks": 36914, "Mech_RPM": -2502.21045, "cg_du": 48.9145203, "cg_dv": 66.440918, "cg_dw": 33.5590782, "cg_id_a": -7.95243216, "cg_id_raw_a": -8.44463348, "cg_iq_a": 299.537964, "cg_iq_raw_a": 294.278992, "cg_iu_a": 301.302246, "cg_iv_a": -132.678406, "cg_iw_a": -110.452499, "cg_sample_age_us": 23.8090916, "cg_sample_seq": 5807817, "cg_sample_valid": 1, "cg_theta_rad": 1.64656138, "cg_vd_req_v": 7.14137888, "cg_vd_v": 7.14137888, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6748505, "cg_vq_v": -27.6748505, "cg_vu_v": 107.333786, "cg_vv_v": 114.37207, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 77.865448, "dclink_p_w": 11680.0801, "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": 58.7052002, "temp_inv2_c": 56.4349976, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 758.072876, "values": {"Elec_RPM": -12526.0469, "EncoderCos": 45317, "EncoderSin": 47923, "GapTicks": 39066, "Mech_RPM": -2505.20947, "cg_du": 64.4851608, "cg_dv": 35.514843, "cg_dw": 63.4483719, "cg_id_a": 4.72639751, "cg_id_raw_a": -9.79041576, "cg_iq_a": 301.237091, "cg_iq_raw_a": 297.083221, "cg_iu_a": -217.709473, "cg_iv_a": 291.120758, "cg_iw_a": -73.4112854, "cg_sample_age_us": 23.4563637, "cg_sample_seq": 5812812, "cg_sample_valid": 1, "cg_theta_rad": 0.868819237, "cg_vd_req_v": 6.90583372, "cg_vd_v": 6.90583372, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7024117, "cg_vq_v": -27.7024117, "cg_vu_v": 129.328415, "cg_vv_v": 72.5822754, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 78.347496, "dclink_p_w": 11752.3887, "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": 58.7052002, "temp_inv2_c": 56.3886108, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107859924, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 759.077026, "values": {"Elec_RPM": -12524.5117, "EncoderCos": 47483, "EncoderSin": 45838, "GapTicks": 37259, "Mech_RPM": -2504.90234, "cg_du": 44.2273483, "cg_dv": 33.8726616, "cg_dw": 66.1273346, "cg_id_a": 8.22532845, "cg_id_raw_a": 12.5861416, "cg_iq_a": 300.686035, "cg_iq_raw_a": 305.873322, "cg_iu_a": -303.897308, "cg_iv_a": 188.731934, "cg_iw_a": 115.165375, "cg_sample_age_us": 23.4200001, "cg_sample_seq": 5817916, "cg_sample_valid": 1, "cg_theta_rad": 0.969987154, "cg_vd_req_v": 6.86497688, "cg_vd_v": 6.86497688, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.685833, "cg_vq_v": -27.685833, "cg_vu_v": 77.8609848, "cg_vv_v": 43.9892578, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 78.0194855, "dclink_p_w": 11703.1855, "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": 58.7467651, "temp_inv2_c": 56.4203491, "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": 0.108363472, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 759.918335, "values": {"Elec_RPM": -12516.6123, "EncoderCos": 50047, "EncoderSin": 23435, "GapTicks": 36866, "Mech_RPM": -2503.32251, "cg_du": 51.3029213, "cg_dv": 33.5146942, "cg_dw": 66.4853058, "cg_id_a": 0.00108027458, "cg_id_raw_a": 5.54644537, "cg_iq_a": 303.955139, "cg_iq_raw_a": 300.125244, "cg_iu_a": -178.566132, "cg_iv_a": 297.753357, "cg_iw_a": -119.187241, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 5822112, "cg_sample_valid": 1, "cg_theta_rad": 5.83688307, "cg_vd_req_v": 6.9553709, "cg_vd_v": 6.9553709, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8110027, "cg_vq_v": -27.8110027, "cg_vu_v": 45.7488289, "cg_vv_v": 0, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": 78.2695694, "dclink_p_w": 11740.6992, "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": 58.7467651, "temp_inv2_c": 56.3812866, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 760.935791, "values": {"Elec_RPM": -12515.7129, "EncoderCos": 12877, "EncoderSin": 33533, "GapTicks": 37071, "Mech_RPM": -2503.14258, "cg_du": 33.7014999, "cg_dv": 45.4837456, "cg_dw": 66.2985001, "cg_id_a": 1.15692222, "cg_id_raw_a": 1.64092648, "cg_iq_a": 301.723694, "cg_iq_raw_a": 294.159363, "cg_iu_a": 92.2115631, "cg_iv_a": 194.53093, "cg_iw_a": -286.742493, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 5827263, "cg_sample_valid": 1, "cg_theta_rad": 3.13555098, "cg_vd_req_v": 6.95910263, "cg_vd_v": 6.95910263, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7295418, "cg_vq_v": -27.7295418, "cg_vu_v": 116.571533, "cg_vv_v": 107.333786, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.0847244, "dclink_p_w": 11747.3203, "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": 58.7467651, "temp_inv2_c": 56.4642944, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 761.953125, "values": {"Elec_RPM": -12516.4443, "EncoderCos": 12944, "EncoderSin": 31166, "GapTicks": 37760, "Mech_RPM": -2503.28882, "cg_du": 41.9250374, "cg_dv": 34.327713, "cg_dw": 65.672287, "cg_id_a": 1.96500421, "cg_id_raw_a": 7.24788952, "cg_iq_a": 292.852814, "cg_iq_raw_a": 300.588806, "cg_iu_a": -80.8527451, "cg_iv_a": 279.269012, "cg_iw_a": -198.416275, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 5832362, "cg_sample_valid": 1, "cg_theta_rad": 3.24883389, "cg_vd_req_v": 6.93595839, "cg_vd_v": 6.93595839, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5446262, "cg_vq_v": -27.5446262, "cg_vu_v": 59.825386, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.8672638, "dclink_p_w": 11714.6045, "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": 58.7883606, "temp_inv2_c": 56.4276428, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 762.97052, "values": {"Elec_RPM": -12517.709, "EncoderCos": 51511, "EncoderSin": 27045, "GapTicks": 36780, "Mech_RPM": -2503.54175, "cg_du": 66.5632324, "cg_dv": 33.4367714, "cg_dw": 50.522686, "cg_id_a": 4.4344635, "cg_id_raw_a": 13.2102652, "cg_iq_a": 307.375946, "cg_iq_raw_a": 308.786865, "cg_iu_a": -315.350342, "cg_iv_a": 159.700592, "cg_iw_a": 155.64975, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 5837412, "cg_sample_valid": 1, "cg_theta_rad": 6.0335021, "cg_vd_req_v": 6.88895416, "cg_vd_v": 6.88895416, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8545189, "cg_vq_v": -27.8545189, "cg_vu_v": 73.9019547, "cg_vv_v": 30.7924805, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.8582001, "dclink_p_w": 11678.9922, "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": 58.7883606, "temp_inv2_c": 56.4423218, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.10690318, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 763.987976, "values": {"Elec_RPM": -12520.3115, "EncoderCos": 51865, "EncoderSin": 28325, "GapTicks": 37719, "Mech_RPM": -2504.06226, "cg_du": 65.7095184, "cg_dv": 34.2904778, "cg_dw": 40.9926186, "cg_id_a": -0.879389286, "cg_id_raw_a": 3.9520576, "cg_iq_a": 308.549835, "cg_iq_raw_a": 314.927338, "cg_iu_a": -302.085083, "cg_iv_a": 128.132233, "cg_iw_a": 173.95285, "cg_sample_age_us": 24.1290913, "cg_sample_seq": 5842512, "cg_sample_valid": 1, "cg_theta_rad": 6.08858681, "cg_vd_req_v": 6.97549105, "cg_vd_v": 6.97549105, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8873596, "cg_vq_v": -27.8873596, "cg_vu_v": 41.3499031, "cg_vv_v": 25.0738773, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.9596863, "dclink_p_w": 11694.2158, "enc_isr_hz": 5000, "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": 58.7883606, "temp_inv2_c": 56.5842896, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106953539, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 765.005432, "values": {"Elec_RPM": -12515.2646, "EncoderCos": 52100, "EncoderSin": 29611, "GapTicks": 38235, "Mech_RPM": -2503.05298, "cg_du": 65.2408142, "cg_dv": 38.7344246, "cg_dw": 34.759182, "cg_id_a": 8.3539772, "cg_id_raw_a": 11.7908487, "cg_iq_a": 308.845795, "cg_iq_raw_a": 316.522858, "cg_iu_a": -243.913757, "cg_iv_a": -40.5103149, "cg_iw_a": 284.424072, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 5847612, "cg_sample_valid": 1, "cg_theta_rad": 6.17047882, "cg_vd_req_v": 6.80238104, "cg_vd_v": 6.80238104, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8841419, "cg_vq_v": -27.8841419, "cg_vu_v": 55.4264603, "cg_vv_v": 76.5413055, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.7929611, "dclink_p_w": 11703.4258, "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": 58.7883606, "temp_inv2_c": 56.4423218, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106349275, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 766.022827, "values": {"Elec_RPM": -12514.0781, "EncoderCos": 52254, "EncoderSin": 30868, "GapTicks": 36812, "Mech_RPM": -2502.81567, "cg_du": 66.5337524, "cg_dv": 47.5648499, "cg_dw": 33.4662476, "cg_id_a": 10.1882811, "cg_id_raw_a": 11.1946983, "cg_iq_a": 311.634735, "cg_iq_raw_a": 314.733856, "cg_iu_a": -169.432678, "cg_iv_a": -137.281372, "cg_iw_a": 306.71405, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 5852712, "cg_sample_valid": 1, "cg_theta_rad": 6.22636843, "cg_vd_req_v": 6.78615236, "cg_vd_v": 6.78615236, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.9286633, "cg_vq_v": -27.9286633, "cg_vu_v": 41.3499031, "cg_vv_v": 76.9812012, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 77.9143753, "dclink_p_w": 11721.6924, "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": 58.8300171, "temp_inv2_c": 56.5426025, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.003372}}
{"type": "telemetry", "t": 767.060303, "values": {"Elec_RPM": -12517.1279, "EncoderCos": 14471, "EncoderSin": 24926, "GapTicks": 37715, "Mech_RPM": -2503.42554, "cg_du": 65.7134247, "cg_dv": 34.2865753, "cg_dw": 41.4292603, "cg_id_a": -13.2054482, "cg_id_raw_a": -11.0595522, "cg_iq_a": 295.948181, "cg_iq_raw_a": 300.550049, "cg_iu_a": -283.528259, "cg_iv_a": 58.9789886, "cg_iw_a": 224.549271, "cg_sample_age_us": 24.1000004, "cg_sample_seq": 5857862, "cg_sample_valid": 1, "cg_theta_rad": 3.58072019, "cg_vd_req_v": 7.22066832, "cg_vd_v": 7.22066832, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6060028, "cg_vq_v": -27.6060028, "cg_vu_v": 59.385498, "cg_vv_v": 17.1558094, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.1318436, "dclink_p_w": 11754.4082, "enc_isr_hz": 4998, "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": 58.8717346, "temp_inv2_c": 56.5426025, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 768.062988, "values": {"Elec_RPM": -12519.7422, "EncoderCos": 45969, "EncoderSin": 18142, "GapTicks": 38585, "Mech_RPM": -2503.94849, "cg_du": 35.0777969, "cg_dv": 64.9222031, "cg_dw": 62.126545, "cg_id_a": 4.03827429, "cg_id_raw_a": -9.66479588, "cg_iq_a": 303.406952, "cg_iq_raw_a": 300.20871, "cg_iu_a": 275.931549, "cg_iv_a": -24.3818054, "cg_iw_a": -251.549744, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5862812, "cg_sample_valid": 1, "cg_theta_rad": 5.49325275, "cg_vd_req_v": 6.85907555, "cg_vd_v": 6.85907555, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8001213, "cg_vq_v": -27.8001213, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 54.1067848, "control_outputs_enabled": 1, "dclink_i_a": 78.5359573, "dclink_p_w": 11780.6582, "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": 58.7883606, "temp_inv2_c": 56.5426025, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 769.051758, "values": {"Elec_RPM": -12515.4395, "EncoderCos": 27319, "EncoderSin": 51771, "GapTicks": 37134, "Mech_RPM": -2503.08789, "cg_du": 33.7589531, "cg_dv": 45.3571281, "cg_dw": 66.2410431, "cg_id_a": -4.4532423, "cg_id_raw_a": 0.654600143, "cg_iq_a": 298.136414, "cg_iq_raw_a": 303.99118, "cg_iu_a": 28.3136787, "cg_iv_a": 242.735245, "cg_iw_a": -271.04892, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 5867864, "cg_sample_valid": 1, "cg_theta_rad": 1.93276584, "cg_vd_req_v": 7.09670734, "cg_vd_v": 7.09670734, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6142044, "cg_vq_v": -27.6142044, "cg_vu_v": 149.123581, "cg_vv_v": 89.2981949, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 78.1644592, "dclink_p_w": 11724.9326, "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": 58.8717346, "temp_inv2_c": 56.5548706, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 769.913147, "values": {"Elec_RPM": -12515.2686, "EncoderCos": 36152, "EncoderSin": 52144, "GapTicks": 36922, "Mech_RPM": -2503.05371, "cg_du": 50.1206779, "cg_dv": 66.4341431, "cg_dw": 33.5658569, "cg_id_a": 1.24845552, "cg_id_raw_a": 12.7740917, "cg_iq_a": 297.873779, "cg_iq_raw_a": 303.005188, "cg_iu_a": 150.346649, "cg_iv_a": -301.357178, "cg_iw_a": 151.010529, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5872162, "cg_sample_valid": 1, "cg_theta_rad": 1.43490648, "cg_vd_req_v": 6.9884963, "cg_vd_v": 6.9884963, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5944748, "cg_vq_v": -27.5944748, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 77.8726959, "dclink_p_w": 11681.167, "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": 58.8300171, "temp_inv2_c": 56.5842896, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.003372}}
{"type": "telemetry", "t": 770.930481, "values": {"Elec_RPM": -12511.6504, "EncoderCos": 21311, "EncoderSin": 14148, "GapTicks": 37537, "Mech_RPM": -2502.33008, "cg_du": 34.1249809, "cg_dv": 65.8750153, "cg_dw": 57.1756287, "cg_id_a": -3.63332057, "cg_id_raw_a": 4.69393396, "cg_iq_a": 296.23233, "cg_iq_raw_a": 299.420868, "cg_iu_a": 278.468628, "cg_iv_a": -58.7409668, "cg_iw_a": -219.727661, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 5877212, "cg_sample_valid": 1, "cg_theta_rad": 4.21218967, "cg_vd_req_v": 7.05522823, "cg_vd_v": 7.05522823, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6141548, "cg_vq_v": -27.6141548, "cg_vu_v": 8.79785156, "cg_vv_v": 38.7105446, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 78.4689102, "dclink_p_w": 11805.1182, "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": 58.8300171, "temp_inv2_c": 56.6161804, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 771.947937, "values": {"Elec_RPM": -12511.3145, "EncoderCos": 22576, "EncoderSin": 13458, "GapTicks": 38830, "Mech_RPM": -2502.26294, "cg_du": 35.3005676, "cg_dv": 62.6119576, "cg_dw": 64.6994324, "cg_id_a": -3.44277811, "cg_id_raw_a": -18.2110195, "cg_iq_a": 296.170471, "cg_iq_raw_a": 294.435822, "cg_iu_a": 248.313751, "cg_iv_a": 23.894989, "cg_iw_a": -272.20874, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 5882312, "cg_sample_valid": 1, "cg_theta_rad": 4.26999617, "cg_vd_req_v": 7.033463, "cg_vd_v": 7.033463, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6150284, "cg_vq_v": -27.6150284, "cg_vu_v": 37.3908691, "cg_vv_v": 37.830761, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 77.4631424, "dclink_p_w": 11619.7324, "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": 58.8717346, "temp_inv2_c": 56.6407166, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 772.965271, "values": {"Elec_RPM": -12514.3516, "EncoderCos": 32241, "EncoderSin": 54374, "GapTicks": 36926, "Mech_RPM": -2502.87036, "cg_du": 33.5694885, "cg_dv": 66.4305115, "cg_dw": 48.2429085, "cg_id_a": 1.69405055, "cg_id_raw_a": 7.03957224, "cg_iq_a": 302.485352, "cg_iq_raw_a": 300.774536, "cg_iu_a": 298.583954, "cg_iv_a": -149.712982, "cg_iw_a": -56.4854202, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 5887462, "cg_sample_valid": 1, "cg_theta_rad": 1.61772692, "cg_vd_req_v": 6.95551443, "cg_vd_v": 6.95551443, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7381516, "cg_vq_v": -27.7381516, "cg_vu_v": 0, "cg_vv_v": 32.1121559, "cg_vw_v": 58.9456062, "control_outputs_enabled": 1, "dclink_i_a": 78.7135544, "dclink_p_w": 11807.2988, "enc_isr_hz": 5000, "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": 58.8717346, "temp_inv2_c": 56.6726379, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.105090402, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 773.982727, "values": {"Elec_RPM": -12512.4004, "EncoderCos": 47817, "EncoderSin": 48136, "GapTicks": 36997, "Mech_RPM": -2502.47998, "cg_du": 54.1185913, "cg_dv": 33.6341171, "cg_dw": 66.3658829, "cg_id_a": -0.0701918602, "cg_id_raw_a": 1.67919385, "cg_iq_a": 301.047485, "cg_iq_raw_a": 298.460236, "cg_iu_a": -198.463989, "cg_iv_a": 289.236084, "cg_iw_a": -90.7720947, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 5892462, "cg_sample_valid": 1, "cg_theta_rad": 0.823752403, "cg_vd_req_v": 6.98950672, "cg_vd_v": 6.98950672, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6923733, "cg_vq_v": -27.6923733, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 78.2025146, "dclink_p_w": 11765.041, "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": 58.9552612, "temp_inv2_c": 56.6358032, "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": 149.563477}}
{"type": "telemetry", "t": 775.020264, "values": {"Elec_RPM": -12514.5039, "EncoderCos": 35245, "EncoderSin": 54192, "GapTicks": 37702, "Mech_RPM": -2502.90088, "cg_du": 41.8853111, "cg_dv": 65.7248383, "cg_dw": 34.2751579, "cg_id_a": 0.989116907, "cg_id_raw_a": -2.96083546, "cg_iq_a": 298.194336, "cg_iq_raw_a": 294.292542, "cg_iu_a": 285.789856, "cg_iv_a": -60.8430786, "cg_iw_a": -224.946777, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 5897667, "cg_sample_valid": 1, "cg_theta_rad": 1.70709586, "cg_vd_req_v": 6.98021221, "cg_vd_v": 6.98021221, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6354313, "cg_vq_v": -27.6354313, "cg_vu_v": 109.973145, "cg_vv_v": 125.809273, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.865448, "dclink_p_w": 11680.0801, "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": 58.8717346, "temp_inv2_c": 56.6874084, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 776.017578, "values": {"Elec_RPM": -12517.2842, "EncoderCos": 46583, "EncoderSin": 49295, "GapTicks": 39286, "Mech_RPM": -2503.45679, "cg_du": 64.2849731, "cg_dv": 35.7150269, "cg_dw": 63.805233, "cg_id_a": -2.76830459, "cg_id_raw_a": 7.23075104, "cg_iq_a": 297.033539, "cg_iq_raw_a": 303.126007, "cg_iu_a": -261.890686, "cg_iv_a": 252.81102, "cg_iw_a": 9.07966614, "cg_sample_age_us": 23.5472736, "cg_sample_seq": 5902663, "cg_sample_valid": 1, "cg_theta_rad": 0.908262789, "cg_vd_req_v": 7.06746101, "cg_vd_v": 7.06746101, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6097393, "cg_vq_v": -27.6097393, "cg_vu_v": 113.932175, "cg_vv_v": 72.5822754, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 78.1916428, "dclink_p_w": 11763.4053, "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": 58.9134827, "temp_inv2_c": 56.6480713, "temp_inv3_c": null, "temp_motor_c": 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": 150.883148}}
{"type": "telemetry", "t": 777.055115, "values": {"Elec_RPM": -12515.7666, "EncoderCos": 29317, "EncoderSin": 11275, "GapTicks": 37091, "Mech_RPM": -2503.15332, "cg_du": 54.016449, "cg_dv": 33.7195969, "cg_dw": 66.2804031, "cg_id_a": -6.11666679, "cg_id_raw_a": -5.88763666, "cg_iq_a": 295.313477, "cg_iq_raw_a": 290.811157, "cg_iu_a": -198.645203, "cg_iv_a": 284.488129, "cg_iw_a": -85.8429184, "cg_sample_age_us": 23.772728, "cg_sample_seq": 5907812, "cg_sample_valid": 1, "cg_theta_rad": 4.59632444, "cg_vd_req_v": 7.08956099, "cg_vd_v": 7.08956099, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5873337, "cg_vq_v": -27.5873337, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 78.6120758, "dclink_p_w": 11826.6563, "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": 58.9552612, "temp_inv2_c": 56.6898804, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 778.053162, "values": {"Elec_RPM": -12523.5313, "EncoderCos": 49481, "EncoderSin": 19211, "GapTicks": 37055, "Mech_RPM": -2504.7063, "cg_du": 33.6869469, "cg_dv": 45.5554962, "cg_dw": 66.3130493, "cg_id_a": 2.22656584, "cg_id_raw_a": 7.35669851, "cg_iq_a": 305.56427, "cg_iq_raw_a": 309.007019, "cg_iu_a": 118.379608, "cg_iv_a": 192.610016, "cg_iw_a": -310.989624, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 5912662, "cg_sample_valid": 1, "cg_theta_rad": 5.65801382, "cg_vd_req_v": 6.91323805, "cg_vd_v": 6.91323805, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.8415146, "cg_vq_v": -27.8415146, "cg_vu_v": 149.563477, "cg_vv_v": 93.6971207, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.0738525, "dclink_p_w": 11745.6846, "enc_isr_hz": 4998, "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": 58.9552612, "temp_inv2_c": 56.7021484, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 779.046448, "values": {"Elec_RPM": -12521.0439, "EncoderCos": 11580, "EncoderSin": 37562, "GapTicks": 37604, "Mech_RPM": -2504.20874, "cg_du": 34.185627, "cg_dv": 65.8143768, "cg_dw": 58.3218613, "cg_id_a": -5.38551474, "cg_id_raw_a": 3.62824845, "cg_iq_a": 304.311096, "cg_iq_raw_a": 307.057343, "cg_iu_a": 293.07489, "cg_iv_a": -72.0787048, "cg_iw_a": -220.996185, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 5917813, "cg_sample_valid": 1, "cg_theta_rad": 2.94893456, "cg_vd_req_v": 7.09499598, "cg_vd_v": 7.09499598, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7350788, "cg_vq_v": -27.7350788, "cg_vu_v": 73.0221634, "cg_vv_v": 75.2216263, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 78.2152023, "dclink_p_w": 11732.5439, "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": 58.9971008, "temp_inv2_c": 56.761261, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 780.083984, "values": {"Elec_RPM": -12514.7188, "EncoderCos": 12613, "EncoderSin": 40674, "GapTicks": 38798, "Mech_RPM": -2502.94385, "cg_du": 35.271698, "cg_dv": 64.728302, "cg_dw": 37.2192917, "cg_id_a": -1.51887918, "cg_id_raw_a": -14.3317614, "cg_iq_a": 299.978912, "cg_iq_raw_a": 293.964996, "cg_iu_a": 195.107788, "cg_iv_a": 34.9855804, "cg_iw_a": -271.701294, "cg_sample_age_us": 23.8745461, "cg_sample_seq": 5922917, "cg_sample_valid": 1, "cg_theta_rad": 3.06445003, "cg_vd_req_v": 7.04027367, "cg_vd_v": 7.04027367, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6511574, "cg_vq_v": -27.6511574, "cg_vu_v": 38.2706528, "cg_vv_v": 36.9509773, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 78.0955963, "dclink_p_w": 11714.6025, "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": 58.9971008, "temp_inv2_c": 56.6578979, "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": 150.003372}}
{"type": "telemetry", "t": 780.925293, "values": {"Elec_RPM": -12516.8174, "EncoderCos": 16406, "EncoderSin": 46987, "GapTicks": 36912, "Mech_RPM": -2503.36353, "cg_du": 66.4428101, "cg_dv": 47.5550385, "cg_dw": 33.5571899, "cg_id_a": 1.78867757, "cg_id_raw_a": 8.39284229, "cg_iq_a": 303.500946, "cg_iq_raw_a": 300.588013, "cg_iu_a": -86.2168274, "cg_iv_a": -206.108398, "cg_iw_a": 292.325226, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 5927213, "cg_sample_valid": 1, "cg_theta_rad": 2.51585126, "cg_vd_req_v": 6.96277285, "cg_vd_v": 6.96277285, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7242241, "cg_vq_v": -27.7242241, "cg_vu_v": 37.830761, "cg_vv_v": 62.4647446, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6878586, "dclink_p_w": 11653.4404, "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": 58.9971008, "temp_inv2_c": 56.761261, "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": 150.003372}}
{"type": "telemetry", "t": 781.942749, "values": {"Elec_RPM": -12513.4961, "EncoderCos": 30314, "EncoderSin": 54218, "GapTicks": 38220, "Mech_RPM": -2502.69922, "cg_du": 34.7456055, "cg_dv": 65.2543945, "cg_dw": 60.7168808, "cg_id_a": 3.63046765, "cg_id_raw_a": -9.08968735, "cg_iq_a": 303.662445, "cg_iq_raw_a": 298.969818, "cg_iu_a": 281.259399, "cg_iv_a": -125.937042, "cg_iw_a": -178.11972, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 5932212, "cg_sample_valid": 1, "cg_theta_rad": 1.70698261, "cg_vd_req_v": 6.92840099, "cg_vd_v": 6.92840099, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7443714, "cg_vq_v": -27.7443714, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 78.8603439, "dclink_p_w": 11864.0068, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2615, "hz_tim_isr": 4999, "hz_vsense": 2615, "pwm_moe": 1, "temp_inv1_c": 58.9971008, "temp_inv2_c": 56.6824951, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 782.960144, "values": {"Elec_RPM": -12511.9102, "EncoderCos": 14112, "EncoderSin": 43682, "GapTicks": 38837, "Mech_RPM": -2502.38208, "cg_du": 62.9463043, "cg_dv": 64.6936264, "cg_dw": 35.3063736, "cg_id_a": 1.46616459, "cg_id_raw_a": -2.65530205, "cg_iq_a": 301.595642, "cg_iq_raw_a": 300.935608, "cg_iu_a": 20.0138397, "cg_iv_a": -268.266571, "cg_iw_a": 248.252731, "cg_sample_age_us": 23.7872734, "cg_sample_seq": 5937413, "cg_sample_valid": 1, "cg_theta_rad": 2.60126472, "cg_vd_req_v": 7.00063992, "cg_vd_v": 7.00063992, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6828938, "cg_vq_v": -27.6828938, "cg_vu_v": 0, "cg_vv_v": 60.7051735, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 77.6624832, "dclink_p_w": 11683.7969, "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": 58.9971008, "temp_inv2_c": 56.761261, "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": 0.109672688, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 783.977478, "values": {"Elec_RPM": -12511.0264, "EncoderCos": 13979, "EncoderSin": 43418, "GapTicks": 37085, "Mech_RPM": -2502.20532, "cg_du": 53.951355, "cg_dv": 66.2859039, "cg_dw": 33.7140923, "cg_id_a": 11.8655024, "cg_id_raw_a": 12.8593073, "cg_iq_a": 304.985168, "cg_iq_raw_a": 306.125031, "cg_iu_a": 120.51799, "cg_iv_a": -296.500488, "cg_iw_a": 175.982513, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 5942513, "cg_sample_valid": 1, "cg_theta_rad": 2.6560483, "cg_vd_req_v": 6.74515629, "cg_vd_v": 6.74515629, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7598686, "cg_vq_v": -27.7598686, "cg_vu_v": 73.462059, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 77.9614944, "dclink_p_w": 11694.4873, "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": 59.0809326, "temp_inv2_c": 56.8500366, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 784.994873, "values": {"Elec_RPM": -12514.748, "EncoderCos": 26085, "EncoderSin": 53341, "GapTicks": 37965, "Mech_RPM": -2502.94971, "cg_du": 34.5136528, "cg_dv": 40.3237801, "cg_dw": 65.4863434, "cg_id_a": -3.53257728, "cg_id_raw_a": 0.653624713, "cg_iq_a": 302.115479, "cg_iq_raw_a": 309.278503, "cg_iu_a": 114.755226, "cg_iv_a": 179.489777, "cg_iw_a": -294.244995, "cg_sample_age_us": 23.772728, "cg_sample_seq": 5947512, "cg_sample_valid": 1, "cg_theta_rad": 1.87513936, "cg_vd_req_v": 7.07577658, "cg_vd_v": 7.07577658, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7102127, "cg_vq_v": -27.7102127, "cg_vu_v": 18.4754887, "cg_vv_v": 0, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 79.0198135, "dclink_p_w": 11887.998, "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": 58.9971008, "temp_inv2_c": 56.8377075, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 786.032471, "values": {"Elec_RPM": -12516.1172, "EncoderCos": 14298, "EncoderSin": 43973, "GapTicks": 37583, "Mech_RPM": -2503.22339, "cg_du": 57.9402351, "cg_dv": 65.8334274, "cg_dw": 34.1665726, "cg_id_a": 3.36034155, "cg_id_raw_a": -4.62780046, "cg_iq_a": 302.497345, "cg_iq_raw_a": 302.104248, "cg_iu_a": 261.832703, "cg_iv_a": -264.2435, "cg_iw_a": 2.41079712, "cg_sample_age_us": 23.7909088, "cg_sample_seq": 5952716, "cg_sample_valid": 1, "cg_theta_rad": 2.80386233, "cg_vd_req_v": 6.90862799, "cg_vd_v": 6.90862799, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7028351, "cg_vq_v": -27.7028351, "cg_vu_v": 0, "cg_vv_v": 31.2323723, "cg_vw_v": 51.9073219, "control_outputs_enabled": 1, "dclink_i_a": 78.1064682, "dclink_p_w": 11750.5908, "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": 58.9971008, "temp_inv2_c": 56.901947, "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": 150.003372}}
{"type": "telemetry", "t": 787.029785, "values": {"Elec_RPM": -12513.1641, "EncoderCos": 23480, "EncoderSin": 52235, "GapTicks": 36920, "Mech_RPM": -2502.63281, "cg_du": 48.6739883, "cg_dv": 33.564045, "cg_dw": 66.4359589, "cg_id_a": 1.66617203, "cg_id_raw_a": 8.85370255, "cg_iq_a": 299.969452, "cg_iq_raw_a": 303.047485, "cg_iu_a": -148.628723, "cg_iv_a": 287.387634, "cg_iw_a": -226.142792, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 5957712, "cg_sample_valid": 1, "cg_theta_rad": 2.03772497, "cg_vd_req_v": 6.98739147, "cg_vd_v": 6.98739147, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6295719, "cg_vq_v": -27.6295719, "cg_vu_v": 42.6695786, "cg_vv_v": 0, "cg_vw_v": 7.03828096, "control_outputs_enabled": 1, "dclink_i_a": 77.8726959, "dclink_p_w": 11681.167, "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": 59.0390015, "temp_inv2_c": 56.8747559, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 788.068054, "values": {"Elec_RPM": -12514.5195, "EncoderCos": 26418, "EncoderSin": 53436, "GapTicks": 37537, "Mech_RPM": -2502.90381, "cg_du": 34.1246643, "cg_dv": 42.4556732, "cg_dw": 65.8753357, "cg_id_a": -5.37713432, "cg_id_raw_a": -1.03066599, "cg_iq_a": 302.271149, "cg_iq_raw_a": 309.574371, "cg_iu_a": -159.538116, "cg_iv_a": 300.834106, "cg_iw_a": -141.29599, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 5962816, "cg_sample_valid": 1, "cg_theta_rad": 2.07765269, "cg_vd_req_v": 7.12647438, "cg_vd_v": 7.12647438, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6951485, "cg_vq_v": -27.6951485, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 78.354744, "dclink_p_w": 11787.9424, "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": 59.0809326, "temp_inv2_c": 56.8796997, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 789.041199, "values": {"Elec_RPM": -12516.4922, "EncoderCos": 38796, "EncoderSin": 53446, "GapTicks": 39073, "Mech_RPM": -2503.29834, "cg_du": 64.4790497, "cg_dv": 63.4500961, "cg_dw": 35.5209503, "cg_id_a": 4.75995731, "cg_id_raw_a": -9.19490528, "cg_iq_a": 302.930573, "cg_iq_raw_a": 300.122589, "cg_iu_a": -92.9944305, "cg_iv_a": -204.658646, "cg_iw_a": 297.653076, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 5967812, "cg_sample_valid": 1, "cg_theta_rad": 1.27612185, "cg_vd_req_v": 6.91330576, "cg_vd_v": 6.91330576, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6917553, "cg_vq_v": -27.6917553, "cg_vu_v": 0.87978512, "cg_vv_v": 43.549366, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.5867004, "dclink_p_w": 11788.2705, "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": 59.0809326, "temp_inv2_c": 56.761261, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 790.058594, "values": {"Elec_RPM": -12517.1172, "EncoderCos": 19449, "EncoderSin": 15571, "GapTicks": 37733, "Mech_RPM": -2503.42334, "cg_du": 34.3033333, "cg_dv": 65.6966629, "cg_dw": 41.9832687, "cg_id_a": -0.937637806, "cg_id_raw_a": -0.13088952, "cg_iq_a": 294.591431, "cg_iq_raw_a": 296.884003, "cg_iu_a": 284.847534, "cg_iv_a": -197.337387, "cg_iw_a": -87.5101471, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 5972862, "cg_sample_valid": 1, "cg_theta_rad": 4.09856415, "cg_vd_req_v": 7.02558565, "cg_vd_v": 7.02558565, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5466938, "cg_vq_v": -27.5466938, "cg_vu_v": 0, "cg_vv_v": 39.590332, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 78.2115784, "dclink_p_w": 11766.4043, "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": 59.1229248, "temp_inv2_c": 56.8722839, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106550694, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 790.919983, "values": {"Elec_RPM": -12517.375, "EncoderCos": 12085, "EncoderSin": 26287, "GapTicks": 37355, "Mech_RPM": -2503.4751, "cg_du": 66.0406647, "cg_dv": 33.9593353, "cg_dw": 55.7788925, "cg_id_a": -2.37448311, "cg_id_raw_a": 0.984089613, "cg_iq_a": 296.495331, "cg_iq_raw_a": 296.955383, "cg_iu_a": -289.218567, "cg_iv_a": 183.186646, "cg_iw_a": 106.031929, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 5977163, "cg_sample_valid": 1, "cg_theta_rad": 3.47891927, "cg_vd_req_v": 7.07120895, "cg_vd_v": 7.07120895, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5693493, "cg_vq_v": -27.5693493, "cg_vu_v": 124.929489, "cg_vv_v": 74.7817383, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 78.0647888, "dclink_p_w": 11709.9814, "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": 59.0809326, "temp_inv2_c": 56.7957764, "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": 0.114154272, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 791.937378, "values": {"Elec_RPM": -12516.1445, "EncoderCos": 47554, "EncoderSin": 48237, "GapTicks": 37332, "Mech_RPM": -2503.229, "cg_du": 55.8362198, "cg_dv": 33.938385, "cg_dw": 66.061615, "cg_id_a": -2.10744238, "cg_id_raw_a": 10.3708172, "cg_iq_a": 298.997925, "cg_iq_raw_a": 303.587982, "cg_iu_a": -199.805023, "cg_iv_a": 296.593597, "cg_iw_a": -96.7885666, "cg_sample_age_us": 23.6236362, "cg_sample_seq": 5982313, "cg_sample_valid": 1, "cg_theta_rad": 0.837322474, "cg_vd_req_v": 7.05428505, "cg_vd_v": 7.05428505, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6225891, "cg_vq_v": -27.6225891, "cg_vu_v": 136.366699, "cg_vv_v": 73.0221634, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": 78.3764877, "dclink_p_w": 11756.7373, "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": 59.0809326, "temp_inv2_c": 56.9786987, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 792.954895, "values": {"Elec_RPM": -12513.7256, "EncoderCos": 54100, "EncoderSin": 34028, "GapTicks": 38075, "Mech_RPM": -2502.74512, "cg_du": 60.1916084, "cg_dv": 65.3855057, "cg_dw": 34.6144981, "cg_id_a": 6.07023716, "cg_id_raw_a": -4.48465204, "cg_iq_a": 305.276062, "cg_iq_raw_a": 302.951477, "cg_iu_a": 43.1736488, "cg_iv_a": -286.533447, "cg_iw_a": 243.359802, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 5987312, "cg_sample_valid": 1, "cg_theta_rad": 0.106621385, "cg_vd_req_v": 6.87665367, "cg_vd_v": 6.87665367, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7765999, "cg_vq_v": -27.7765999, "cg_vu_v": 109.093361, "cg_vv_v": 151.762939, "cg_vw_v": 124.929489, "control_outputs_enabled": 1, "dclink_i_a": 78.2423859, "dclink_p_w": 11771.0391, "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": 59.1229248, "temp_inv2_c": 56.9192505, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 793.972168, "values": {"Elec_RPM": -12511.3828, "EncoderCos": 14343, "EncoderSin": 21282, "GapTicks": 36958, "Mech_RPM": -2502.27661, "cg_du": 66.4015503, "cg_dv": 50.6812363, "cg_dw": 33.5984497, "cg_id_a": -3.16056776, "cg_id_raw_a": -4.26469183, "cg_iq_a": 298.141937, "cg_iq_raw_a": 298.031464, "cg_iu_a": -126.773682, "cg_iv_a": -167.8349, "cg_iw_a": 294.608582, "cg_sample_age_us": 23.994545, "cg_sample_seq": 5992462, "cg_sample_valid": 1, "cg_theta_rad": 3.74117708, "cg_vd_req_v": 7.07353735, "cg_vd_v": 7.07353735, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6087189, "cg_vq_v": -27.6087189, "cg_vu_v": 21.5547352, "cg_vv_v": 69.0631332, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 79.0180054, "dclink_p_w": 11922.4854, "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": 59.2070618, "temp_inv2_c": 56.9786987, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 794.989624, "values": {"Elec_RPM": -12516.1387, "EncoderCos": 15861, "EncoderSin": 19161, "GapTicks": 38055, "Mech_RPM": -2503.22778, "cg_du": 65.4040833, "cg_dv": 60.0330849, "cg_dw": 34.5959129, "cg_id_a": 1.1333127, "cg_id_raw_a": 4.37919855, "cg_iq_a": 297.08316, "cg_iq_raw_a": 300.92395, "cg_iu_a": -44.753891, "cg_iv_a": -232.56636, "cg_iw_a": 277.320251, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 5997562, "cg_sample_valid": 1, "cg_theta_rad": 3.81583977, "cg_vd_req_v": 7.02442408, "cg_vd_v": 7.02442408, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.626339, "cg_vq_v": -27.626339, "cg_vu_v": 90.6178665, "cg_vv_v": 151.762939, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 78.3982315, "dclink_p_w": 11794.4854, "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": 59.1649475, "temp_inv2_c": 57.0282898, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106097504, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 796.00708, "values": {"Elec_RPM": -12514.7754, "EncoderCos": 15322, "EncoderSin": 19830, "GapTicks": 38588, "Mech_RPM": -2502.95508, "cg_du": 64.9191132, "cg_dv": 61.8673973, "cg_dw": 35.0808868, "cg_id_a": -2.96398497, "cg_id_raw_a": 5.75034666, "cg_iq_a": 295.672302, "cg_iq_raw_a": 300.379089, "cg_iu_a": -26.3782654, "cg_iv_a": -240.612518, "cg_iw_a": 266.990784, "cg_sample_age_us": 23.863636, "cg_sample_seq": 6002663, "cg_sample_valid": 1, "cg_theta_rad": 3.82431173, "cg_vd_req_v": 7.07376242, "cg_vd_v": 7.07376242, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.542202, "cg_vq_v": -27.542202, "cg_vu_v": 31.6722641, "cg_vv_v": 66.4237747, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.0847244, "dclink_p_w": 11747.3203, "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": 59.1649475, "temp_inv2_c": 57.0084229, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 797.024475, "values": {"Elec_RPM": -12512.4219, "EncoderCos": 52963, "EncoderSin": 39735, "GapTicks": 36919, "Mech_RPM": -2502.48438, "cg_du": 33.5627785, "cg_dv": 66.4372253, "cg_dw": 48.2710762, "cg_id_a": 4.76524925, "cg_id_raw_a": 8.54732609, "cg_iq_a": 305.325928, "cg_iq_raw_a": 303.550568, "cg_iu_a": 289.52298, "cg_iv_a": -236.553223, "cg_iw_a": -52.9697647, "cg_sample_age_us": 23.4381809, "cg_sample_seq": 6007712, "cg_sample_valid": 1, "cg_theta_rad": 0.327409923, "cg_vd_req_v": 6.92141199, "cg_vd_v": 6.92141199, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7568951, "cg_vq_v": -27.7568951, "cg_vu_v": 0, "cg_vv_v": 18.0355949, "cg_vw_v": 62.0248489, "control_outputs_enabled": 1, "dclink_i_a": 78.4018555, "dclink_p_w": 11795.0303, "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": 59.1229248, "temp_inv2_c": 57.038208, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107205309, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 798.042725, "values": {"Elec_RPM": -12519.3086, "EncoderCos": 19285, "EncoderSin": 49611, "GapTicks": 36938, "Mech_RPM": -2503.86182, "cg_du": 66.4199524, "cg_dv": 33.5800514, "cg_dw": 48.0865097, "cg_id_a": -10.5892868, "cg_id_raw_a": -7.03360748, "cg_iq_a": 300.615967, "cg_iq_raw_a": 299.329773, "cg_iu_a": -308.717743, "cg_iv_a": 127.407364, "cg_iw_a": 112.700783, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 6012662, "cg_sample_valid": 1, "cg_theta_rad": 2.27260137, "cg_vd_req_v": 7.23937845, "cg_vd_v": 7.23937845, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6569386, "cg_vq_v": -27.6569386, "cg_vu_v": 77.4210892, "cg_vv_v": 56.7461433, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 77.8890076, "dclink_p_w": 11717.876, "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": 59.1649475, "temp_inv2_c": 56.9910889, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 799.03595, "values": {"Elec_RPM": -12519.8154, "EncoderCos": 19007, "EncoderSin": 49400, "GapTicks": 37069, "Mech_RPM": -2503.96313, "cg_du": 66.3004532, "cg_dv": 33.6995468, "cg_dw": 45.9232635, "cg_id_a": -4.7223444, "cg_id_raw_a": -3.5358479, "cg_iq_a": 303.328705, "cg_iq_raw_a": 296.541351, "cg_iu_a": -293.060394, "cg_iv_a": 96.8175659, "cg_iw_a": 196.242828, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 6017763, "cg_sample_valid": 1, "cg_theta_rad": 2.2941699, "cg_vd_req_v": 7.10746288, "cg_vd_v": 7.10746288, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7134304, "cg_vq_v": -27.7134304, "cg_vu_v": 151.762939, "cg_vv_v": 129.768311, "cg_vw_v": 94.5769043, "control_outputs_enabled": 1, "dclink_i_a": 78.0955963, "dclink_p_w": 11748.9551, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2572, "hz_tim_isr": 4998, "hz_vsense": 2572, "pwm_moe": 1, "temp_inv1_c": 59.2070618, "temp_inv2_c": 56.9167786, "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": 0.105845727, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 800.053406, "values": {"Elec_RPM": -12513.4688, "EncoderCos": 17948, "EncoderSin": 48470, "GapTicks": 38805, "Mech_RPM": -2502.69385, "cg_du": 64.72229, "cg_dv": 35.2777138, "cg_dw": 37.2063828, "cg_id_a": 2.62638021, "cg_id_raw_a": -11.218379, "cg_iq_a": 304.821533, "cg_iq_raw_a": 297.393921, "cg_iu_a": -273.090057, "cg_iv_a": 23.2063446, "cg_iw_a": 249.883713, "cg_sample_age_us": 23.994545, "cg_sample_seq": 6022863, "cg_sample_valid": 1, "cg_theta_rad": 2.3576386, "cg_vd_req_v": 6.94506502, "cg_vd_v": 6.94506502, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7578335, "cg_vq_v": -27.7578335, "cg_vu_v": 135.926804, "cg_vv_v": 111.732712, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 78.1318436, "dclink_p_w": 11720.04, "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": 59.249176, "temp_inv2_c": 56.9985046, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.106500342, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 800.914795, "values": {"Elec_RPM": -12515.0762, "EncoderCos": 28637, "EncoderSin": 11531, "GapTicks": 36975, "Mech_RPM": -2503.01514, "cg_du": 49.3682632, "cg_dv": 33.6140366, "cg_dw": 66.3859634, "cg_id_a": -6.03110886, "cg_id_raw_a": -1.91778827, "cg_iq_a": 295.223602, "cg_iq_raw_a": 293.681, "cg_iu_a": -158.740753, "cg_iv_a": 287.641357, "cg_iw_a": -213.3125, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 6027112, "cg_sample_valid": 1, "cg_theta_rad": 4.55617666, "cg_vd_req_v": 7.13391256, "cg_vd_v": 7.13391256, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5640221, "cg_vq_v": -27.5640221, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.6352997, "dclink_p_w": 11713.8584, "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": 59.2913513, "temp_inv2_c": 57.0779419, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 801.93219, "values": {"Elec_RPM": -12519.0898, "EncoderCos": 27100, "EncoderSin": 53518, "GapTicks": 37024, "Mech_RPM": -2503.81787, "cg_du": 33.6590576, "cg_dv": 46.9345131, "cg_dw": 66.3409424, "cg_id_a": -1.66185045, "cg_id_raw_a": -2.36096501, "cg_iq_a": 301.920593, "cg_iq_raw_a": 295.177032, "cg_iu_a": 104.353249, "cg_iv_a": 186.77475, "cg_iw_a": -291.127991, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 6032263, "cg_sample_valid": 1, "cg_theta_rad": 1.87385035, "cg_vd_req_v": 7.06278324, "cg_vd_v": 7.06278324, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6656914, "cg_vq_v": -27.6656914, "cg_vu_v": 111.732712, "cg_vv_v": 89.2981949, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.4000473, "dclink_p_w": 11760.2715, "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": 59.249176, "temp_inv2_c": 57.0779419, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 802.949585, "values": {"Elec_RPM": -12517.2031, "EncoderCos": 24616, "EncoderSin": 52689, "GapTicks": 37927, "Mech_RPM": -2503.44067, "cg_du": 40.6022301, "cg_dv": 34.4793282, "cg_dw": 65.5206757, "cg_id_a": 9.20983124, "cg_id_raw_a": 11.0455484, "cg_iq_a": 301.233337, "cg_iq_raw_a": 310.699646, "cg_iu_a": -63.31073, "cg_iv_a": 279.667725, "cg_iw_a": -216.356995, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 6037362, "cg_sample_valid": 1, "cg_theta_rad": 1.99966741, "cg_vd_req_v": 6.83753777, "cg_vd_v": 6.83753777, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6455555, "cg_vq_v": -27.6455555, "cg_vu_v": 76.5413055, "cg_vv_v": 36.9509773, "cg_vw_v": 77.8609848, "control_outputs_enabled": 1, "dclink_i_a": 77.7675934, "dclink_p_w": 11665.4014, "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": 59.2913513, "temp_inv2_c": 57.1127319, "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": 0.104989693, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 803.96698, "values": {"Elec_RPM": -12514.7314, "EncoderCos": 42280, "EncoderSin": 51923, "GapTicks": 38284, "Mech_RPM": -2502.94629, "cg_du": 65.195816, "cg_dv": 39.2348938, "cg_dw": 34.804184, "cg_id_a": 1.44736099, "cg_id_raw_a": -9.67458439, "cg_iq_a": 301.428528, "cg_iq_raw_a": 295.211914, "cg_iu_a": -240.905518, "cg_iv_a": -38.4081726, "cg_iw_a": 279.31369, "cg_sample_age_us": 23.954546, "cg_sample_seq": 6042363, "cg_sample_valid": 1, "cg_theta_rad": 1.1428026, "cg_vd_req_v": 6.99255228, "cg_vd_v": 6.99255228, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6498833, "cg_vq_v": -27.6498833, "cg_vu_v": 150.883148, "cg_vv_v": 150.003372, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 77.8310165, "dclink_p_w": 11674.915, "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": 59.2913513, "temp_inv2_c": 57.1177063, "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": 150.443253}}
{"type": "telemetry", "t": 804.984436, "values": {"Elec_RPM": -12512.8018, "EncoderCos": 34441, "EncoderSin": 11262, "GapTicks": 37685, "Mech_RPM": -2502.5603, "cg_du": 65.7407303, "cg_dv": 34.2592697, "cg_dw": 41.8744049, "cg_id_a": -6.54553747, "cg_id_raw_a": -3.97535539, "cg_iq_a": 298.744995, "cg_iq_raw_a": 303.391785, "cg_iu_a": -293.277863, "cg_iv_a": 128.023499, "cg_iw_a": 165.254364, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 6047512, "cg_sample_valid": 1, "cg_theta_rad": 4.79311752, "cg_vd_req_v": 7.11775017, "cg_vd_v": 7.11775017, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6308727, "cg_vq_v": -27.6308727, "cg_vu_v": 42.6695786, "cg_vv_v": 2.19946289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.8817596, "dclink_p_w": 11716.7852, "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": 59.2913513, "temp_inv2_c": 57.1052856, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 806.00177, "values": {"Elec_RPM": -12513.5977, "EncoderCos": 34727, "EncoderSin": 11287, "GapTicks": 38020, "Mech_RPM": -2502.71948, "cg_du": 65.4359589, "cg_dv": 34.5640411, "cg_dw": 40.2506714, "cg_id_a": 1.49942923, "cg_id_raw_a": -5.85113144, "cg_iq_a": 300.53595, "cg_iq_raw_a": 294.693909, "cg_iu_a": -275.264648, "cg_iv_a": 46.5473633, "cg_iw_a": 228.717285, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 6052613, "cg_sample_valid": 1, "cg_theta_rad": 4.85707283, "cg_vd_req_v": 6.93308735, "cg_vd_v": 6.93308735, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6872063, "cg_vq_v": -27.6872063, "cg_vu_v": 142.525192, "cg_vv_v": 111.732712, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 78.7842331, "dclink_p_w": 11817.9004, "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": 59.3335876, "temp_inv2_c": 57.0978088, "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": 150.443253}}
{"type": "telemetry", "t": 807.019226, "values": {"Elec_RPM": -12512.7813, "EncoderCos": 37049, "EncoderSin": 53764, "GapTicks": 37113, "Mech_RPM": -2502.55615, "cg_du": 53.8725014, "cg_dv": 66.2601318, "cg_dw": 33.739872, "cg_id_a": -0.778798819, "cg_id_raw_a": -3.99923921, "cg_iq_a": 299.182953, "cg_iq_raw_a": 295.43222, "cg_iu_a": 118.307121, "cg_iv_a": -301.973328, "cg_iw_a": 183.666199, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 6057662, "cg_sample_valid": 1, "cg_theta_rad": 1.40878022, "cg_vd_req_v": 7.08702707, "cg_vd_v": 7.08702707, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.617548, "cg_vq_v": -27.617548, "cg_vu_v": 21.1148415, "cg_vv_v": 78.7407684, "cg_vw_v": 51.9073219, "control_outputs_enabled": 1, "dclink_i_a": 78.0231094, "dclink_p_w": 11738.0508, "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": 59.2913513, "temp_inv2_c": 57.1525574, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 808.032898, "values": {"Elec_RPM": -12518.6152, "EncoderCos": 11389, "EncoderSin": 29804, "GapTicks": 37644, "Mech_RPM": -2503.72314, "cg_du": 50.3460808, "cg_dv": 33.5748978, "cg_dw": 66.4251022, "cg_id_a": -5.2569108, "cg_id_raw_a": 2.93607426, "cg_iq_a": 296.173553, "cg_iq_raw_a": 295.031952, "cg_iu_a": -81.2514267, "cg_iv_a": 289.815979, "cg_iw_a": -208.564545, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 6062612, "cg_sample_valid": 1, "cg_theta_rad": 3.27046561, "cg_vd_req_v": 7.16846275, "cg_vd_v": 7.16846275, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5340042, "cg_vq_v": -27.5340042, "cg_vu_v": 117.891212, "cg_vv_v": 71.7024918, "cg_vw_v": 103.814644, "control_outputs_enabled": 1, "dclink_i_a": 78.5051498, "dclink_p_w": 11810.5703, "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": 59.4605408, "temp_inv2_c": 57.1550293, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 809.030762, "values": {"Elec_RPM": -12520.46, "EncoderCos": 50524, "EncoderSin": 44491, "GapTicks": 37024, "Mech_RPM": -2504.09204, "cg_du": 33.6587601, "cg_dv": 46.0697556, "cg_dw": 66.3412399, "cg_id_a": 2.7834897, "cg_id_raw_a": 1.44051766, "cg_iq_a": 304.051697, "cg_iq_raw_a": 296.241364, "cg_iu_a": 100.728867, "cg_iv_a": 191.848892, "cg_iw_a": -292.577759, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 6067763, "cg_sample_valid": 1, "cg_theta_rad": 0.61203295, "cg_vd_req_v": 6.9877286, "cg_vd_v": 6.9877286, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7085514, "cg_vq_v": -27.7085514, "cg_vu_v": 124.489601, "cg_vv_v": 99.4157181, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.48703, "dclink_p_w": 11773.3193, "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": 59.4181824, "temp_inv2_c": 57.0754395, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 810.048096, "values": {"Elec_RPM": -12517.374, "EncoderCos": 49662, "EncoderSin": 45688, "GapTicks": 38876, "Mech_RPM": -2503.47485, "cg_du": 35.3424339, "cg_dv": 36.9619522, "cg_dw": 64.6575623, "cg_id_a": 11.8907585, "cg_id_raw_a": -4.26516056, "cg_iq_a": 304.628113, "cg_iq_raw_a": 299.035309, "cg_iu_a": 24.4718323, "cg_iv_a": 248.171814, "cg_iw_a": -272.643646, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 6072863, "cg_sample_valid": 1, "cg_theta_rad": 0.685612082, "cg_vd_req_v": 6.77704525, "cg_vd_v": 6.77704525, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7242088, "cg_vq_v": -27.7242088, "cg_vu_v": 136.366699, "cg_vv_v": 73.9019547, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 78.0811005, "dclink_p_w": 11712.4287, "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": 59.3335876, "temp_inv2_c": 57.1525574, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 811.085693, "values": {"Elec_RPM": -12516.0244, "EncoderCos": 51433, "EncoderSin": 43031, "GapTicks": 37543, "Mech_RPM": -2503.20483, "cg_du": 34.1301804, "cg_dv": 57.372261, "cg_dw": 65.8698196, "cg_id_a": 4.97746992, "cg_id_raw_a": 5.8792882, "cg_iq_a": 302.842285, "cg_iq_raw_a": 303.088959, "cg_iu_a": -90.7473145, "cg_iv_a": 296.484863, "cg_iw_a": -205.737534, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 6077967, "cg_sample_valid": 1, "cg_theta_rad": 0.757322669, "cg_vd_req_v": 6.97094345, "cg_vd_v": 6.97094345, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6785793, "cg_vq_v": -27.6785793, "cg_vu_v": 142.525192, "cg_vv_v": 73.462059, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 78.3203125, "dclink_p_w": 11748.3105, "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": 59.2913513, "temp_inv2_c": 57.1077576, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 811.92688, "values": {"Elec_RPM": -12518.0479, "EncoderCos": 48900, "EncoderSin": 18781, "GapTicks": 36876, "Mech_RPM": -2503.60962, "cg_du": 33.5243988, "cg_dv": 50.1026115, "cg_dw": 66.4756012, "cg_id_a": 1.00473702, "cg_id_raw_a": 5.15207481, "cg_iq_a": 304.917938, "cg_iq_raw_a": 297.524353, "cg_iu_a": 139.654724, "cg_iv_a": 158.033417, "cg_iw_a": -297.688141, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 6082163, "cg_sample_valid": 1, "cg_theta_rad": 5.61122274, "cg_vd_req_v": 6.9849987, "cg_vd_v": 6.9849987, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7556629, "cg_vq_v": -27.7556629, "cg_vu_v": 124.489601, "cg_vv_v": 83.1396942, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.0901642, "dclink_p_w": 11748.1387, "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": 59.3335876, "temp_inv2_c": 57.1674805, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.109773397, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 812.944336, "values": {"Elec_RPM": -12518.8125, "EncoderCos": 49792, "EncoderSin": 19935, "GapTicks": 37946, "Mech_RPM": -2503.76245, "cg_du": 34.4963989, "cg_dv": 40.646019, "cg_dw": 65.5036011, "cg_id_a": 2.84243989, "cg_id_raw_a": -2.94418097, "cg_iq_a": 303.992676, "cg_iq_raw_a": 296.219055, "cg_iu_a": 52.2708511, "cg_iv_a": 228.745117, "cg_iw_a": -281.015961, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 6087263, "cg_sample_valid": 1, "cg_theta_rad": 5.69223547, "cg_vd_req_v": 6.93613625, "cg_vd_v": 6.93613625, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7492542, "cg_vq_v": -27.7492542, "cg_vu_v": 111.732712, "cg_vv_v": 72.1423798, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 77.2547379, "dclink_p_w": 11622.4541, "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": 59.3758545, "temp_inv2_c": 57.0530701, "temp_inv3_c": null, "temp_motor_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": 150.883148}}
{"type": "telemetry", "t": 813.961731, "values": {"Elec_RPM": -12518.2148, "EncoderCos": 53102, "EncoderSin": 38984, "GapTicks": 37398, "Mech_RPM": -2503.64307, "cg_du": 33.9986305, "cg_dv": 66.0013733, "cg_dw": 43.4923325, "cg_id_a": -0.102060795, "cg_id_raw_a": -3.71147776, "cg_iq_a": 298.312897, "cg_iq_raw_a": 295.621887, "cg_iu_a": 296.300598, "cg_iv_a": -209.406601, "cg_iw_a": -86.8939972, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 6092463, "cg_sample_valid": 1, "cg_theta_rad": 0.335445136, "cg_vd_req_v": 7.05027485, "cg_vd_v": 7.05027485, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5828094, "cg_vq_v": -27.5828094, "cg_vu_v": 73.462059, "cg_vv_v": 110.852921, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 77.7965851, "dclink_p_w": 11703.9717, "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": 59.4181824, "temp_inv2_c": 57.1376038, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 814.979126, "values": {"Elec_RPM": -12516.2393, "EncoderCos": 19863, "EncoderSin": 49948, "GapTicks": 37021, "Mech_RPM": -2503.2478, "cg_du": 66.3442535, "cg_dv": 33.6557503, "cg_dw": 52.5693626, "cg_id_a": -4.06047344, "cg_id_raw_a": 4.70974493, "cg_iq_a": 299.342712, "cg_iq_raw_a": 296.477631, "cg_iu_a": -296.358582, "cg_iv_a": 158.033401, "cg_iw_a": 138.32518, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 6097413, "cg_sample_valid": 1, "cg_theta_rad": 2.24556303, "cg_vd_req_v": 7.12927437, "cg_vd_v": 7.12927437, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6036396, "cg_vq_v": -27.6036396, "cg_vu_v": 134.167236, "cg_vv_v": 98.0960464, "cg_vw_v": 70.3828125, "control_outputs_enabled": 1, "dclink_i_a": 78.3348083, "dclink_p_w": 11750.4854, "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": 59.3758545, "temp_inv2_c": 57.2897034, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 815.996582, "values": {"Elec_RPM": -12515.5039, "EncoderCos": 52490, "EncoderSin": 24816, "GapTicks": 38675, "Mech_RPM": -2503.10083, "cg_du": 64.8407211, "cg_dv": 35.1592789, "cg_dw": 62.5786591, "cg_id_a": 3.14441729, "cg_id_raw_a": -10.2471609, "cg_iq_a": 305.444855, "cg_iq_raw_a": 298.074432, "cg_iu_a": -276.96814, "cg_iv_a": 260.241028, "cg_iw_a": 16.7271271, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 6102562, "cg_sample_valid": 1, "cg_theta_rad": 5.95030355, "cg_vd_req_v": 6.94204092, "cg_vd_v": 6.94204092, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7634468, "cg_vq_v": -27.7634468, "cg_vu_v": 47.0685043, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 77.7784653, "dclink_p_w": 11667.0322, "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": 59.3758545, "temp_inv2_c": 57.1973572, "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": 150.003372}}
{"type": "telemetry", "t": 817.013916, "values": {"Elec_RPM": -12518.6465, "EncoderCos": 52979, "EncoderSin": 26179, "GapTicks": 36952, "Mech_RPM": -2503.72925, "cg_du": 66.4065933, "cg_dv": 33.5934067, "cg_dw": 53.337883, "cg_id_a": 4.54652596, "cg_id_raw_a": 4.78852463, "cg_iq_a": 305.246185, "cg_iq_raw_a": 303.720581, "cg_iu_a": -311.037354, "cg_iv_a": 186.339859, "cg_iw_a": 124.697495, "cg_sample_age_us": 24.2054539, "cg_sample_seq": 6107662, "cg_sample_valid": 1, "cg_theta_rad": 6.01810789, "cg_vd_req_v": 6.95002174, "cg_vd_v": 6.95002174, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7561626, "cg_vq_v": -27.7561626, "cg_vu_v": 76.9812012, "cg_vv_v": 39.590332, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.5051498, "dclink_p_w": 11810.5703, "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": 59.3758545, "temp_inv2_c": 57.1077576, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 818.027588, "values": {"Elec_RPM": -12515.7139, "EncoderCos": 15890, "EncoderSin": 46115, "GapTicks": 37035, "Mech_RPM": -2503.14282, "cg_du": 66.3311844, "cg_dv": 54.2176819, "cg_dw": 33.6688156, "cg_id_a": 0.754356146, "cg_id_raw_a": -5.08314896, "cg_iq_a": 305.423859, "cg_iq_raw_a": 302.552582, "cg_iu_a": -97.0174942, "cg_iv_a": -198.823395, "cg_iw_a": 295.840881, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 6112712, "cg_sample_valid": 1, "cg_theta_rad": 2.50237703, "cg_vd_req_v": 7.01646757, "cg_vd_v": 7.01646757, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7257557, "cg_vq_v": -27.7257557, "cg_vu_v": 39.590332, "cg_vv_v": 77.8609848, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.6193237, "dclink_p_w": 11827.7471, "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": 59.5454407, "temp_inv2_c": 57.1949158, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 819.025452, "values": {"Elec_RPM": -12515.25, "EncoderCos": 43455, "EncoderSin": 14213, "GapTicks": 38608, "Mech_RPM": -2503.05005, "cg_du": 38.232872, "cg_dv": 64.9016266, "cg_dw": 35.0983734, "cg_id_a": -2.48305392, "cg_id_raw_a": 5.22467279, "cg_iq_a": 295.097931, "cg_iq_raw_a": 301.388, "cg_iu_a": 241.681122, "cg_iv_a": -268.302795, "cg_iw_a": 26.6216888, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6117762, "cg_sample_valid": 1, "cg_theta_rad": 5.28968239, "cg_vd_req_v": 7.05611181, "cg_vd_v": 7.05611181, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5611019, "cg_vq_v": -27.5611019, "cg_vu_v": 0, "cg_vv_v": 56.7461433, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.2333221, "dclink_p_w": 11769.6758, "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": 59.4181824, "temp_inv2_c": 57.3147278, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.113096811, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 820.042786, "values": {"Elec_RPM": -12515.4307, "EncoderCos": 28976, "EncoderSin": 53939, "GapTicks": 37905, "Mech_RPM": -2503.08618, "cg_du": 34.4595375, "cg_dv": 59.5001373, "cg_dw": 65.5404663, "cg_id_a": -0.173378021, "cg_id_raw_a": -14.0667696, "cg_iq_a": 301.919769, "cg_iq_raw_a": 299.358185, "cg_iu_a": 233.997437, "cg_iv_a": 59.3776855, "cg_iw_a": -293.375122, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 6122812, "cg_sample_valid": 1, "cg_theta_rad": 1.77265286, "cg_vd_req_v": 7.07793427, "cg_vd_v": 7.07793427, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6533909, "cg_vq_v": -27.6533909, "cg_vu_v": 36.9509773, "cg_vv_v": 36.9509773, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 77.2420578, "dclink_p_w": 11620.5469, "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": 59.4181824, "temp_inv2_c": 57.2272949, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 821.060242, "values": {"Elec_RPM": -12518.7705, "EncoderCos": 28704, "EncoderSin": 53764, "GapTicks": 37610, "Mech_RPM": -2503.75415, "cg_du": 34.1909256, "cg_dv": 57.6672592, "cg_dw": 65.8090744, "cg_id_a": 4.20111322, "cg_id_raw_a": 6.27569723, "cg_iq_a": 302.265045, "cg_iq_raw_a": 301.936798, "cg_iu_a": 203.480133, "cg_iv_a": 84.6758728, "cg_iw_a": -261.516785, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 6127913, "cg_sample_valid": 1, "cg_theta_rad": 1.78595865, "cg_vd_req_v": 6.97333193, "cg_vd_v": 6.97333193, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6536713, "cg_vq_v": -27.6536713, "cg_vu_v": 122.290138, "cg_vv_v": 108.653458, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 78.7661057, "dclink_p_w": 11815.1816, "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": 59.5454407, "temp_inv2_c": 57.3171997, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 821.921692, "values": {"Elec_RPM": -12518.9639, "EncoderCos": 17190, "EncoderSin": 17824, "GapTicks": 37017, "Mech_RPM": -2503.79272, "cg_du": 49.3367729, "cg_dv": 66.348114, "cg_dw": 33.651886, "cg_id_a": -3.97965431, "cg_id_raw_a": 1.0072161, "cg_iq_a": 294.494598, "cg_iq_raw_a": 290.536743, "cg_iu_a": 167.743698, "cg_iv_a": -289.469208, "cg_iw_a": 121.72551, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 6132163, "cg_sample_valid": 1, "cg_theta_rad": 3.94480228, "cg_vd_req_v": 7.14110851, "cg_vd_v": 7.14110851, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4950066, "cg_vq_v": -27.4950066, "cg_vu_v": 109.093361, "cg_vv_v": 151.762939, "cg_vw_v": 135.486908, "control_outputs_enabled": 1, "dclink_i_a": 78.5812683, "dclink_p_w": 11822.0215, "enc_isr_hz": 4998, "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": 59.5029602, "temp_inv2_c": 57.2697144, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 822.939026, "values": {"Elec_RPM": -12516.1865, "EncoderCos": 18270, "EncoderSin": 16817, "GapTicks": 38104, "Mech_RPM": -2503.2373, "cg_du": 39.8033638, "cg_dv": 65.3600006, "cg_dw": 34.6400032, "cg_id_a": -1.78250086, "cg_id_raw_a": -11.1477108, "cg_iq_a": 299.251282, "cg_iq_raw_a": 292.763733, "cg_iu_a": 234.831039, "cg_iv_a": -301.248474, "cg_iw_a": 124.117607, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 6137263, "cg_sample_valid": 1, "cg_theta_rad": 4.00550461, "cg_vd_req_v": 7.09578228, "cg_vd_v": 7.09578228, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5943184, "cg_vq_v": -27.5943184, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 78.0339813, "dclink_p_w": 11739.6855, "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": 59.4605408, "temp_inv2_c": 57.2972107, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 823.956421, "values": {"Elec_RPM": -12518.9902, "EncoderCos": 37603, "EncoderSin": 53554, "GapTicks": 37637, "Mech_RPM": -2503.7981, "cg_du": 57.8495255, "cg_dv": 65.7843781, "cg_dw": 34.2156219, "cg_id_a": 7.53021574, "cg_id_raw_a": 7.37421608, "cg_iq_a": 300.491089, "cg_iq_raw_a": 302.962128, "cg_iu_a": 79.3812408, "cg_iv_a": -285.62738, "cg_iw_a": 206.246124, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 6142413, "cg_sample_valid": 1, "cg_theta_rad": 1.37394595, "cg_vd_req_v": 6.91242123, "cg_vd_v": 6.91242123, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5918446, "cg_vq_v": -27.5918446, "cg_vu_v": 107.333786, "cg_vv_v": 151.762939, "cg_vw_v": 117.891212, "control_outputs_enabled": 1, "dclink_i_a": 77.5066376, "dclink_p_w": 11660.3506, "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": 59.4605408, "temp_inv2_c": 57.3923035, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 824.973877, "values": {"Elec_RPM": -12514.3604, "EncoderCos": 21496, "EncoderSin": 14383, "GapTicks": 37580, "Mech_RPM": -2502.87207, "cg_du": 34.1639633, "cg_dv": 65.8360367, "cg_dw": 57.5001221, "cg_id_a": -4.32345057, "cg_id_raw_a": -11.6465216, "cg_iq_a": 295.742004, "cg_iq_raw_a": 292.419617, "cg_iu_a": 276.692688, "cg_iv_a": -150.075439, "cg_iw_a": -149.197144, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6147462, "cg_sample_valid": 1, "cg_theta_rad": 4.19564104, "cg_vd_req_v": 7.12814283, "cg_vd_v": 7.12814283, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5284958, "cg_vq_v": -27.5284958, "cg_vu_v": 7.91806602, "cg_vv_v": 35.1914063, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 78.0720367, "dclink_p_w": 11745.4111, "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": 59.5029602, "temp_inv2_c": 57.3171997, "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": 0.113751426, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 825.991272, "values": {"Elec_RPM": -12513.8047, "EncoderCos": 50136, "EncoderSin": 44966, "GapTicks": 37581, "Mech_RPM": -2502.76099, "cg_du": 34.1649284, "cg_dv": 42.1171646, "cg_dw": 65.8350677, "cg_id_a": 5.3920536, "cg_id_raw_a": -0.914246142, "cg_iq_a": 303.344177, "cg_iq_raw_a": 295.743378, "cg_iu_a": 64.8112183, "cg_iv_a": 218.488098, "cg_iw_a": -310.590942, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 6152513, "cg_sample_valid": 1, "cg_theta_rad": 0.640320241, "cg_vd_req_v": 6.9531579, "cg_vd_v": 6.9531579, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6781101, "cg_vq_v": -27.6781101, "cg_vu_v": 112.172607, "cg_vv_v": 80.5003433, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.4308548, "dclink_p_w": 11799.3926, "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": 59.5454407, "temp_inv2_c": 57.3171997, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107557796, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 827.008606, "values": {"Elec_RPM": -12512.915, "EncoderCos": 23067, "EncoderSin": 13503, "GapTicks": 38206, "Mech_RPM": -2502.58301, "cg_du": 34.733551, "cg_dv": 60.0658531, "cg_dw": 65.266449, "cg_id_a": 3.35452747, "cg_id_raw_a": 8.82004738, "cg_iq_a": 295.111023, "cg_iq_raw_a": 298.95932, "cg_iu_a": 216.527893, "cg_iv_a": 56.4419556, "cg_iw_a": -272.969849, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 6157663, "cg_sample_valid": 1, "cg_theta_rad": 4.29434204, "cg_vd_req_v": 6.98018789, "cg_vd_v": 6.98018789, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.505085, "cg_vq_v": -27.505085, "cg_vu_v": 111.292824, "cg_vv_v": 108.21357, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.8292084, "dclink_p_w": 11606.1699, "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": 59.5029602, "temp_inv2_c": 57.3072205, "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": 0.10851454, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 828.013062, "values": {"Elec_RPM": -12514.9258, "EncoderCos": 14415, "EncoderSin": 43909, "GapTicks": 37669, "Mech_RPM": -2502.98511, "cg_du": 57.9065399, "cg_dv": 65.7553711, "cg_dw": 34.2446327, "cg_id_a": 6.7387104, "cg_id_raw_a": 4.90100622, "cg_iq_a": 301.943726, "cg_iq_raw_a": 305.365265, "cg_iu_a": 82.353241, "cg_iv_a": -287.40332, "cg_iw_a": 205.050064, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 6162563, "cg_sample_valid": 1, "cg_theta_rad": 2.6330874, "cg_vd_req_v": 6.93242216, "cg_vd_v": 6.93242216, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6392365, "cg_vq_v": -27.6392365, "cg_vu_v": 74.3418427, "cg_vv_v": 126.249161, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 77.5120697, "dclink_p_w": 11661.168, "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": 59.4605408, "temp_inv2_c": 57.2572327, "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": 0.106298923, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 829.020142, "values": {"Elec_RPM": -12515.2656, "EncoderCos": 53933, "EncoderSin": 32884, "GapTicks": 38448, "Mech_RPM": -2503.05322, "cg_du": 65.0465317, "cg_dv": 61.501358, "cg_dw": 34.9534645, "cg_id_a": 12.311059, "cg_id_raw_a": 0.849339008, "cg_iq_a": 306.937714, "cg_iq_raw_a": 306.238831, "cg_iu_a": -41.9268723, "cg_iv_a": -183.963379, "cg_iw_a": 306.750244, "cg_sample_age_us": 24.2600002, "cg_sample_seq": 6167712, "cg_sample_valid": 1, "cg_theta_rad": 0.0370133892, "cg_vd_req_v": 6.78699684, "cg_vd_v": 6.78699684, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7527542, "cg_vq_v": -27.7527542, "cg_vu_v": 36.5110817, "cg_vv_v": 63.3445282, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.0666046, "dclink_p_w": 11710.2539, "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": 59.5879822, "temp_inv2_c": 57.5027161, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 830.037598, "values": {"Elec_RPM": -12513.2109, "EncoderCos": 53885, "EncoderSin": 34317, "GapTicks": 37727, "Mech_RPM": -2502.64209, "cg_du": 58.1464157, "cg_dv": 65.7026367, "cg_dw": 34.2973633, "cg_id_a": 5.43806648, "cg_id_raw_a": -3.94254184, "cg_iq_a": 301.17691, "cg_iq_raw_a": 301.174591, "cg_iu_a": 67.9644318, "cg_iv_a": -291.245178, "cg_iw_a": 223.280731, "cg_sample_age_us": 23.4745445, "cg_sample_seq": 6172812, "cg_sample_valid": 1, "cg_theta_rad": 0.120444342, "cg_vd_req_v": 6.94461012, "cg_vd_v": 6.94461012, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6156788, "cg_vq_v": -27.6156788, "cg_vu_v": 0, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.0140457, "dclink_p_w": 11736.6865, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 59.5879822, "temp_inv2_c": 57.3547363, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.107708856, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 831.054932, "values": {"Elec_RPM": -12513.4268, "EncoderCos": 12160, "EncoderSin": 38763, "GapTicks": 36863, "Mech_RPM": -2502.6853, "cg_du": 33.512249, "cg_dv": 66.4877472, "cg_dw": 49.7683411, "cg_id_a": -0.53356719, "cg_id_raw_a": 1.35142994, "cg_iq_a": 304.605164, "cg_iq_raw_a": 301.904785, "cg_iu_a": 295.068298, "cg_iv_a": -222.599335, "cg_iw_a": -72.4689636, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 6177862, "cg_sample_valid": 1, "cg_theta_rad": 2.85240149, "cg_vd_req_v": 7.10033226, "cg_vd_v": 7.10033226, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6624928, "cg_vq_v": -27.6624928, "cg_vu_v": 0, "cg_vv_v": 20.2350578, "cg_vw_v": 68.1833496, "control_outputs_enabled": 1, "dclink_i_a": 77.5175095, "dclink_p_w": 11627.8877, "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": 59.5879822, "temp_inv2_c": 57.3973083, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 832.072327, "values": {"Elec_RPM": -12517.999, "EncoderCos": 12075, "EncoderSin": 38460, "GapTicks": 36953, "Mech_RPM": -2503.59985, "cg_du": 33.5942841, "cg_dv": 66.4057159, "cg_dw": 51.783886, "cg_id_a": 3.10682607, "cg_id_raw_a": 15.1022081, "cg_iq_a": 300.331635, "cg_iq_raw_a": 303.187897, "cg_iu_a": 304.093018, "cg_iv_a": -140.470825, "cg_iw_a": -163.622192, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 6182963, "cg_sample_valid": 1, "cg_theta_rad": 2.91040206, "cg_vd_req_v": 7.00494909, "cg_vd_v": 7.00494909, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5969505, "cg_vq_v": -27.5969505, "cg_vu_v": 102.494972, "cg_vv_v": 150.003372, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 77.6570435, "dclink_p_w": 11648.8184, "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": 4998, "hz_vsense": 2604, "pwm_moe": 1, "temp_inv1_c": 59.5879822, "temp_inv2_c": 57.3272095, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 832.933716, "values": {"Elec_RPM": -12515.7949, "EncoderCos": 52242, "EncoderSin": 24387, "GapTicks": 38943, "Mech_RPM": -2503.15894, "cg_du": 63.1490707, "cg_dv": 35.4029236, "cg_dw": 64.5970764, "cg_id_a": 2.38710046, "cg_id_raw_a": 12.1901569, "cg_iq_a": 303.940826, "cg_iq_raw_a": 309.522705, "cg_iu_a": -258.193848, "cg_iv_a": 271.621582, "cg_iw_a": -13.4277496, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 6187313, "cg_sample_valid": 1, "cg_theta_rad": 5.92832041, "cg_vd_req_v": 6.99177599, "cg_vd_v": 6.99177599, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7136021, "cg_vq_v": -27.7136021, "cg_vu_v": 152.202835, "cg_vv_v": 108.21357, "cg_vw_v": 121.410347, "control_outputs_enabled": 1, "dclink_i_a": 78.1173477, "dclink_p_w": 11752.2275, "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": 59.5454407, "temp_inv2_c": 57.3572388, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.108615242, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 833.951172, "values": {"Elec_RPM": -12515.0137, "EncoderCos": 40381, "EncoderSin": 12794, "GapTicks": 38224, "Mech_RPM": -2503.00269, "cg_du": 60.2709808, "cg_dv": 65.2501373, "cg_dw": 34.7498627, "cg_id_a": 5.2282424, "cg_id_raw_a": 5.96330214, "cg_iq_a": 298.103699, "cg_iq_raw_a": 302.734009, "cg_iu_a": 53.3944092, "cg_iv_a": -275.51532, "cg_iw_a": 222.120926, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 6192313, "cg_sample_valid": 1, "cg_theta_rad": 5.13169813, "cg_vd_req_v": 6.91637182, "cg_vd_v": 6.91637182, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5701065, "cg_vq_v": -27.5701065, "cg_vu_v": 106.014107, "cg_vv_v": 151.762939, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 78.0321732, "dclink_p_w": 11705.0889, "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": 59.5879822, "temp_inv2_c": 57.5882263, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 834.968567, "values": {"Elec_RPM": -12516.0605, "EncoderCos": 16235, "EncoderSin": 46398, "GapTicks": 36968, "Mech_RPM": -2503.21216, "cg_du": 66.3924484, "cg_dv": 51.2904549, "cg_dw": 33.6075516, "cg_id_a": 4.1852212, "cg_id_raw_a": 12.5477266, "cg_iq_a": 302.461334, "cg_iq_raw_a": 304.340912, "cg_iu_a": -142.720978, "cg_iv_a": -162.289612, "cg_iw_a": 305.01059, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 6197463, "cg_sample_valid": 1, "cg_theta_rad": 2.48476434, "cg_vd_req_v": 6.98142242, "cg_vd_v": 6.98142242, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6377125, "cg_vq_v": -27.6377125, "cg_vu_v": 150.883148, "cg_vv_v": 151.323044, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 77.9524384, "dclink_p_w": 11727.418, "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": 59.6731567, "temp_inv2_c": 57.457489, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 835.986023, "values": {"Elec_RPM": -12510.3652, "EncoderCos": 14726, "EncoderSin": 44245, "GapTicks": 38266, "Mech_RPM": -2502.073, "cg_du": 60.6318283, "cg_dv": 65.2125702, "cg_dw": 34.7874336, "cg_id_a": 1.93081379, "cg_id_raw_a": -9.6780901, "cg_iq_a": 301.875854, "cg_iq_raw_a": 301.894897, "cg_iu_a": 42.1225815, "cg_iv_a": -282.945313, "cg_iw_a": 240.822739, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 6202562, "cg_sample_valid": 1, "cg_theta_rad": 2.60375905, "cg_vd_req_v": 7.03557396, "cg_vd_v": 7.03557396, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.614872, "cg_vq_v": -27.614872, "cg_vu_v": 0, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.1934586, "dclink_p_w": 11729.2822, "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": 59.6305237, "temp_inv2_c": 57.4474487, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 837.003418, "values": {"Elec_RPM": -12513.9004, "EncoderCos": 29406, "EncoderSin": 53859, "GapTicks": 38614, "Mech_RPM": -2502.78003, "cg_du": 35.1044044, "cg_dv": 61.9261551, "cg_dw": 64.8955994, "cg_id_a": -3.10855246, "cg_id_raw_a": 5.73299408, "cg_iq_a": 300.781464, "cg_iq_raw_a": 302.926422, "cg_iu_a": 239.832687, "cg_iv_a": 31.8323822, "cg_iw_a": -271.66507, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 6207563, "cg_sample_valid": 1, "cg_theta_rad": 1.75104189, "cg_vd_req_v": 7.13618803, "cg_vd_v": 7.13618803, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5993843, "cg_vq_v": -27.5993843, "cg_vu_v": 109.533249, "cg_vv_v": 107.333786, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.1499634, "dclink_p_w": 11757.1348, "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": 59.5879822, "temp_inv2_c": 57.4524841, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 838.012451, "values": {"Elec_RPM": -12520.2793, "EncoderCos": 44457, "EncoderSin": 50530, "GapTicks": 36962, "Mech_RPM": -2504.05591, "cg_du": 66.3978653, "cg_dv": 33.6021347, "cg_dw": 48.2783852, "cg_id_a": -2.42918801, "cg_id_raw_a": 2.45934439, "cg_iq_a": 302.599182, "cg_iq_raw_a": 304.465912, "cg_iu_a": -309.08017, "cg_iv_a": 137.048218, "cg_iw_a": 172.031952, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6212562, "cg_sample_valid": 1, "cg_theta_rad": 1.01500309, "cg_vd_req_v": 7.13234377, "cg_vd_v": 7.13234377, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6325092, "cg_vq_v": -27.6325092, "cg_vu_v": 77.4210892, "cg_vv_v": 54.9865723, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 78.4344788, "dclink_p_w": 11765.4365, "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": 59.6305237, "temp_inv2_c": 57.3747559, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115564197, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 839.014954, "values": {"Elec_RPM": -12517.084, "EncoderCos": 43184, "EncoderSin": 51292, "GapTicks": 38370, "Mech_RPM": -2503.41675, "cg_du": 65.1176682, "cg_dv": 34.882328, "cg_dw": 38.6418381, "cg_id_a": -4.6462369, "cg_id_raw_a": -0.756062984, "cg_iq_a": 302.00293, "cg_iq_raw_a": 308.146637, "cg_iu_a": -279.976379, "cg_iv_a": 32.847229, "cg_iw_a": 247.12915, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 6217662, "cg_sample_valid": 1, "cg_theta_rad": 1.08969724, "cg_vd_req_v": 7.16982269, "cg_vd_v": 7.16982269, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.627346, "cg_vq_v": -27.627346, "cg_vu_v": 76.5413055, "cg_vv_v": 75.2216263, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.1514435, "dclink_p_w": 11572.9766, "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": 59.6731567, "temp_inv2_c": 57.4324036, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 840.032349, "values": {"Elec_RPM": -12516.6201, "EncoderCos": 15439, "EncoderSin": 20075, "GapTicks": 38436, "Mech_RPM": -2503.32397, "cg_du": 65.0574875, "cg_dv": 61.1032104, "cg_dw": 34.9425125, "cg_id_a": -3.31933928, "cg_id_raw_a": 1.44618309, "cg_iq_a": 297.098083, "cg_iq_raw_a": 302.175568, "cg_iu_a": -36.5990295, "cg_iv_a": -236.625702, "cg_iw_a": 273.224731, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6222713, "cg_sample_valid": 1, "cg_theta_rad": 3.80882192, "cg_vd_req_v": 7.11879015, "cg_vd_v": 7.11879015, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5235081, "cg_vq_v": -27.5235081, "cg_vu_v": 75.2216263, "cg_vv_v": 113.492287, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 77.9596863, "dclink_p_w": 11762.8027, "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": 59.6731567, "temp_inv2_c": 57.4299011, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 841.049744, "values": {"Elec_RPM": -12515.9688, "EncoderCos": 33683, "EncoderSin": 11428, "GapTicks": 37056, "Mech_RPM": -2503.19385, "cg_du": 66.3121643, "cg_dv": 33.6878357, "cg_dw": 46.7509613, "cg_id_a": -4.6958003, "cg_id_raw_a": 0.29129073, "cg_iq_a": 299.170898, "cg_iq_raw_a": 299.466064, "cg_iu_a": -293.495331, "cg_iv_a": 174.778046, "cg_iw_a": 118.717278, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 6227912, "cg_sample_valid": 1, "cg_theta_rad": 4.7605691, "cg_vd_req_v": 7.11372042, "cg_vd_v": 7.11372042, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6224232, "cg_vq_v": -27.6224232, "cg_vu_v": 74.3418427, "cg_vv_v": 34.7515144, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6425476, "dclink_p_w": 11646.6436, "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": 59.6731567, "temp_inv2_c": 57.4775696, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 842.067139, "values": {"Elec_RPM": -12515.8652, "EncoderCos": 17377, "EncoderSin": 17791, "GapTicks": 37029, "Mech_RPM": -2503.1731, "cg_du": 48.1966553, "cg_dv": 66.3372498, "cg_dw": 33.6627541, "cg_id_a": -9.40837193, "cg_id_raw_a": -7.36712027, "cg_iq_a": 295.119812, "cg_iq_raw_a": 288.877655, "cg_iu_a": 178.979294, "cg_iv_a": -291.281403, "cg_iw_a": 112.302109, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 6232913, "cg_sample_valid": 1, "cg_theta_rad": 3.95782781, "cg_vd_req_v": 7.26544046, "cg_vd_v": 7.26544046, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4943771, "cg_vq_v": -27.4943771, "cg_vu_v": 86.2189407, "cg_vv_v": 151.762939, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 77.807457, "dclink_p_w": 11705.6064, "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": 59.6731567, "temp_inv2_c": 57.5555115, "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": 150.443253}}
{"type": "telemetry", "t": 842.928589, "values": {"Elec_RPM": -12515.9482, "EncoderCos": 53400, "EncoderSin": 28184, "GapTicks": 38035, "Mech_RPM": -2503.1897, "cg_du": 65.4222107, "cg_dv": 34.5777893, "cg_dw": 39.9376183, "cg_id_a": 5.76371574, "cg_id_raw_a": 0.718230605, "cg_iq_a": 308.111572, "cg_iq_raw_a": 302.702789, "cg_iu_a": -243.986237, "cg_iv_a": -35.653656, "cg_iw_a": 279.639893, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 6237163, "cg_sample_valid": 1, "cg_theta_rad": 6.16798353, "cg_vd_req_v": 6.92796707, "cg_vd_v": 6.92796707, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7778873, "cg_vq_v": -27.7778873, "cg_vu_v": 55.4264603, "cg_vv_v": 76.5413055, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.5791245, "dclink_p_w": 11671.2559, "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": 59.7158508, "temp_inv2_c": 57.5932922, "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": 150.443253}}
{"type": "telemetry", "t": 843.945923, "values": {"Elec_RPM": -12512.3223, "EncoderCos": 48638, "EncoderSin": 46756, "GapTicks": 37412, "Mech_RPM": -2502.46436, "cg_du": 43.9375992, "cg_dv": 34.0114822, "cg_dw": 65.9885178, "cg_id_a": -0.257313311, "cg_id_raw_a": -4.50824928, "cg_iq_a": 297.957886, "cg_iq_raw_a": 294.813141, "cg_iu_a": -94.8791046, "cg_iv_a": 296.30365, "cg_iw_a": -201.42453, "cg_sample_age_us": 23.4054546, "cg_sample_seq": 6242363, "cg_sample_valid": 1, "cg_theta_rad": 0.768570244, "cg_vd_req_v": 7.08516741, "cg_vd_v": 7.08516741, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5355682, "cg_vq_v": -27.5355682, "cg_vu_v": 146.044327, "cg_vv_v": 73.9019547, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 78.347496, "dclink_p_w": 11786.8525, "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": 59.7158508, "temp_inv2_c": 57.5529785, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 844.963379, "values": {"Elec_RPM": -12514.8633, "EncoderCos": 53872, "EncoderSin": 32227, "GapTicks": 37550, "Mech_RPM": -2502.97266, "cg_du": 65.8628769, "cg_dv": 57.5459251, "cg_dw": 34.1371269, "cg_id_a": 5.53560495, "cg_id_raw_a": -0.139795601, "cg_iq_a": 305.114044, "cg_iq_raw_a": 303.378571, "cg_iu_a": -71.8280334, "cg_iv_a": -217.742645, "cg_iw_a": 289.570679, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6247362, "cg_sample_valid": 1, "cg_theta_rad": 0.0246260818, "cg_vd_req_v": 6.9647603, "cg_vd_v": 6.9647603, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.715168, "cg_vq_v": -27.715168, "cg_vu_v": 95.0167923, "cg_vv_v": 151.762939, "cg_vw_v": 109.533249, "control_outputs_enabled": 1, "dclink_i_a": 79.2046585, "dclink_p_w": 11880.9658, "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": 59.7158508, "temp_inv2_c": 57.5983276, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 845.980774, "values": {"Elec_RPM": -12514.1113, "EncoderCos": 53832, "EncoderSin": 33723, "GapTicks": 38553, "Mech_RPM": -2502.82227, "cg_du": 61.8516159, "cg_dv": 64.9513168, "cg_dw": 35.0486832, "cg_id_a": 4.53478432, "cg_id_raw_a": -10.3280754, "cg_iq_a": 305.264618, "cg_iq_raw_a": 302.456268, "cg_iu_a": -57.4029884, "cg_iv_a": -230.754181, "cg_iw_a": 288.157166, "cg_sample_age_us": 23.3763638, "cg_sample_seq": 6252462, "cg_sample_valid": 1, "cg_theta_rad": 0.0426517986, "cg_vd_req_v": 6.95905209, "cg_vd_v": 6.95905209, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7030449, "cg_vq_v": -27.7030449, "cg_vu_v": 91.4976578, "cg_vv_v": 113.932175, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 78.0412292, "dclink_p_w": 11740.7764, "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": 59.7585449, "temp_inv2_c": 57.5580444, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 846.99823, "values": {"Elec_RPM": -12514.2432, "EncoderCos": 44460, "EncoderSin": 50465, "GapTicks": 36992, "Mech_RPM": -2502.84863, "cg_du": 66.3700409, "cg_dv": 33.6299629, "cg_dw": 48.5926018, "cg_id_a": 0.957086027, "cg_id_raw_a": 7.5709939, "cg_iq_a": 300.12738, "cg_iq_raw_a": 302.308533, "cg_iu_a": -306.941772, "cg_iv_a": 138.751678, "cg_iw_a": 168.190094, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 6257662, "cg_sample_valid": 1, "cg_theta_rad": 1.02654159, "cg_vd_req_v": 7.0547905, "cg_vd_v": 7.0547905, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5846882, "cg_vq_v": -27.5846882, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.0647888, "dclink_p_w": 11709.9814, "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": 59.7158508, "temp_inv2_c": 57.5932922, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 848.002686, "values": {"Elec_RPM": -12519.1445, "EncoderCos": 42020, "EncoderSin": 51898, "GapTicks": 37865, "Mech_RPM": -2503.82886, "cg_du": 65.5768967, "cg_dv": 40.7056122, "cg_dw": 34.4231033, "cg_id_a": -1.20490265, "cg_id_raw_a": -9.96421337, "cg_iq_a": 302.778595, "cg_iq_raw_a": 296.082245, "cg_iu_a": -230.648529, "cg_iv_a": -57.943573, "cg_iw_a": 288.592102, "cg_sample_age_us": 23.9981823, "cg_sample_seq": 6262413, "cg_sample_valid": 1, "cg_theta_rad": 1.14500272, "cg_vd_req_v": 7.13223886, "cg_vd_v": 7.13223886, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6310101, "cg_vq_v": -27.6310101, "cg_vu_v": 113.932175, "cg_vv_v": 121.410347, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 78.2623215, "dclink_p_w": 11739.6123, "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": 59.7585449, "temp_inv2_c": 57.711853, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 849.009766, "values": {"Elec_RPM": -12521.4658, "EncoderCos": 11939, "EncoderSin": 37573, "GapTicks": 37583, "Mech_RPM": -2504.29321, "cg_du": 34.1670151, "cg_dv": 65.8329849, "cg_dw": 57.8112106, "cg_id_a": -4.36510944, "cg_id_raw_a": 3.43702602, "cg_iq_a": 302.098145, "cg_iq_raw_a": 306.164764, "cg_iu_a": 292.241272, "cg_iv_a": -78.6750793, "cg_iw_a": -213.566193, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 6267713, "cg_sample_valid": 1, "cg_theta_rad": 2.94824052, "cg_vd_req_v": 7.17580843, "cg_vd_v": 7.17580843, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5972805, "cg_vq_v": -27.5972805, "cg_vu_v": 109.973145, "cg_vv_v": 129.768311, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.5595169, "dclink_p_w": 11784.1924, "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": 59.8013, "temp_inv2_c": 57.4273987, "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": 0.116520949, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 850.027161, "values": {"Elec_RPM": -12513.6055, "EncoderCos": 20643, "EncoderSin": 50273, "GapTicks": 37648, "Mech_RPM": -2502.72119, "cg_du": 65.774292, "cg_dv": 34.2257118, "cg_dw": 57.8243637, "cg_id_a": -6.99705124, "cg_id_raw_a": -17.2377968, "cg_iq_a": 296.70343, "cg_iq_raw_a": 290.590149, "cg_iu_a": -295.380005, "cg_iv_a": 212.797836, "cg_iw_a": 82.5821686, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 6272712, "cg_sample_valid": 1, "cg_theta_rad": 2.20585108, "cg_vd_req_v": 7.2386322, "cg_vd_v": 7.2386322, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4835167, "cg_vq_v": -27.4835167, "cg_vu_v": 42.6695786, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.8219528, "dclink_p_w": 11639.3223, "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": 59.8013, "temp_inv2_c": 57.6109009, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 851.044556, "values": {"Elec_RPM": -12519.793, "EncoderCos": 50982, "EncoderSin": 22099, "GapTicks": 37120, "Mech_RPM": -2503.9585, "cg_du": 46.2147446, "cg_dv": 33.7461777, "cg_dw": 66.2538223, "cg_id_a": 5.36739969, "cg_id_raw_a": 7.85833597, "cg_iq_a": 301.099091, "cg_iq_raw_a": 299.576141, "cg_iu_a": -114.74073, "cg_iv_a": 304.241028, "cg_iw_a": -189.50029, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 6277863, "cg_sample_valid": 1, "cg_theta_rad": 5.80120897, "cg_vd_req_v": 6.94740677, "cg_vd_v": 6.94740677, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6296501, "cg_vq_v": -27.6296501, "cg_vu_v": 151.323044, "cg_vv_v": 104.694435, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 77.800209, "dclink_p_w": 11670.2939, "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": 59.7585449, "temp_inv2_c": 57.5983276, "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": 150.443253}}
{"type": "telemetry", "t": 852.062012, "values": {"Elec_RPM": -12514.584, "EncoderCos": 19141, "EncoderSin": 49212, "GapTicks": 37128, "Mech_RPM": -2502.91675, "cg_du": 66.2467804, "cg_dv": 33.7532196, "cg_dw": 45.6844978, "cg_id_a": -7.30112457, "cg_id_raw_a": -4.53551579, "cg_iq_a": 303.156677, "cg_iq_raw_a": 294.64679, "cg_iu_a": -280.665009, "cg_iv_a": 29.5127869, "cg_iw_a": 198.671158, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 6282913, "cg_sample_valid": 1, "cg_theta_rad": 2.33970571, "cg_vd_req_v": 7.23492861, "cg_vd_v": 7.23492861, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6215572, "cg_vq_v": -27.6215572, "cg_vu_v": 76.9812012, "cg_vv_v": 75.6615219, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 78.0049896, "dclink_p_w": 11735.3242, "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": 59.8441467, "temp_inv2_c": 57.6638794, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 852.92334, "values": {"Elec_RPM": -12514.3066, "EncoderCos": 28789, "EncoderSin": 53701, "GapTicks": 37704, "Mech_RPM": -2502.86133, "cg_du": 34.2767334, "cg_dv": 57.9811058, "cg_dw": 65.7232666, "cg_id_a": 1.21313417, "cg_id_raw_a": -11.6947746, "cg_iq_a": 301.216644, "cg_iq_raw_a": 299.531311, "cg_iu_a": 220.587219, "cg_iv_a": 77.6083374, "cg_iw_a": -298.195557, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 6287212, "cg_sample_valid": 1, "cg_theta_rad": 1.79246902, "cg_vd_req_v": 7.06112671, "cg_vd_v": 7.06112671, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5729771, "cg_vq_v": -27.5729771, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 46.6286087, "control_outputs_enabled": 1, "dclink_i_a": 77.4522705, "dclink_p_w": 11618.1016, "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": 59.8013, "temp_inv2_c": 57.633606, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 853.940796, "values": {"Elec_RPM": -12519.209, "EncoderCos": 46633, "EncoderSin": 48763, "GapTicks": 38718, "Mech_RPM": -2503.8418, "cg_du": 62.3114929, "cg_dv": 35.1985474, "cg_dw": 64.8014526, "cg_id_a": 3.72926521, "cg_id_raw_a": 7.7859292, "cg_iq_a": 300.358185, "cg_iq_raw_a": 302.553589, "cg_iu_a": -282.83963, "cg_iv_a": 216.929626, "cg_iw_a": 65.909996, "cg_sample_age_us": 23.5763645, "cg_sample_seq": 6292214, "cg_sample_valid": 1, "cg_theta_rad": 0.950090349, "cg_vd_req_v": 7.03075361, "cg_vd_v": 7.03075361, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5576992, "cg_vq_v": -27.5576992, "cg_vu_v": 151.762939, "cg_vv_v": 111.292824, "cg_vw_v": 101.175293, "control_outputs_enabled": 1, "dclink_i_a": 78.1463394, "dclink_p_w": 11722.2148, "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": 59.7585449, "temp_inv2_c": 57.633606, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 854.958252, "values": {"Elec_RPM": -12515.9863, "EncoderCos": 25921, "EncoderSin": 52904, "GapTicks": 38458, "Mech_RPM": -2503.19727, "cg_du": 34.962574, "cg_dv": 38.4531059, "cg_dw": 65.0374298, "cg_id_a": -1.42445779, "cg_id_raw_a": 3.42768931, "cg_iq_a": 301.834442, "cg_iq_raw_a": 311.543915, "cg_iu_a": 37.3383942, "cg_iv_a": 194.494675, "cg_iw_a": -291.309204, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 6297412, "cg_sample_valid": 1, "cg_theta_rad": 1.92087841, "cg_vd_req_v": 7.13690042, "cg_vd_v": 7.13690042, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5826836, "cg_vq_v": -27.5826836, "cg_vu_v": 35.1914063, "cg_vv_v": 0, "cg_vw_v": 45.3089333, "control_outputs_enabled": 1, "dclink_i_a": 78.8603439, "dclink_p_w": 11829.3174, "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": 59.8441467, "temp_inv2_c": 57.6386414, "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": 0.104888983, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 855.975586, "values": {"Elec_RPM": -12514.5195, "EncoderCos": 31750, "EncoderSin": 11428, "GapTicks": 38010, "Mech_RPM": -2502.90381, "cg_du": 65.4451065, "cg_dv": 34.5548935, "cg_dw": 59.5009384, "cg_id_a": -3.81821251, "cg_id_raw_a": -16.5156536, "cg_iq_a": 298.774323, "cg_iq_raw_a": 292.383453, "cg_iu_a": -289.363525, "cg_iv_a": 228.563904, "cg_iw_a": 60.7996216, "cg_sample_age_us": 23.6127281, "cg_sample_seq": 6302462, "cg_sample_valid": 1, "cg_theta_rad": 4.71802807, "cg_vd_req_v": 7.11640739, "cg_vd_v": 7.11640739, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5689793, "cg_vq_v": -27.5689793, "cg_vu_v": 69.5030289, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.869072, "dclink_p_w": 11714.876, "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": 59.8441467, "temp_inv2_c": 57.711853, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 856.993042, "values": {"Elec_RPM": -12513.0332, "EncoderCos": 33213, "EncoderSin": 11444, "GapTicks": 36976, "Mech_RPM": -2502.60669, "cg_du": 66.3847656, "cg_dv": 33.6152344, "cg_dw": 49.8942871, "cg_id_a": -1.98638248, "cg_id_raw_a": 0.100251444, "cg_iq_a": 298.047638, "cg_iq_raw_a": 299.716217, "cg_iu_a": -285.811646, "cg_iv_a": 201.417297, "cg_iw_a": 84.3943558, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 6307562, "cg_sample_valid": 1, "cg_theta_rad": 4.73864603, "cg_vd_req_v": 7.09315825, "cg_vd_v": 7.09315825, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.565321, "cg_vq_v": -27.565321, "cg_vu_v": 74.3418427, "cg_vv_v": 32.9919434, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6733551, "dclink_p_w": 11685.4326, "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": 59.9299316, "temp_inv2_c": 57.5731201, "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": 0.11153581, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 857.988281, "values": {"Elec_RPM": -12517.2646, "EncoderCos": 11547, "EncoderSin": 35028, "GapTicks": 37185, "Mech_RPM": -2503.45288, "cg_du": 33.8053055, "cg_dv": 54.8630219, "cg_dw": 66.1946945, "cg_id_a": 5.67435408, "cg_id_raw_a": 9.36330032, "cg_iq_a": 303.381042, "cg_iq_raw_a": 302.526184, "cg_iu_a": 180.646515, "cg_iv_a": 111.278839, "cg_iw_a": -291.925354, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 6312463, "cg_sample_valid": 1, "cg_theta_rad": 3.07859087, "cg_vd_req_v": 6.9762702, "cg_vd_v": 6.9762702, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6011105, "cg_vq_v": -27.6011105, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 77.6316757, "dclink_p_w": 11645.0127, "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": 59.8870239, "temp_inv2_c": 57.6790161, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 859.004578, "values": {"Elec_RPM": -12517.583, "EncoderCos": 11432, "EncoderSin": 32391, "GapTicks": 38785, "Mech_RPM": -2503.5166, "cg_du": 35.2598152, "cg_dv": 37.5540237, "cg_dw": 64.7401886, "cg_id_a": 2.96999264, "cg_id_raw_a": 7.99457932, "cg_iq_a": 299.32489, "cg_iq_raw_a": 309.823761, "cg_iu_a": 28.7486038, "cg_iv_a": 243.895081, "cg_iw_a": -272.643677, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 6317562, "cg_sample_valid": 1, "cg_theta_rad": 3.18876457, "cg_vd_req_v": 7.07670164, "cg_vd_v": 7.07670164, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5077877, "cg_vq_v": -27.5077877, "cg_vu_v": 32.1121559, "cg_vv_v": 0, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 77.6117401, "dclink_p_w": 11676.1631, "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": 59.8441467, "temp_inv2_c": 57.6992188, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 860.021912, "values": {"Elec_RPM": -12515.5566, "EncoderCos": 19302, "EncoderSin": 16111, "GapTicks": 38348, "Mech_RPM": -2503.11133, "cg_du": 34.8622513, "cg_dv": 65.1377487, "cg_dw": 39.2418365, "cg_id_a": 0.446665406, "cg_id_raw_a": -14.2852354, "cg_iq_a": 298.865509, "cg_iq_raw_a": 293.509491, "cg_iu_a": 278.577332, "cg_iv_a": -241.844818, "cg_iw_a": -36.7325211, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6322763, "cg_sample_valid": 1, "cg_theta_rad": 4.0675025, "cg_vd_req_v": 7.08224201, "cg_vd_v": 7.08224201, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5279503, "cg_vq_v": -27.5279503, "cg_vu_v": 109.093361, "cg_vv_v": 151.762939, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 77.7657776, "dclink_p_w": 11665.1289, "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": 59.8870239, "temp_inv2_c": 57.6689148, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 861.039307, "values": {"Elec_RPM": -12516.3535, "EncoderCos": 50244, "EncoderSin": 44478, "GapTicks": 37203, "Mech_RPM": -2503.27075, "cg_du": 33.8213959, "cg_dv": 45.0603027, "cg_dw": 66.1786041, "cg_id_a": 2.77166176, "cg_id_raw_a": 7.05033588, "cg_iq_a": 305.169281, "cg_iq_raw_a": 311.401031, "cg_iu_a": 113.305473, "cg_iv_a": 193.87854, "cg_iw_a": -307.184021, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 6327812, "cg_sample_valid": 1, "cg_theta_rad": 0.621348381, "cg_vd_req_v": 7.0514679, "cg_vd_v": 7.0514679, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6534081, "cg_vq_v": -27.6534081, "cg_vu_v": 48.3881836, "cg_vv_v": 36.9509773, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 78.6519394, "dclink_p_w": 11832.6533, "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": 59.8870239, "temp_inv2_c": 57.8003845, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 862.056763, "values": {"Elec_RPM": -12519.916, "EncoderCos": 50046, "EncoderSin": 44754, "GapTicks": 37495, "Mech_RPM": -2503.98315, "cg_du": 34.0868568, "cg_dv": 42.8460541, "cg_dw": 65.913147, "cg_id_a": 4.0274601, "cg_id_raw_a": 0.42592454, "cg_iq_a": 302.424438, "cg_iq_raw_a": 293.894806, "cg_iu_a": 69.9578476, "cg_iv_a": 214.320068, "cg_iw_a": -309.793579, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 6332913, "cg_sample_valid": 1, "cg_theta_rad": 0.633884192, "cg_vd_req_v": 7.02227974, "cg_vd_v": 7.02227974, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5968723, "cg_vq_v": -27.5968723, "cg_vu_v": 122.730026, "cg_vv_v": 106.453995, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.8110809, "dclink_p_w": 11671.9248, "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": 59.9299316, "temp_inv2_c": 57.6992188, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.003372}}
{"type": "telemetry", "t": 862.918091, "values": {"Elec_RPM": -12523.0234, "EncoderCos": 47072, "EncoderSin": 17211, "GapTicks": 39055, "Mech_RPM": -2504.60474, "cg_du": 35.5048981, "cg_dv": 64.4951019, "cg_dw": 63.3138199, "cg_id_a": -4.02152252, "cg_id_raw_a": 7.79030514, "cg_iq_a": 298.608185, "cg_iq_raw_a": 302.110504, "cg_iu_a": 262.811279, "cg_iv_a": -10.8266144, "cg_iw_a": -251.984665, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6337113, "cg_sample_valid": 1, "cg_theta_rad": 5.49792004, "cg_vd_req_v": 7.15126944, "cg_vd_v": 7.15126944, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5902367, "cg_vq_v": -27.5902367, "cg_vu_v": 73.462059, "cg_vv_v": 73.9019547, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 77.5845566, "dclink_p_w": 11672.0732, "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": 59.9299316, "temp_inv2_c": 57.6790161, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 863.935547, "values": {"Elec_RPM": -12516.8906, "EncoderCos": 12151, "EncoderSin": 38213, "GapTicks": 37022, "Mech_RPM": -2503.37817, "cg_du": 33.6564255, "cg_dv": 66.3435745, "cg_dw": 53.4000282, "cg_id_a": -2.81753373, "cg_id_raw_a": -5.50363922, "cg_iq_a": 303.928619, "cg_iq_raw_a": 298.527771, "cg_iu_a": 296.952972, "cg_iv_a": -102.922211, "cg_iw_a": -194.030762, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 6342262, "cg_sample_valid": 1, "cg_theta_rad": 2.92344522, "cg_vd_req_v": 7.17322588, "cg_vd_v": 7.17322588, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5949097, "cg_vq_v": -27.5949097, "cg_vu_v": 12.7568836, "cg_vv_v": 40.9100075, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 78.3166809, "dclink_p_w": 11747.7666, "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": 59.8870239, "temp_inv2_c": 57.6992188, "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": 0.115463488, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 864.953003, "values": {"Elec_RPM": -12516.2344, "EncoderCos": 49786, "EncoderSin": 20259, "GapTicks": 38360, "Mech_RPM": -2503.24683, "cg_du": 34.8731422, "cg_dv": 38.8760529, "cg_dw": 65.1268616, "cg_id_a": -0.270555258, "cg_id_raw_a": 3.45430827, "cg_iq_a": 303.25058, "cg_iq_raw_a": 310.475769, "cg_iu_a": 43.6810646, "cg_iv_a": 241.394196, "cg_iw_a": -285.075256, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6347312, "cg_sample_valid": 1, "cg_theta_rad": 5.70552444, "cg_vd_req_v": 7.0801301, "cg_vd_v": 7.0801301, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6563721, "cg_vq_v": -27.6563721, "cg_vu_v": 32.9919434, "cg_vv_v": 0, "cg_vw_v": 52.7871094, "control_outputs_enabled": 1, "dclink_i_a": 78.2260742, "dclink_p_w": 11768.585, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 59.9299316, "temp_inv2_c": 57.6992188, "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": 0.114708163, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 865.970459, "values": {"Elec_RPM": -12514.1035, "EncoderCos": 12022, "EncoderSin": 37528, "GapTicks": 37608, "Mech_RPM": -2502.8208, "cg_du": 34.1893311, "cg_dv": 65.8106689, "cg_dw": 57.9056931, "cg_id_a": -0.153006077, "cg_id_raw_a": -8.19532013, "cg_iq_a": 303.754852, "cg_iq_raw_a": 298.682251, "cg_iu_a": 252.916718, "cg_iv_a": 7.4402771, "cg_iw_a": -223.750702, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 6352464, "cg_sample_valid": 1, "cg_theta_rad": 2.99637365, "cg_vd_req_v": 7.1051259, "cg_vd_v": 7.1051259, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6040859, "cg_vq_v": -27.6040859, "cg_vu_v": 110.413033, "cg_vv_v": 113.492287, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.4631424, "dclink_p_w": 11619.7324, "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": 59.9729004, "temp_inv2_c": 57.7700195, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 866.987732, "values": {"Elec_RPM": -12513.4424, "EncoderCos": 11523, "EncoderSin": 33785, "GapTicks": 37104, "Mech_RPM": -2502.68848, "cg_du": 33.7313766, "cg_dv": 46.5122604, "cg_dw": 66.2686234, "cg_id_a": 2.49037504, "cg_id_raw_a": 6.06705809, "cg_iq_a": 303.017456, "cg_iq_raw_a": 308.84259, "cg_iu_a": 128.27417, "cg_iv_a": 180.685791, "cg_iw_a": -308.959961, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 6357562, "cg_sample_valid": 1, "cg_theta_rad": 3.1274066, "cg_vd_req_v": 7.04355288, "cg_vd_v": 7.04355288, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5921803, "cg_vq_v": -27.5921803, "cg_vu_v": 0.43989256, "cg_vv_v": 0, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 78.1952667, "dclink_p_w": 11763.9502, "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": 59.9729004, "temp_inv2_c": 57.7194214, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 867.992249, "values": {"Elec_RPM": -12519.9463, "EncoderCos": 21111, "EncoderSin": 14838, "GapTicks": 37156, "Mech_RPM": -2503.98926, "cg_du": 33.7781982, "cg_dv": 66.2218018, "cg_dw": 53.8720627, "cg_id_a": -6.9300642, "cg_id_raw_a": -8.58932018, "cg_iq_a": 297.48407, "cg_iq_raw_a": 293.124939, "cg_iu_a": 289.196777, "cg_iv_a": -93.7525024, "cg_iw_a": -195.444275, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6362412, "cg_sample_valid": 1, "cg_theta_rad": 4.17536974, "cg_vd_req_v": 7.23017645, "cg_vd_v": 7.23017645, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5121613, "cg_vq_v": -27.5121613, "cg_vu_v": 0, "cg_vv_v": 2.19946289, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 77.6171799, "dclink_p_w": 11676.9814, "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": 59.9729004, "temp_inv2_c": 57.7548218, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 868.999268, "values": {"Elec_RPM": -12520.4277, "EncoderCos": 18359, "EncoderSin": 48408, "GapTicks": 38476, "Mech_RPM": -2504.08545, "cg_du": 65.0211716, "cg_dv": 34.9788284, "cg_dw": 38.586338, "cg_id_a": -2.94009399, "cg_id_raw_a": -12.1205978, "cg_iq_a": 302.721619, "cg_iq_raw_a": 296.361328, "cg_iu_a": -274.539795, "cg_iv_a": 34.6956482, "cg_iw_a": 239.844147, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 6367663, "cg_sample_valid": 1, "cg_theta_rad": 2.34798479, "cg_vd_req_v": 7.18407488, "cg_vd_v": 7.18407488, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5743561, "cg_vq_v": -27.5743561, "cg_vu_v": 130.648087, "cg_vv_v": 111.732712, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 77.6244278, "dclink_p_w": 11643.9258, "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": 59.9299316, "temp_inv2_c": 57.8003845, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 870.016724, "values": {"Elec_RPM": -12519.0732, "EncoderCos": 22660, "EncoderSin": 13910, "GapTicks": 39107, "Mech_RPM": -2503.8147, "cg_du": 35.5525322, "cg_dv": 63.1755981, "cg_dw": 64.4474716, "cg_id_a": -4.80242062, "cg_id_raw_a": 4.09417439, "cg_iq_a": 294.127289, "cg_iq_raw_a": 299.103699, "cg_iu_a": 201.233002, "cg_iv_a": 96.1651917, "cg_iw_a": -297.398193, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 6372613, "cg_sample_valid": 1, "cg_theta_rad": 4.31597042, "cg_vd_req_v": 7.19657087, "cg_vd_v": 7.19657087, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4358826, "cg_vq_v": -27.4358826, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 55.4264603, "control_outputs_enabled": 1, "dclink_i_a": 77.3326645, "dclink_p_w": 11634.1777, "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": 59.9729004, "temp_inv2_c": 57.7978821, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 871.034119, "values": {"Elec_RPM": -12517.4395, "EncoderCos": 41712, "EncoderSin": 13569, "GapTicks": 36995, "Mech_RPM": -2503.48779, "cg_du": 50.0946083, "cg_dv": 66.3677597, "cg_dw": 33.6322403, "cg_id_a": -1.31379557, "cg_id_raw_a": 1.14576042, "cg_iq_a": 297.349792, "cg_iq_raw_a": 294.341309, "cg_iu_a": 160.603668, "cg_iv_a": -292.296234, "cg_iw_a": 213.92981, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 6377813, "cg_sample_valid": 1, "cg_theta_rad": 5.18995428, "cg_vd_req_v": 7.11601925, "cg_vd_v": 7.11601925, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5288811, "cg_vq_v": -27.5288811, "cg_vu_v": 99.8556061, "cg_vv_v": 151.762939, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 78.4000473, "dclink_p_w": 11794.7578, "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": 60.1021118, "temp_inv2_c": 57.7548218, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.113449305, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 872.051514, "values": {"Elec_RPM": -12514.1006, "EncoderCos": 43034, "EncoderSin": 14268, "GapTicks": 38111, "Mech_RPM": -2502.82007, "cg_du": 40.2990341, "cg_dv": 65.3528137, "cg_dw": 34.6471901, "cg_id_a": -1.59286022, "cg_id_raw_a": -9.58667469, "cg_iq_a": 295.418854, "cg_iq_raw_a": 289.750977, "cg_iu_a": 229.466949, "cg_iv_a": -275.116638, "cg_iw_a": 127.307068, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6382913, "cg_sample_valid": 1, "cg_theta_rad": 5.26012135, "cg_vd_req_v": 7.0799098, "cg_vd_v": 7.0799098, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4927711, "cg_vq_v": -27.4927711, "cg_vu_v": 79.6205521, "cg_vv_v": 152.202835, "cg_vw_v": 126.249161, "control_outputs_enabled": 1, "dclink_i_a": 77.3326645, "dclink_p_w": 11634.1777, "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": 60.0159302, "temp_inv2_c": 57.8003845, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 873.06897, "values": {"Elec_RPM": -12515.6455, "EncoderCos": 29314, "EncoderSin": 53655, "GapTicks": 38488, "Mech_RPM": -2503.12915, "cg_du": 34.9891548, "cg_dv": 61.2505341, "cg_dw": 65.010849, "cg_id_a": 5.60610914, "cg_id_raw_a": 10.6395607, "cg_iq_a": 300.709076, "cg_iq_raw_a": 305.003937, "cg_iu_a": 232.293976, "cg_iv_a": 39.4073181, "cg_iw_a": -271.701294, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 6387963, "cg_sample_valid": 1, "cg_theta_rad": 1.7708627, "cg_vd_req_v": 7.0009551, "cg_vd_v": 7.0009551, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5370274, "cg_vq_v": -27.5370274, "cg_vu_v": 83.5795898, "cg_vv_v": 73.462059, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 77.8147049, "dclink_p_w": 11706.6973, "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": 60.0159302, "temp_inv2_c": 57.8003845, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 873.930359, "values": {"Elec_RPM": -12514.3379, "EncoderCos": 16991, "EncoderSin": 18441, "GapTicks": 37128, "Mech_RPM": -2502.86768, "cg_du": 53.3628159, "cg_dv": 66.2465363, "cg_dw": 33.7534637, "cg_id_a": 3.60643554, "cg_id_raw_a": 7.42485666, "cg_iq_a": 300.699402, "cg_iq_raw_a": 299.659393, "cg_iu_a": 127.15062, "cg_iv_a": -293.129822, "cg_iw_a": 165.979218, "cg_sample_age_us": 23.994545, "cg_sample_seq": 6392213, "cg_sample_valid": 1, "cg_theta_rad": 3.92028594, "cg_vd_req_v": 7.01723814, "cg_vd_v": 7.01723814, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5439777, "cg_vq_v": -27.5439777, "cg_vu_v": 77.4210892, "cg_vv_v": 142.525192, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 78.9908218, "dclink_p_w": 11883.6357, "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": 60.0589905, "temp_inv2_c": 57.7548218, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 874.947693, "values": {"Elec_RPM": -12517.6064, "EncoderCos": 39473, "EncoderSin": 52798, "GapTicks": 37745, "Mech_RPM": -2503.52124, "cg_du": 65.6861877, "cg_dv": 58.5747795, "cg_dw": 34.3138161, "cg_id_a": -5.27361488, "cg_id_raw_a": 0.0628565699, "cg_iq_a": 302.1427, "cg_iq_raw_a": 304.117889, "cg_iu_a": -69.0735016, "cg_iv_a": -221.185837, "cg_iw_a": 290.259338, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 6397363, "cg_sample_valid": 1, "cg_theta_rad": 1.28513503, "cg_vd_req_v": 7.18749666, "cg_vd_v": 7.18749666, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5694084, "cg_vq_v": -27.5694084, "cg_vu_v": 126.689056, "cg_vv_v": 151.762939, "cg_vw_v": 89.2981949, "control_outputs_enabled": 1, "dclink_i_a": 77.6280518, "dclink_p_w": 11678.6162, "enc_isr_hz": 5002, "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": 60.0589905, "temp_inv2_c": 57.937439, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 875.965149, "values": {"Elec_RPM": -12519.4219, "EncoderCos": 38035, "EncoderSin": 53197, "GapTicks": 38386, "Mech_RPM": -2503.88428, "cg_du": 60.8814278, "cg_dv": 65.1030121, "cg_dw": 34.8969917, "cg_id_a": 5.39794302, "cg_id_raw_a": 10.1630707, "cg_iq_a": 301.123077, "cg_iq_raw_a": 305.391754, "cg_iu_a": 42.3762856, "cg_iv_a": -274.101807, "cg_iw_a": 231.725525, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 6402463, "cg_sample_valid": 1, "cg_theta_rad": 1.34420586, "cg_vd_req_v": 7.02560568, "cg_vd_v": 7.02560568, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5336151, "cg_vq_v": -27.5336151, "cg_vu_v": 73.9019547, "cg_vv_v": 113.492287, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 77.6914749, "dclink_p_w": 11653.9834, "enc_isr_hz": 4998, "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": 60.0589905, "temp_inv2_c": 57.8789978, "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": 150.443253}}
{"type": "telemetry", "t": 876.982605, "values": {"Elec_RPM": -12521, "EncoderCos": 20313, "EncoderSin": 15473, "GapTicks": 37113, "Mech_RPM": -2504.19995, "cg_du": 33.7398605, "cg_dv": 66.2601395, "cg_dw": 47.0154915, "cg_id_a": -3.66699696, "cg_id_raw_a": 2.54934406, "cg_iq_a": 296.97049, "cg_iq_raw_a": 295.469666, "cg_iu_a": 301.95462, "cg_iv_a": -181.245117, "cg_iw_a": -120.709496, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 6407513, "cg_sample_valid": 1, "cg_theta_rad": 4.12165213, "cg_vd_req_v": 7.15891314, "cg_vd_v": 7.15891314, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4878368, "cg_vq_v": -27.4878368, "cg_vu_v": 109.973145, "cg_vv_v": 139.006058, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 78.2677536, "dclink_p_w": 11774.8555, "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": 60.0589905, "temp_inv2_c": 57.9018555, "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": 150.443253}}
{"type": "telemetry", "t": 877.982422, "values": {"Elec_RPM": -12520.4639, "EncoderCos": 16566, "EncoderSin": 46494, "GapTicks": 36949, "Mech_RPM": -2504.09277, "cg_du": 66.409874, "cg_dv": 49.4536018, "cg_dw": 33.590126, "cg_id_a": 3.43331838, "cg_id_raw_a": 11.111167, "cg_iq_a": 301.549347, "cg_iq_raw_a": 302.108887, "cg_iu_a": -159.973053, "cg_iv_a": -143.732758, "cg_iw_a": 303.705811, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 6412413, "cg_sample_valid": 1, "cg_theta_rad": 2.47796249, "cg_vd_req_v": 7.04502106, "cg_vd_v": 7.04502106, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5418682, "cg_vq_v": -27.5418682, "cg_vu_v": 150.883148, "cg_vv_v": 151.323044, "cg_vw_v": 91.4976578, "control_outputs_enabled": 1, "dclink_i_a": 77.4577026, "dclink_p_w": 11618.917, "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": 60.1021118, "temp_inv2_c": 57.8815308, "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": 0.112996101, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 878.99408, "values": {"Elec_RPM": -12518.6523, "EncoderCos": 12369, "EncoderSin": 26909, "GapTicks": 37849, "Mech_RPM": -2503.73047, "cg_du": 65.5917511, "cg_dv": 34.4082451, "cg_dw": 58.8476563, "cg_id_a": -9.02821732, "cg_id_raw_a": -20.3267441, "cg_iq_a": 297.271545, "cg_iq_raw_a": 291.381378, "cg_iu_a": -291.646881, "cg_iv_a": 221.133911, "cg_iw_a": 70.5129623, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 6417612, "cg_sample_valid": 1, "cg_theta_rad": 3.45643687, "cg_vd_req_v": 7.32116127, "cg_vd_v": 7.32116127, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4595375, "cg_vq_v": -27.4595375, "cg_vu_v": 77.4210892, "cg_vv_v": 38.7105446, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 77.8364563, "dclink_p_w": 11709.9697, "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": 60.0589905, "temp_inv2_c": 57.8764648, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 880.011475, "values": {"Elec_RPM": -12516.1621, "EncoderCos": 12439, "EncoderSin": 26543, "GapTicks": 37516, "Mech_RPM": -2503.23242, "cg_du": 65.8941803, "cg_dv": 34.1058197, "cg_dw": 56.5730667, "cg_id_a": -0.753585219, "cg_id_raw_a": 0.317170888, "cg_iq_a": 298.147705, "cg_iq_raw_a": 299.213348, "cg_iu_a": -288.711121, "cg_iv_a": 194.168488, "cg_iw_a": 94.5426331, "cg_sample_age_us": 24.045454, "cg_sample_seq": 6422713, "cg_sample_valid": 1, "cg_theta_rad": 3.4830358, "cg_vd_req_v": 7.14876795, "cg_vd_v": 7.14876795, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4721088, "cg_vq_v": -27.4721088, "cg_vu_v": 136.806595, "cg_vv_v": 89.2981949, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 78.9364548, "dclink_p_w": 11875.457, "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": 4998, "hz_vsense": 2595, "pwm_moe": 1, "temp_inv1_c": 60.1021118, "temp_inv2_c": 57.8993225, "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": 0.111233689, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 881.028992, "values": {"Elec_RPM": -12517.2314, "EncoderCos": 53650, "EncoderSin": 31338, "GapTicks": 36991, "Mech_RPM": -2503.44629, "cg_du": 66.3714905, "cg_dv": 51.6702309, "cg_dw": 33.6285057, "cg_id_a": 6.01385021, "cg_id_raw_a": 14.5986652, "cg_iq_a": 303.532837, "cg_iq_raw_a": 305.376556, "cg_iu_a": -141.742386, "cg_iv_a": -164.065536, "cg_iw_a": 305.807922, "cg_sample_age_us": 24.0890903, "cg_sample_seq": 6427763, "cg_sample_valid": 1, "cg_theta_rad": 6.25466824, "cg_vd_req_v": 6.97547245, "cg_vd_v": 6.97547245, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6221924, "cg_vq_v": -27.6221924, "cg_vu_v": 150.883148, "cg_vv_v": 151.323044, "cg_vw_v": 93.2572174, "control_outputs_enabled": 1, "dclink_i_a": 78.1771469, "dclink_p_w": 11761.2246, "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": 60.0589905, "temp_inv2_c": 57.8942566, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 882.046326, "values": {"Elec_RPM": -12516.1582, "EncoderCos": 14021, "EncoderSin": 22735, "GapTicks": 37841, "Mech_RPM": -2503.23169, "cg_du": 65.5988159, "cg_dv": 41.4141006, "cg_dw": 34.4011879, "cg_id_a": 3.25925159, "cg_id_raw_a": 0.662071705, "cg_iq_a": 297.331116, "cg_iq_raw_a": 304.009308, "cg_iu_a": -208.394806, "cg_iv_a": -75.5943298, "cg_iw_a": 283.989136, "cg_sample_age_us": 24.0709095, "cg_sample_seq": 6432912, "cg_sample_valid": 1, "cg_theta_rad": 3.67832589, "cg_vd_req_v": 7.05360365, "cg_vd_v": 7.05360365, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4584999, "cg_vq_v": -27.4584999, "cg_vu_v": 38.2706528, "cg_vv_v": 46.6286087, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.7549057, "dclink_p_w": 11663.498, "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": 60.0589905, "temp_inv2_c": 57.9425049, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 883.063721, "values": {"Elec_RPM": -12514.7012, "EncoderCos": 53517, "EncoderSin": 35456, "GapTicks": 36996, "Mech_RPM": -2502.94019, "cg_du": 50.3482513, "cg_dv": 66.3667908, "cg_dw": 33.6332092, "cg_id_a": 3.83385038, "cg_id_raw_a": 13.9188204, "cg_iq_a": 300.805908, "cg_iq_raw_a": 303.394409, "cg_iu_a": 148.208282, "cg_iv_a": -306.286346, "cg_iw_a": 158.078064, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 6437962, "cg_sample_valid": 1, "cg_theta_rad": 0.16364935, "cg_vd_req_v": 7.04436874, "cg_vd_v": 7.04436874, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5476036, "cg_vq_v": -27.5476036, "cg_vu_v": 0, "cg_vv_v": 66.8636703, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 79.8008728, "dclink_p_w": 11970.4004, "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": 60.1021118, "temp_inv2_c": 57.8916931, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 883.925171, "values": {"Elec_RPM": -12515.9492, "EncoderCos": 38446, "EncoderSin": 12407, "GapTicks": 37378, "Mech_RPM": -2503.18994, "cg_du": 66.0192184, "cg_dv": 56.1805077, "cg_dw": 33.9807816, "cg_id_a": 1.88311446, "cg_id_raw_a": 0.305094451, "cg_iq_a": 299.201965, "cg_iq_raw_a": 299.133789, "cg_iu_a": -79.5842133, "cg_iv_a": -206.217117, "cg_iw_a": 285.801331, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 6442162, "cg_sample_valid": 1, "cg_theta_rad": 5.03031349, "cg_vd_req_v": 7.06517315, "cg_vd_v": 7.06517315, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.53479, "cg_vq_v": -27.53479, "cg_vu_v": 39.1504402, "cg_vv_v": 77.4210892, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.1408997, "dclink_p_w": 11755.7715, "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": 60.1021118, "temp_inv2_c": 57.937439, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 884.942505, "values": {"Elec_RPM": -12515.2295, "EncoderCos": 18575, "EncoderSin": 48491, "GapTicks": 38088, "Mech_RPM": -2503.0459, "cg_du": 65.3743057, "cg_dv": 34.6256943, "cg_dw": 39.9119339, "cg_id_a": -2.09625697, "cg_id_raw_a": -10.4742422, "cg_iq_a": 302.502075, "cg_iq_raw_a": 296.218964, "cg_iu_a": -279.070282, "cg_iv_a": 46.619873, "cg_iw_a": 232.450409, "cg_sample_age_us": 24.0163631, "cg_sample_seq": 6447313, "cg_sample_valid": 1, "cg_theta_rad": 2.33737803, "cg_vd_req_v": 7.16959524, "cg_vd_v": 7.16959524, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5592136, "cg_vq_v": -27.5592136, "cg_vu_v": 151.762939, "cg_vv_v": 149.123581, "cg_vw_v": 86.2189407, "control_outputs_enabled": 1, "dclink_i_a": 78.1137161, "dclink_p_w": 11751.6816, "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": 60.1453247, "temp_inv2_c": 58.0239563, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 885.960022, "values": {"Elec_RPM": -12516.4688, "EncoderCos": 40155, "EncoderSin": 12953, "GapTicks": 38463, "Mech_RPM": -2503.2937, "cg_du": 61.1194992, "cg_dv": 65.0327454, "cg_dw": 34.9672546, "cg_id_a": 4.79537725, "cg_id_raw_a": 7.67064428, "cg_iq_a": 298.749298, "cg_iq_raw_a": 302.305481, "cg_iu_a": 41.0352631, "cg_iv_a": -271.202332, "cg_iw_a": 230.167053, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6452363, "cg_sample_valid": 1, "cg_theta_rad": 5.11001539, "cg_vd_req_v": 7.00486326, "cg_vd_v": 7.00486326, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5185432, "cg_vq_v": -27.5185432, "cg_vu_v": 108.653458, "cg_vv_v": 151.762939, "cg_vw_v": 106.453995, "control_outputs_enabled": 1, "dclink_i_a": 77.8364563, "dclink_p_w": 11709.9697, "enc_isr_hz": 4999, "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": 60.1453247, "temp_inv2_c": 58.0622253, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 886.977356, "values": {"Elec_RPM": -12516.2354, "EncoderCos": 42529, "EncoderSin": 14047, "GapTicks": 37458, "Mech_RPM": -2503.24707, "cg_du": 43.7569962, "cg_dv": 65.9467316, "cg_dw": 34.0532684, "cg_id_a": -3.7919445, "cg_id_raw_a": 3.38764763, "cg_iq_a": 295.490417, "cg_iq_raw_a": 300.617279, "cg_iu_a": 204.132507, "cg_iv_a": -290.484039, "cg_iw_a": 86.351532, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6457462, "cg_sample_valid": 1, "cg_theta_rad": 5.23984003, "cg_vd_req_v": 7.15395308, "cg_vd_v": 7.15395308, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4852085, "cg_vq_v": -27.4852085, "cg_vu_v": 33.4318352, "cg_vv_v": 79.1806641, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": 77.5881805, "dclink_p_w": 11672.6182, "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": 60.1885071, "temp_inv2_c": 58.0188599, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 887.952515, "values": {"Elec_RPM": -12520.7383, "EncoderCos": 44936, "EncoderSin": 15558, "GapTicks": 37206, "Mech_RPM": -2504.14771, "cg_du": 33.8236389, "cg_dv": 66.1763611, "cg_dw": 45.6985626, "cg_id_a": -0.42303884, "cg_id_raw_a": 0.454318523, "cg_iq_a": 298.416595, "cg_iq_raw_a": 296.335388, "cg_iu_a": 301.302246, "cg_iv_a": -235.61087, "cg_iw_a": -37.4936447, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 6462213, "cg_sample_valid": 1, "cg_theta_rad": 5.36846256, "cg_vd_req_v": 7.11102772, "cg_vd_v": 7.11102772, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5266304, "cg_vq_v": -27.5266304, "cg_vu_v": 107.333786, "cg_vv_v": 151.762939, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.3399124, "dclink_p_w": 11601.248, "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": 60.1453247, "temp_inv2_c": 57.8739319, "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": 0.115463488, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 888.988892, "values": {"Elec_RPM": -12516.5605, "EncoderCos": 46454, "EncoderSin": 48711, "GapTicks": 38962, "Mech_RPM": -2503.31201, "cg_du": 63.0219307, "cg_dv": 35.4200554, "cg_dw": 64.5799484, "cg_id_a": 0.538822889, "cg_id_raw_a": 10.1974831, "cg_iq_a": 300.226624, "cg_iq_raw_a": 305.096924, "cg_iu_a": -251.706177, "cg_iv_a": 269.700653, "cg_iw_a": -17.9944839, "cg_sample_age_us": 23.5799999, "cg_sample_seq": 6467513, "cg_sample_valid": 1, "cg_theta_rad": 0.895287037, "cg_vd_req_v": 7.14880943, "cg_vd_v": 7.14880943, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4995632, "cg_vq_v": -27.4995632, "cg_vu_v": 151.762939, "cg_vv_v": 105.134323, "cg_vw_v": 132.847549, "control_outputs_enabled": 1, "dclink_i_a": 77.1025162, "dclink_p_w": 11565.6377, "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": 60.1885071, "temp_inv2_c": 58.0239563, "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": 150.003372}}
{"type": "telemetry", "t": 890.006287, "values": {"Elec_RPM": -12516.8076, "EncoderCos": 44350, "EncoderSin": 50300, "GapTicks": 36933, "Mech_RPM": -2503.36157, "cg_du": 66.424263, "cg_dv": 33.575737, "cg_dw": 48.496891, "cg_id_a": -0.739675164, "cg_id_raw_a": 4.11742973, "cg_iq_a": 303.301025, "cg_iq_raw_a": 305.150635, "cg_iu_a": -310.276215, "cg_iv_a": 140.672607, "cg_iw_a": 169.603607, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 6472612, "cg_sample_valid": 1, "cg_theta_rad": 1.01990223, "cg_vd_req_v": 7.15111732, "cg_vd_v": 7.15111732, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5758324, "cg_vq_v": -27.5758324, "cg_vu_v": 45.3089333, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.9161911, "dclink_p_w": 11721.9648, "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": 60.1021118, "temp_inv2_c": 57.9628601, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 891.023682, "values": {"Elec_RPM": -12515.373, "EncoderCos": 30692, "EncoderSin": 11674, "GapTicks": 38828, "Mech_RPM": -2503.07471, "cg_du": 62.3973656, "cg_dv": 35.2989502, "cg_dw": 64.7010498, "cg_id_a": -1.55647588, "cg_id_raw_a": -13.4409237, "cg_iq_a": 297.705933, "cg_iq_raw_a": 293.167908, "cg_iu_a": -247.900574, "cg_iv_a": 265.532623, "cg_iw_a": -17.6320419, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 6477762, "cg_sample_valid": 1, "cg_theta_rad": 4.66986895, "cg_vd_req_v": 7.1450882, "cg_vd_v": 7.1450882, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4909477, "cg_vq_v": -27.4909477, "cg_vu_v": 54.9865723, "cg_vv_v": 18.9153805, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 78.3601761, "dclink_p_w": 11754.291, "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": 60.1885071, "temp_inv2_c": 58.0851746, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 892.041138, "values": {"Elec_RPM": -12512.499, "EncoderCos": 16412, "EncoderSin": 19287, "GapTicks": 38588, "Mech_RPM": -2502.49976, "cg_du": 64.91922, "cg_dv": 61.4892387, "cg_dw": 35.08078, "cg_id_a": -0.876273274, "cg_id_raw_a": -11.9247446, "cg_iq_a": 296.66037, "cg_iq_raw_a": 295.141052, "cg_iu_a": -30.1838684, "cg_iv_a": -239.488983, "cg_iw_a": 269.672852, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 6482762, "cg_sample_valid": 1, "cg_theta_rad": 3.82526326, "cg_vd_req_v": 7.22335911, "cg_vd_v": 7.22335911, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4282475, "cg_vq_v": -27.4282475, "cg_vu_v": 0, "cg_vv_v": 48.3881836, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.2239304, "dclink_p_w": 11617.8193, "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": 60.1885071, "temp_inv2_c": 58.0239563, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 893.058472, "values": {"Elec_RPM": -12515.7363, "EncoderCos": 33705, "EncoderSin": 11644, "GapTicks": 37123, "Mech_RPM": -2503.14722, "cg_du": 66.2510605, "cg_dv": 33.7489395, "cg_dw": 46.5559044, "cg_id_a": 0.241112351, "cg_id_raw_a": 4.43686438, "cg_iq_a": 299.766846, "cg_iq_raw_a": 303.05777, "cg_iu_a": -292.842926, "cg_iv_a": 177.133911, "cg_iw_a": 115.709023, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 6487962, "cg_sample_valid": 1, "cg_theta_rad": 4.76024771, "cg_vd_req_v": 7.07517481, "cg_vd_v": 7.07517481, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.547308, "cg_vq_v": -27.547308, "cg_vu_v": 118.3311, "cg_vv_v": 79.1806641, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 77.1478195, "dclink_p_w": 11606.3691, "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": 60.2318115, "temp_inv2_c": 58.1055908, "temp_inv3_c": null, "temp_motor_c": 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": 150.883148}}
{"type": "telemetry", "t": 894.075989, "values": {"Elec_RPM": -12516.7168, "EncoderCos": 39022, "EncoderSin": 52880, "GapTicks": 38419, "Mech_RPM": -2503.34326, "cg_du": 65.0732651, "cg_dv": 61.3466415, "cg_dw": 34.9267349, "cg_id_a": 2.91287088, "cg_id_raw_a": -10.5521564, "cg_iq_a": 304.748871, "cg_iq_raw_a": 303.082886, "cg_iu_a": -116.407944, "cg_iv_a": -186.971664, "cg_iw_a": 303.379608, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 6493012, "cg_sample_valid": 1, "cg_theta_rad": 1.25743973, "cg_vd_req_v": 7.09614944, "cg_vd_v": 7.09614944, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5687714, "cg_vq_v": -27.5687714, "cg_vu_v": 0.87978512, "cg_vv_v": 46.6286087, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6479874, "dclink_p_w": 11681.6162, "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": 60.1885071, "temp_inv2_c": 57.9959412, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11672236, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 894.937378, "values": {"Elec_RPM": -12516.333, "EncoderCos": 53424, "EncoderSin": 29460, "GapTicks": 38292, "Mech_RPM": -2503.2666, "cg_du": 65.1885986, "cg_dv": 39.2790451, "cg_dw": 34.8114014, "cg_id_a": 5.24096155, "cg_id_raw_a": 7.56927824, "cg_iq_a": 309.063934, "cg_iq_raw_a": 315.786865, "cg_iu_a": -242.319031, "cg_iv_a": 46.4386292, "cg_iw_a": 239.083038, "cg_sample_age_us": 24.1254539, "cg_sample_seq": 6497212, "cg_sample_valid": 1, "cg_theta_rad": 6.15701771, "cg_vd_req_v": 7.02351379, "cg_vd_v": 7.02351379, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6987495, "cg_vq_v": -27.6987495, "cg_vu_v": 39.1504402, "cg_vv_v": 40.0302238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.4123993, "dclink_p_w": 11612.1211, "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": 60.3619385, "temp_inv2_c": 58.0851746, "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": 150.883148}}
{"type": "telemetry", "t": 895.954712, "values": {"Elec_RPM": -12516.291, "EncoderCos": 12854, "EncoderSin": 25579, "GapTicks": 36999, "Mech_RPM": -2503.2583, "cg_du": 66.3644714, "cg_dv": 33.6355247, "cg_dw": 49.4560394, "cg_id_a": -7.47856236, "cg_id_raw_a": -1.7285862, "cg_iq_a": 294.777039, "cg_iq_raw_a": 294.208374, "cg_iu_a": -302.809998, "cg_iv_a": 137.954346, "cg_iw_a": 164.855652, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 6502362, "cg_sample_valid": 1, "cg_theta_rad": 3.53017068, "cg_vd_req_v": 7.30149651, "cg_vd_v": 7.30149651, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3935852, "cg_vq_v": -27.3935852, "cg_vu_v": 76.9812012, "cg_vv_v": 44.4291458, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.4903259, "dclink_p_w": 11657.8965, "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": 60.2318115, "temp_inv2_c": 58.1004944, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 896.972168, "values": {"Elec_RPM": -12515.2461, "EncoderCos": 13399, "EncoderSin": 24191, "GapTicks": 38184, "Mech_RPM": -2503.04932, "cg_du": 65.2863922, "cg_dv": 34.713604, "cg_dw": 39.6418228, "cg_id_a": -8.76954365, "cg_id_raw_a": -8.69472694, "cg_iq_a": 298.791382, "cg_iq_raw_a": 303.968384, "cg_iu_a": -283.129578, "cg_iv_a": 45.1338654, "cg_iw_a": 237.995712, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 6507462, "cg_sample_valid": 1, "cg_theta_rad": 3.60411644, "cg_vd_req_v": 7.30010509, "cg_vd_v": 7.30010509, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4783249, "cg_vq_v": -27.4783249, "cg_vu_v": 76.9812012, "cg_vv_v": 75.2216263, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 78.1137161, "dclink_p_w": 11717.3213, "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": 5000, "hz_vsense": 2611, "pwm_moe": 1, "temp_inv1_c": 60.2318115, "temp_inv2_c": 58.0239563, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119139388, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 897.967346, "values": {"Elec_RPM": -12514.459, "EncoderCos": 30452, "EncoderSin": 11704, "GapTicks": 38348, "Mech_RPM": -2502.89185, "cg_du": 60.9013748, "cg_dv": 34.8622131, "cg_dw": 65.1377869, "cg_id_a": 0.714421153, "cg_id_raw_a": -9.99589825, "cg_iq_a": 298.896515, "cg_iq_raw_a": 294.913116, "cg_iu_a": -238.332214, "cg_iv_a": 271.947784, "cg_iw_a": -33.6155624, "cg_sample_age_us": 23.7327271, "cg_sample_seq": 6512312, "cg_sample_valid": 1, "cg_theta_rad": 4.64362144, "cg_vd_req_v": 7.09908628, "cg_vd_v": 7.09908628, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4943104, "cg_vq_v": -27.4943104, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 77.8328323, "dclink_p_w": 11709.4248, "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": 60.275116, "temp_inv2_c": 58.0239563, "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": 0.117628746, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 898.983582, "values": {"Elec_RPM": -12520.5996, "EncoderCos": 47369, "EncoderSin": 17685, "GapTicks": 38643, "Mech_RPM": -2504.11987, "cg_du": 35.1301498, "cg_dv": 61.9000931, "cg_dw": 64.8698502, "cg_id_a": 0.189087868, "cg_id_raw_a": 8.81508446, "cg_iq_a": 300.719788, "cg_iq_raw_a": 303.780121, "cg_iu_a": 238.34668, "cg_iv_a": 31.7598877, "cg_iw_a": -270.106567, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 6517513, "cg_sample_valid": 1, "cg_theta_rad": 5.53022051, "cg_vd_req_v": 7.09240913, "cg_vd_v": 7.09240913, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5574245, "cg_vq_v": -27.5574245, "cg_vu_v": 109.973145, "cg_vv_v": 108.21357, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.6987305, "dclink_p_w": 11655.0713, "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": 4997, "hz_vsense": 2583, "pwm_moe": 1, "temp_inv1_c": 60.2318115, "temp_inv2_c": 58.0647583, "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": 0.116118103, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 900.001038, "values": {"Elec_RPM": -12512.6162, "EncoderCos": 48374, "EncoderSin": 18809, "GapTicks": 36981, "Mech_RPM": -2502.52319, "cg_du": 33.6191521, "cg_dv": 52.1742554, "cg_dw": 66.3808441, "cg_id_a": 3.87909031, "cg_id_raw_a": 8.20025921, "cg_iq_a": 305.712097, "cg_iq_raw_a": 301.928802, "cg_iu_a": 157.885376, "cg_iv_a": 141.904907, "cg_iw_a": -299.790283, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6522613, "cg_sample_valid": 1, "cg_theta_rad": 5.60904884, "cg_vd_req_v": 7.04873037, "cg_vd_v": 7.04873037, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6555977, "cg_vq_v": -27.6555977, "cg_vu_v": 114.37207, "cg_vv_v": 102.494972, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 77.7512817, "dclink_p_w": 11697.1553, "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": 60.275116, "temp_inv2_c": 58.0851746, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115010299, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 901.018433, "values": {"Elec_RPM": -12514.8594, "EncoderCos": 50037, "EncoderSin": 20910, "GapTicks": 39064, "Mech_RPM": -2502.97192, "cg_du": 36.7147827, "cg_dv": 35.5127335, "cg_dw": 64.4872665, "cg_id_a": 4.44057178, "cg_id_raw_a": 9.85408878, "cg_iq_a": 302.876984, "cg_iq_raw_a": 310.907501, "cg_iu_a": -6.91532803, "cg_iv_a": 265.097687, "cg_iw_a": -258.182373, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 6527712, "cg_sample_valid": 1, "cg_theta_rad": 5.73613882, "cg_vd_req_v": 7.02789593, "cg_vd_v": 7.02789593, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5956421, "cg_vq_v": -27.5956421, "cg_vu_v": 56.7461433, "cg_vv_v": 0, "cg_vw_v": 40.9100075, "control_outputs_enabled": 1, "dclink_i_a": 77.8292084, "dclink_p_w": 11674.6436, "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": 60.1885071, "temp_inv2_c": 58.0851746, "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": 150.443253}}
{"type": "telemetry", "t": 902.035889, "values": {"Elec_RPM": -12519.3945, "EncoderCos": 50782, "EncoderSin": 22203, "GapTicks": 37134, "Mech_RPM": -2503.87891, "cg_du": 46.110672, "cg_dv": 33.7587967, "cg_dw": 66.2412033, "cg_id_a": 9.82525635, "cg_id_raw_a": 14.440114, "cg_iq_a": 304.286804, "cg_iq_raw_a": 307.14679, "cg_iu_a": -120.467255, "cg_iv_a": 297.101013, "cg_iw_a": -176.633743, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6532812, "cg_sample_valid": 1, "cg_theta_rad": 5.80440903, "cg_vd_req_v": 6.90608168, "cg_vd_v": 6.90608168, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6321602, "cg_vq_v": -27.6321602, "cg_vu_v": 45.7488289, "cg_vv_v": 0, "cg_vw_v": 5.71860361, "control_outputs_enabled": 1, "dclink_i_a": 78.2025146, "dclink_p_w": 11765.041, "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": 60.275116, "temp_inv2_c": 58.1669312, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115664914, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 903.053284, "values": {"Elec_RPM": -12516.2754, "EncoderCos": 51452, "EncoderSin": 23515, "GapTicks": 37358, "Mech_RPM": -2503.25513, "cg_du": 56.0849075, "cg_dv": 33.9619217, "cg_dw": 66.0380783, "cg_id_a": 6.58885908, "cg_id_raw_a": 3.19827127, "cg_iq_a": 306.070526, "cg_iq_raw_a": 300.872253, "cg_iu_a": -259.462372, "cg_iv_a": 269.084534, "cg_iw_a": -9.62214661, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 6537912, "cg_sample_valid": 1, "cg_theta_rad": 5.92328501, "cg_vd_req_v": 6.98817825, "cg_vd_v": 6.98817825, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6520805, "cg_vq_v": -27.6520805, "cg_vu_v": 151.762939, "cg_vv_v": 87.098732, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 77.8183289, "dclink_p_w": 11707.2422, "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": 60.275116, "temp_inv2_c": 58.1464844, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 904.070618, "values": {"Elec_RPM": -12517.4795, "EncoderCos": 19002, "EncoderSin": 48753, "GapTicks": 37558, "Mech_RPM": -2503.49585, "cg_du": 65.8561096, "cg_dv": 34.1438942, "cg_dw": 42.9819107, "cg_id_a": -7.74711657, "cg_id_raw_a": -7.20083523, "cg_iq_a": 299.538513, "cg_iq_raw_a": 292.960144, "cg_iu_a": -282.803406, "cg_iv_a": 68.1487122, "cg_iw_a": 214.654694, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 6542963, "cg_sample_valid": 1, "cg_theta_rad": 2.31860566, "cg_vd_req_v": 7.30033064, "cg_vd_v": 7.30033064, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4765854, "cg_vq_v": -27.4765854, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 92.8173294, "control_outputs_enabled": 1, "dclink_i_a": 77.0028458, "dclink_p_w": 11550.6865, "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": 60.275116, "temp_inv2_c": 58.1209412, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117477685, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 904.932068, "values": {"Elec_RPM": -12512.5732, "EncoderCos": 28434, "EncoderSin": 53380, "GapTicks": 37290, "Mech_RPM": -2502.51465, "cg_du": 33.9005432, "cg_dv": 55.1174469, "cg_dw": 66.0994568, "cg_id_a": -4.08184576, "cg_id_raw_a": -10.3643837, "cg_iq_a": 296.392334, "cg_iq_raw_a": 295.813354, "cg_iu_a": 194.092972, "cg_iv_a": 109.321701, "cg_iw_a": -303.414673, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 6547262, "cg_sample_valid": 1, "cg_theta_rad": 1.8190335, "cg_vd_req_v": 7.25542593, "cg_vd_v": 7.25542593, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4073143, "cg_vq_v": -27.4073143, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 78.1862106, "dclink_p_w": 11762.5879, "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": 60.318512, "temp_inv2_c": 58.1183777, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 905.949585, "values": {"Elec_RPM": -12512.498, "EncoderCos": 44276, "EncoderSin": 50249, "GapTicks": 37007, "Mech_RPM": -2502.49951, "cg_du": 66.3570786, "cg_dv": 33.6429214, "cg_dw": 48.2204056, "cg_id_a": -1.15222633, "cg_id_raw_a": 7.06729126, "cg_iq_a": 303.149658, "cg_iq_raw_a": 305.729797, "cg_iu_a": -309.188904, "cg_iv_a": 138.751678, "cg_iw_a": 170.437225, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 6552262, "cg_sample_valid": 1, "cg_theta_rad": 1.01317251, "cg_vd_req_v": 7.19779873, "cg_vd_v": 7.19779873, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5461445, "cg_vq_v": -27.5461445, "cg_vu_v": 62.4647446, "cg_vv_v": 3.95903301, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.0753326, "dclink_p_w": 11595.4639, "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": 60.318512, "temp_inv2_c": 58.1874084, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 906.966797, "values": {"Elec_RPM": -12518.2539, "EncoderCos": 26603, "EncoderSin": 52889, "GapTicks": 37620, "Mech_RPM": -2503.65088, "cg_du": 34.2001419, "cg_dv": 42.5202446, "cg_dw": 65.7998581, "cg_id_a": -0.226095557, "cg_id_raw_a": -6.25908375, "cg_iq_a": 299.186523, "cg_iq_raw_a": 292.680878, "cg_iu_a": 63.0715141, "cg_iv_a": 215.516129, "cg_iw_a": -278.587646, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 6557463, "cg_sample_valid": 1, "cg_theta_rad": 1.89517272, "cg_vd_req_v": 7.18294334, "cg_vd_v": 7.18294334, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4462166, "cg_vq_v": -27.4462166, "cg_vu_v": 128.448624, "cg_vv_v": 105.134323, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.486702, "dclink_p_w": 11657.3516, "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": 60.318512, "temp_inv2_c": 58.1260376, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.111787595, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 907.962097, "values": {"Elec_RPM": -12517.957, "EncoderCos": 46036, "EncoderSin": 16533, "GapTicks": 37280, "Mech_RPM": -2503.59131, "cg_du": 33.8910599, "cg_dv": 66.1089401, "cg_dw": 55.529171, "cg_id_a": -0.114748001, "cg_id_raw_a": 7.21817827, "cg_iq_a": 300.91745, "cg_iq_raw_a": 304.451904, "cg_iu_a": 75.5393982, "cg_iv_a": 211.384308, "cg_iw_a": -286.923706, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6562267, "cg_sample_valid": 1, "cg_theta_rad": 5.6642375, "cg_vd_req_v": 7.0963254, "cg_vd_v": 7.0963254, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5453148, "cg_vq_v": -27.5453148, "cg_vu_v": 149.123581, "cg_vv_v": 83.1396942, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.3960953, "dclink_p_w": 11643.7207, "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": 60.318512, "temp_inv2_c": 58.1771851, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.114204623, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 908.978394, "values": {"Elec_RPM": -12517.041, "EncoderCos": 11888, "EncoderSin": 35948, "GapTicks": 38320, "Mech_RPM": -2503.4082, "cg_du": 34.8370323, "cg_dv": 60.8277626, "cg_dw": 65.1629639, "cg_id_a": 0.0540134758, "cg_id_raw_a": 5.58143711, "cg_iq_a": 301.129669, "cg_iq_raw_a": 303.547333, "cg_iu_a": 229.648163, "cg_iv_a": 45.1701355, "cg_iw_a": -274.818298, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 6567413, "cg_sample_valid": 1, "cg_theta_rad": 3.01990962, "cg_vd_req_v": 7.14560461, "cg_vd_v": 7.14560461, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4947948, "cg_vq_v": -27.4947948, "cg_vu_v": 82.2599106, "cg_vv_v": 73.0221634, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 77.3000488, "dclink_p_w": 11595.2676, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 60.3619385, "temp_inv2_c": 58.2489014, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 909.99585, "values": {"Elec_RPM": -12515.8115, "EncoderCos": 18534, "EncoderSin": 17150, "GapTicks": 38239, "Mech_RPM": -2503.16235, "cg_du": 39.8401146, "cg_dv": 65.2363815, "cg_dw": 34.7636185, "cg_id_a": -7.31937695, "cg_id_raw_a": -2.64547086, "cg_iq_a": 296.10025, "cg_iq_raw_a": 300.661743, "cg_iu_a": 233.055084, "cg_iv_a": -289.541687, "cg_iw_a": 104.328476, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6572612, "cg_sample_valid": 1, "cg_theta_rad": 4.00580883, "cg_vd_req_v": 7.28289843, "cg_vd_v": 7.28289843, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4109077, "cg_vq_v": -27.4109077, "cg_vu_v": 0, "cg_vv_v": 50.1477547, "cg_vw_v": 15.3962402, "control_outputs_enabled": 1, "dclink_i_a": 77.1568832, "dclink_p_w": 11573.793, "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": 60.318512, "temp_inv2_c": 58.2078857, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.111888304, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 911.013184, "values": {"Elec_RPM": -12520.4961, "EncoderCos": 11726, "EncoderSin": 31791, "GapTicks": 38802, "Mech_RPM": -2504.09912, "cg_du": 37.7910576, "cg_dv": 35.275383, "cg_dw": 64.724617, "cg_id_a": 1.10687888, "cg_id_raw_a": 6.36596823, "cg_iq_a": 294.760406, "cg_iq_raw_a": 305.020172, "cg_iu_a": -25.83461, "cg_iv_a": 221.750031, "cg_iw_a": -275.07196, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 6577612, "cg_sample_valid": 1, "cg_theta_rad": 3.21366072, "cg_vd_req_v": 7.13021278, "cg_vd_v": 7.13021278, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3623333, "cg_vq_v": -27.3623333, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 78.1173401, "dclink_p_w": 11752.2266, "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": 60.3619385, "temp_inv2_c": 57.9297791, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 912.03064, "values": {"Elec_RPM": -12517.9141, "EncoderCos": 19984, "EncoderSin": 15907, "GapTicks": 37466, "Mech_RPM": -2503.58276, "cg_du": 34.0607338, "cg_dv": 65.93927, "cg_dw": 43.6969833, "cg_id_a": -5.92139912, "cg_id_raw_a": -8.52311134, "cg_iq_a": 293.785187, "cg_iq_raw_a": 290.670502, "cg_iu_a": 290.610291, "cg_iv_a": -117.564697, "cg_iw_a": -87.401413, "cg_sample_age_us": 23.994545, "cg_sample_seq": 6582813, "cg_sample_valid": 1, "cg_theta_rad": 4.14900398, "cg_vd_req_v": 7.26858521, "cg_vd_v": 7.26858521, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3699188, "cg_vq_v": -27.3699188, "cg_vu_v": 13.6366701, "cg_vv_v": 43.1094704, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 77.4504547, "dclink_p_w": 11617.8291, "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": 60.405426, "temp_inv2_c": 58.2411804, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 913.048096, "values": {"Elec_RPM": -12515.5703, "EncoderCos": 21189, "EncoderSin": 15012, "GapTicks": 37208, "Mech_RPM": -2503.11401, "cg_du": 33.8259201, "cg_dv": 66.1740799, "cg_dw": 53.7079391, "cg_id_a": -4.93896675, "cg_id_raw_a": 5.86955595, "cg_iq_a": 295.610016, "cg_iq_raw_a": 299.008301, "cg_iu_a": 296.481812, "cg_iv_a": -118.035889, "cg_iw_a": -178.445923, "cg_sample_age_us": 23.954546, "cg_sample_seq": 6587913, "cg_sample_valid": 1, "cg_theta_rad": 4.17801714, "cg_vd_req_v": 7.24158382, "cg_vd_v": 7.24158382, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4014111, "cg_vq_v": -27.4014111, "cg_vu_v": 87.53862, "cg_vv_v": 144.724655, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 77.6371155, "dclink_p_w": 11679.9805, "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": 60.318512, "temp_inv2_c": 58.1950989, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 914.065491, "values": {"Elec_RPM": -12516.0498, "EncoderCos": 12374, "EncoderSin": 27358, "GapTicks": 38562, "Mech_RPM": -2503.20996, "cg_du": 64.9428177, "cg_dv": 35.0571861, "cg_dw": 61.5721283, "cg_id_a": -5.28926897, "cg_id_raw_a": -17.2448349, "cg_iq_a": 296.043274, "cg_iq_raw_a": 289.754608, "cg_iu_a": -276.89563, "cg_iv_a": 240.741821, "cg_iw_a": 36.1538162, "cg_sample_age_us": 23.6054554, "cg_sample_seq": 6592912, "cg_sample_valid": 1, "cg_theta_rad": 3.44313741, "cg_vd_req_v": 7.25974464, "cg_vd_v": 7.25974464, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4063797, "cg_vq_v": -27.4063797, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.1731949, "dclink_p_w": 11576.2393, "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": 60.3619385, "temp_inv2_c": 58.1234741, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 914.92688, "values": {"Elec_RPM": -12513.9902, "EncoderCos": 12972, "EncoderSin": 39898, "GapTicks": 37902, "Mech_RPM": -2502.7981, "cg_du": 34.4564934, "cg_dv": 65.5435028, "cg_dw": 41.2201729, "cg_id_a": -2.55673885, "cg_id_raw_a": -8.20569801, "cg_iq_a": 296.931854, "cg_iq_raw_a": 292.047943, "cg_iu_a": 287.602051, "cg_iv_a": -226.803619, "cg_iw_a": -60.798439, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 6597213, "cg_sample_valid": 1, "cg_theta_rad": 2.83375907, "cg_vd_req_v": 7.23618937, "cg_vd_v": 7.23618937, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3781071, "cg_vq_v": -27.3781071, "cg_vu_v": 109.093361, "cg_vv_v": 151.323044, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 77.6516113, "dclink_p_w": 11682.1611, "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": 60.3619385, "temp_inv2_c": 58.2232666, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 915.944275, "values": {"Elec_RPM": -12511.0742, "EncoderCos": 12502, "EncoderSin": 38504, "GapTicks": 37002, "Mech_RPM": -2502.21484, "cg_du": 33.6390343, "cg_dv": 66.3609619, "cg_dw": 50.9090958, "cg_id_a": 0.312519908, "cg_id_raw_a": 9.11570263, "cg_iq_a": 299.161102, "cg_iq_raw_a": 301.128632, "cg_iu_a": 301.918396, "cg_iv_a": -144.711349, "cg_iw_a": -157.207047, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 6602313, "cg_sample_valid": 1, "cg_theta_rad": 2.91059995, "cg_vd_req_v": 7.16244459, "cg_vd_v": 7.16244459, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4336567, "cg_vq_v": -27.4336567, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 77.3580322, "dclink_p_w": 11637.9941, "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": 60.3619385, "temp_inv2_c": 58.2489014, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 916.961731, "values": {"Elec_RPM": -12515.543, "EncoderCos": 22630, "EncoderSin": 51148, "GapTicks": 37610, "Mech_RPM": -2503.10864, "cg_du": 57.275856, "cg_dv": 34.1911392, "cg_dw": 65.8088608, "cg_id_a": -5.22236443, "cg_id_raw_a": 1.75738454, "cg_iq_a": 296.198059, "cg_iq_raw_a": 300.992645, "cg_iu_a": -210.388214, "cg_iv_a": 288.5112, "cg_iw_a": -78.1229858, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 6607313, "cg_sample_valid": 1, "cg_theta_rad": 2.11948109, "cg_vd_req_v": 7.29839325, "cg_vd_v": 7.29839325, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3764114, "cg_vq_v": -27.3764114, "cg_vu_v": 73.9019547, "cg_vv_v": 7.47817326, "cg_vw_v": 21.5547352, "control_outputs_enabled": 1, "dclink_i_a": 78.2152023, "dclink_p_w": 11732.5439, "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": 60.3619385, "temp_inv2_c": 58.1030579, "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": 0.113348596, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 917.927734, "values": {"Elec_RPM": -12515.7178, "EncoderCos": 11740, "EncoderSin": 33070, "GapTicks": 37848, "Mech_RPM": -2503.14355, "cg_du": 34.4077072, "cg_dv": 41.7709045, "cg_dw": 65.5922928, "cg_id_a": 1.21348786, "cg_id_raw_a": -3.95532131, "cg_iq_a": 297.535156, "cg_iq_raw_a": 290.292175, "cg_iu_a": 59.0484467, "cg_iv_a": 216.748428, "cg_iw_a": -275.796875, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 6612163, "cg_sample_valid": 1, "cg_theta_rad": 3.1605649, "cg_vd_req_v": 7.13963413, "cg_vd_v": 7.13963413, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4010983, "cg_vq_v": -27.4010983, "cg_vu_v": 112.612495, "cg_vv_v": 89.2981949, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.8745117, "dclink_p_w": 11681.4395, "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": 60.4489746, "temp_inv2_c": 58.2283936, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 918.973145, "values": {"Elec_RPM": -12521.1973, "EncoderCos": 38062, "EncoderSin": 12437, "GapTicks": 37173, "Mech_RPM": -2504.2395, "cg_du": 66.2061005, "cg_dv": 53.8026924, "cg_dw": 33.7938995, "cg_id_a": 1.00039554, "cg_id_raw_a": -1.63080382, "cg_iq_a": 300.132294, "cg_iq_raw_a": 299.018005, "cg_iu_a": -101.511734, "cg_iv_a": -111.149536, "cg_iw_a": 299.356537, "cg_sample_age_us": 24.0163631, "cg_sample_seq": 6617462, "cg_sample_valid": 1, "cg_theta_rad": 5.00514126, "cg_vd_req_v": 7.11160088, "cg_vd_v": 7.11160088, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5054111, "cg_vq_v": -27.5054111, "cg_vu_v": 39.590332, "cg_vv_v": 77.8609848, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.4123993, "dclink_p_w": 11612.1211, "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": 60.4489746, "temp_inv2_c": 58.2796631, "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": 0.121556424, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 919.990601, "values": {"Elec_RPM": -12518.3447, "EncoderCos": 35723, "EncoderSin": 53434, "GapTicks": 37253, "Mech_RPM": -2503.66895, "cg_du": 45.4437523, "cg_dv": 66.1328888, "cg_dw": 33.8671074, "cg_id_a": 1.09795284, "cg_id_raw_a": 0.302126706, "cg_iq_a": 301.079102, "cg_iq_raw_a": 295.261963, "cg_iu_a": 196.485077, "cg_iv_a": -290.918976, "cg_iw_a": 94.4338913, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 6622513, "cg_sample_valid": 1, "cg_theta_rad": 1.45939255, "cg_vd_req_v": 7.16735649, "cg_vd_v": 7.16735649, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4762325, "cg_vq_v": -27.4762325, "cg_vu_v": 109.973145, "cg_vv_v": 151.762939, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": 77.7585297, "dclink_p_w": 11664.042, "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": 60.405426, "temp_inv2_c": 58.3284607, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 921.008057, "values": {"Elec_RPM": -12515.6523, "EncoderCos": 40890, "EncoderSin": 13429, "GapTicks": 37385, "Mech_RPM": -2503.13037, "cg_du": 55.4309235, "cg_dv": 66.0129166, "cg_dw": 33.9870834, "cg_id_a": -1.43910468, "cg_id_raw_a": -3.25219107, "cg_iq_a": 295.909698, "cg_iq_raw_a": 296.984222, "cg_iu_a": 99.0616455, "cg_iv_a": -296.464294, "cg_iw_a": 197.402634, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6627662, "cg_sample_valid": 1, "cg_theta_rad": 5.15186691, "cg_vd_req_v": 7.14251614, "cg_vd_v": 7.14251614, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4307709, "cg_vq_v": -27.4307709, "cg_vu_v": 7.91806602, "cg_vv_v": 77.4210892, "cg_vw_v": 40.9100075, "control_outputs_enabled": 1, "dclink_i_a": 77.6733551, "dclink_p_w": 11685.4326, "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": 60.405426, "temp_inv2_c": 58.3233032, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 922.025391, "values": {"Elec_RPM": -12516.6582, "EncoderCos": 24760, "EncoderSin": 13242, "GapTicks": 37040, "Mech_RPM": -2503.33154, "cg_du": 33.6727333, "cg_dv": 49.0045166, "cg_dw": 66.3272705, "cg_id_a": -4.34968948, "cg_id_raw_a": 0.0964704305, "cg_iq_a": 297.285889, "cg_iq_raw_a": 300.097443, "cg_iu_a": 145.308777, "cg_iv_a": 162.273926, "cg_iw_a": -307.582703, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6632662, "cg_sample_valid": 1, "cg_theta_rad": 4.36088133, "cg_vd_req_v": 7.2156086, "cg_vd_v": 7.2156086, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4482079, "cg_vq_v": -27.4482079, "cg_vu_v": 10.1175289, "cg_vv_v": 0, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 77.4268951, "dclink_p_w": 11682.4141, "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": 60.3619385, "temp_inv2_c": 58.4468079, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.114254981, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 923.042786, "values": {"Elec_RPM": -12511.3623, "EncoderCos": 31234, "EncoderSin": 53645, "GapTicks": 37328, "Mech_RPM": -2502.27246, "cg_du": 33.9353561, "cg_dv": 66.0646439, "cg_dw": 55.4838104, "cg_id_a": -3.21252251, "cg_id_raw_a": 5.64541578, "cg_iq_a": 302.495209, "cg_iq_raw_a": 305.911102, "cg_iu_a": 298.837646, "cg_iv_a": -102.740982, "cg_iw_a": -196.096664, "cg_sample_age_us": 23.863636, "cg_sample_seq": 6637813, "cg_sample_valid": 1, "cg_theta_rad": 1.68076253, "cg_vd_req_v": 7.2629776, "cg_vd_v": 7.2629776, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5009079, "cg_vq_v": -27.5009079, "cg_vu_v": 109.533249, "cg_vv_v": 143.404984, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.6585312, "dclink_p_w": 11532.7588, "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": 60.4489746, "temp_inv2_c": 58.2283936, "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": 0.115262069, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 924.060181, "values": {"Elec_RPM": -12512.124, "EncoderCos": 44809, "EncoderSin": 15683, "GapTicks": 37235, "Mech_RPM": -2502.4248, "cg_du": 33.850441, "cg_dv": 66.149559, "cg_dw": 45.4572258, "cg_id_a": 2.54203463, "cg_id_raw_a": 5.83522177, "cg_iq_a": 300.10791, "cg_iq_raw_a": 298.510376, "cg_iu_a": 296.481812, "cg_iv_a": -178.526855, "cg_iw_a": -22.959877, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 6642962, "cg_sample_valid": 1, "cg_theta_rad": 5.36606121, "cg_vd_req_v": 7.06389189, "cg_vd_v": 7.06389189, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5302734, "cg_vq_v": -27.5302734, "cg_vu_v": 0, "cg_vv_v": 35.1914063, "cg_vw_v": 58.5057106, "control_outputs_enabled": 1, "dclink_i_a": 77.7567215, "dclink_p_w": 11697.9736, "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": 60.4489746, "temp_inv2_c": 58.2899475, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 925.077637, "values": {"Elec_RPM": -12513.7305, "EncoderCos": 27191, "EncoderSin": 52972, "GapTicks": 37090, "Mech_RPM": -2502.74609, "cg_du": 33.7187538, "cg_dv": 46.3648491, "cg_dw": 66.28125, "cg_id_a": -2.99104571, "cg_id_raw_a": 1.45289862, "cg_iq_a": 303.04538, "cg_iq_raw_a": 308.902863, "cg_iu_a": 122.511406, "cg_iv_a": 184.491394, "cg_iw_a": -307.002808, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 6648012, "cg_sample_valid": 1, "cg_theta_rad": 1.8655479, "cg_vd_req_v": 7.24843121, "cg_vd_v": 7.24843121, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4945068, "cg_vq_v": -27.4945068, "cg_vu_v": 1.75957024, "cg_vv_v": 0, "cg_vw_v": 43.9892578, "control_outputs_enabled": 1, "dclink_i_a": 77.117012, "dclink_p_w": 11567.8115, "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": 60.4925537, "temp_inv2_c": 58.3618469, "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": 0.111787595, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 925.939026, "values": {"Elec_RPM": -12517.2842, "EncoderCos": 17934, "EncoderSin": 17811, "GapTicks": 37284, "Mech_RPM": -2503.45679, "cg_du": 45.6906967, "cg_dv": 66.1052856, "cg_dw": 33.8947144, "cg_id_a": -4.15561104, "cg_id_raw_a": -5.40787554, "cg_iq_a": 295.413116, "cg_iq_raw_a": 289.896149, "cg_iu_a": 195.905151, "cg_iv_a": -285.0112, "cg_iw_a": 89.1060562, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6652263, "cg_sample_valid": 1, "cg_theta_rad": 3.97358155, "cg_vd_req_v": 7.22789526, "cg_vd_v": 7.22789526, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3712273, "cg_vq_v": -27.3712273, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 77.2348099, "dclink_p_w": 11619.4561, "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": 60.4489746, "temp_inv2_c": 58.2899475, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 926.956421, "values": {"Elec_RPM": -12515.2285, "EncoderCos": 37195, "EncoderSin": 53140, "GapTicks": 37333, "Mech_RPM": -2503.04565, "cg_du": 55.5314865, "cg_dv": 66.0604553, "cg_dw": 33.9395447, "cg_id_a": -0.113803625, "cg_id_raw_a": -3.67143583, "cg_iq_a": 300.426117, "cg_iq_raw_a": 300.789215, "cg_iu_a": 97.9380798, "cg_iv_a": -299.762451, "cg_iw_a": 201.824371, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 6657412, "cg_sample_valid": 1, "cg_theta_rad": 1.39080477, "cg_vd_req_v": 7.19907379, "cg_vd_v": 7.19907379, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4339504, "cg_vq_v": -27.4339504, "cg_vu_v": 7.91806602, "cg_vv_v": 77.4210892, "cg_vw_v": 40.9100075, "control_outputs_enabled": 1, "dclink_i_a": 77.7820892, "dclink_p_w": 11701.79, "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": 60.4489746, "temp_inv2_c": 58.2899475, "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": 0.120096132, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 927.922363, "values": {"Elec_RPM": -12519.4639, "EncoderCos": 24258, "EncoderSin": 13497, "GapTicks": 38197, "Mech_RPM": -2503.89282, "cg_du": 34.7248001, "cg_dv": 59.9502754, "cg_dw": 65.2751999, "cg_id_a": -4.92688465, "cg_id_raw_a": -0.973592579, "cg_iq_a": 298.40332, "cg_iq_raw_a": 293.84079, "cg_iu_a": 233.055084, "cg_iv_a": 52.7088318, "cg_iw_a": -285.763916, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 6662112, "cg_sample_valid": 1, "cg_theta_rad": 4.2944355, "cg_vd_req_v": 7.26191807, "cg_vd_v": 7.26191807, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4043236, "cg_vq_v": -27.4043236, "cg_vu_v": 36.9509773, "cg_vv_v": 37.3908691, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 77.5736847, "dclink_p_w": 11670.4375, "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": 60.5361938, "temp_inv2_c": 58.3464355, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.1165713, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 928.967896, "values": {"Elec_RPM": -12515.9199, "EncoderCos": 52908, "EncoderSin": 27882, "GapTicks": 37646, "Mech_RPM": -2503.18408, "cg_du": 65.7757568, "cg_dv": 34.2242432, "cg_dw": 42.3128014, "cg_id_a": -0.0509085655, "cg_id_raw_a": 5.03415823, "cg_iq_a": 307.962524, "cg_iq_raw_a": 312.94455, "cg_iu_a": -301.90387, "cg_iv_a": 80.2903748, "cg_iw_a": 221.613495, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 6667412, "cg_sample_valid": 1, "cg_theta_rad": 6.09665298, "cg_vd_req_v": 7.17062712, "cg_vd_v": 7.17062712, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6371899, "cg_vq_v": -27.6371899, "cg_vu_v": 41.7897949, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.2474899, "dclink_p_w": 11621.3633, "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": 60.5361938, "temp_inv2_c": 58.3310242, "temp_inv3_c": null, "temp_motor_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": 150.883148}}
{"type": "telemetry", "t": 929.985291, "values": {"Elec_RPM": -12518.2578, "EncoderCos": 53340, "EncoderSin": 30442, "GapTicks": 38466, "Mech_RPM": -2503.65161, "cg_du": 65.0303268, "cg_dv": 38.5316315, "cg_dw": 34.9696693, "cg_id_a": 2.10349417, "cg_id_raw_a": -0.425488144, "cg_iq_a": 306.994751, "cg_iq_raw_a": 303.715363, "cg_iu_a": -246.0159, "cg_iv_a": -36.3785095, "cg_iw_a": 282.394409, "cg_sample_age_us": 24.045454, "cg_sample_seq": 6672512, "cg_sample_valid": 1, "cg_theta_rad": 6.17059994, "cg_vd_req_v": 7.10928154, "cg_vd_v": 7.10928154, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6315708, "cg_vq_v": -27.6315708, "cg_vu_v": 44.4291458, "cg_vv_v": 70.8227005, "cg_vw_v": 31.2323723, "control_outputs_enabled": 1, "dclink_i_a": 77.2692337, "dclink_p_w": 11624.6348, "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": 60.5361938, "temp_inv2_c": 58.4056091, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 931.002686, "values": {"Elec_RPM": -12517.2188, "EncoderCos": 53264, "EncoderSin": 29737, "GapTicks": 37870, "Mech_RPM": -2503.44385, "cg_du": 65.5719681, "cg_dv": 40.911171, "cg_dw": 34.4280319, "cg_id_a": 4.28414059, "cg_id_raw_a": -4.45210457, "cg_iq_a": 309.375244, "cg_iq_raw_a": 303.724945, "cg_iu_a": -236.664993, "cg_iv_a": -54.8628693, "cg_iw_a": 291.527863, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 6677613, "cg_sample_valid": 1, "cg_theta_rad": 6.18079662, "cg_vd_req_v": 7.08592796, "cg_vd_v": 7.08592796, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6522961, "cg_vq_v": -27.6522961, "cg_vu_v": 151.762939, "cg_vv_v": 150.883148, "cg_vw_v": 84.0194778, "control_outputs_enabled": 1, "dclink_i_a": 76.6494675, "dclink_p_w": 11497.6787, "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": 60.5361938, "temp_inv2_c": 58.4958191, "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": 0.115060657, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 932.020203, "values": {"Elec_RPM": -12515.9434, "EncoderCos": 53417, "EncoderSin": 32323, "GapTicks": 37712, "Mech_RPM": -2503.18872, "cg_du": 65.7161026, "cg_dv": 58.2500114, "cg_dw": 34.2838936, "cg_id_a": 5.20777225, "cg_id_raw_a": -2.67003465, "cg_iq_a": 304.739929, "cg_iq_raw_a": 304.320801, "cg_iu_a": -63.8181458, "cg_iv_a": -222.200653, "cg_iw_a": 286.018799, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 6682712, "cg_sample_valid": 1, "cg_theta_rad": 0.0231238194, "cg_vd_req_v": 7.08828402, "cg_vd_v": 7.08828402, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5471077, "cg_vq_v": -27.5471077, "cg_vu_v": 38.7105446, "cg_vv_v": 77.8609848, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 77.6588593, "dclink_p_w": 11683.251, "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": 60.5361938, "temp_inv2_c": 58.348999, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 933.037476, "values": {"Elec_RPM": -12516.8574, "EncoderCos": 13261, "EncoderSin": 40417, "GapTicks": 38918, "Mech_RPM": -2503.37158, "cg_du": 35.380455, "cg_dv": 64.619545, "cg_dw": 37.600441, "cg_id_a": -1.16561306, "cg_id_raw_a": 6.01586533, "cg_iq_a": 295.21698, "cg_iq_raw_a": 299.799072, "cg_iu_a": 268.284119, "cg_iv_a": -239.887665, "cg_iw_a": -28.3964615, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 6687762, "cg_sample_valid": 1, "cg_theta_rad": 2.80266976, "cg_vd_req_v": 7.23636198, "cg_vd_v": 7.23636198, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3364735, "cg_vq_v": -27.3364735, "cg_vu_v": 0, "cg_vv_v": 40.4701157, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 77.1967468, "dclink_p_w": 11613.7295, "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": 60.5361938, "temp_inv2_c": 58.5267944, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 934.054932, "values": {"Elec_RPM": -12516.1182, "EncoderCos": 53392, "EncoderSin": 34234, "GapTicks": 37784, "Mech_RPM": -2503.22363, "cg_du": 58.3707657, "cg_dv": 65.6503448, "cg_dw": 34.3496552, "cg_id_a": 9.00416183, "cg_id_raw_a": 11.2354202, "cg_iq_a": 302.20282, "cg_iq_raw_a": 304.77475, "cg_iu_a": 71.2626266, "cg_iv_a": -286.497192, "cg_iw_a": 215.234573, "cg_sample_age_us": 23.48909, "cg_sample_seq": 6692913, "cg_sample_valid": 1, "cg_theta_rad": 0.105072401, "cg_vd_req_v": 6.98666811, "cg_vd_v": 6.98666811, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4971352, "cg_vq_v": -27.4971352, "cg_vu_v": 74.3418427, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 77.9651184, "dclink_p_w": 11695.0303, "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": 60.5361938, "temp_inv2_c": 58.431366, "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": 150.003372}}
{"type": "telemetry", "t": 935.072388, "values": {"Elec_RPM": -12517.2959, "EncoderCos": 53209, "EncoderSin": 35706, "GapTicks": 37051, "Mech_RPM": -2503.45923, "cg_du": 48.3104172, "cg_dv": 66.3167191, "cg_dw": 33.6832809, "cg_id_a": 2.24175477, "cg_id_raw_a": 5.76680613, "cg_iq_a": 301.820465, "cg_iq_raw_a": 298.418335, "cg_iu_a": 175.028717, "cg_iv_a": -295.19574, "cg_iw_a": 120.167023, "cg_sample_age_us": 23.51091, "cg_sample_seq": 6698013, "cg_sample_valid": 1, "cg_theta_rad": 0.187111944, "cg_vd_req_v": 7.12107563, "cg_vd_v": 7.12107563, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4880886, "cg_vq_v": -27.4880886, "cg_vu_v": 73.9019547, "cg_vv_v": 124.049698, "cg_vw_v": 104.254532, "control_outputs_enabled": 1, "dclink_i_a": 77.421463, "dclink_p_w": 11647.5371, "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": 60.66745, "temp_inv2_c": 58.3927307, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 935.933777, "values": {"Elec_RPM": -12518.1582, "EncoderCos": 38653, "EncoderSin": 12694, "GapTicks": 37731, "Mech_RPM": -2503.63159, "cg_du": 65.69841, "cg_dv": 58.1738281, "cg_dw": 34.3015862, "cg_id_a": -4.81621361, "cg_id_raw_a": 0.315486878, "cg_iq_a": 298.188049, "cg_iq_raw_a": 301.409454, "cg_iu_a": -69.5809174, "cg_iv_a": -217.235245, "cg_iw_a": 286.816162, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 6702213, "cg_sample_valid": 1, "cg_theta_rad": 5.04799318, "cg_vd_req_v": 7.2215066, "cg_vd_v": 7.2215066, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4593887, "cg_vq_v": -27.4593887, "cg_vu_v": 114.37207, "cg_vv_v": 151.762939, "cg_vw_v": 104.254532, "control_outputs_enabled": 1, "dclink_i_a": 77.9016953, "dclink_p_w": 11719.7842, "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": 60.5798645, "temp_inv2_c": 58.4751892, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115362778, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 936.951172, "values": {"Elec_RPM": -12517.6836, "EncoderCos": 41098, "EncoderSin": 13605, "GapTicks": 37252, "Mech_RPM": -2503.53662, "cg_du": 53.6899338, "cg_dv": 66.1336975, "cg_dw": 33.8663025, "cg_id_a": 1.08965147, "cg_id_raw_a": 2.88589954, "cg_iq_a": 293.972626, "cg_iq_raw_a": 295.364105, "cg_iu_a": 114.574005, "cg_iv_a": -297.370361, "cg_iw_a": 182.796371, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6707312, "cg_sample_valid": 1, "cg_theta_rad": 5.17350245, "cg_vd_req_v": 7.11017418, "cg_vd_v": 7.11017418, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3615112, "cg_vq_v": -27.3615112, "cg_vu_v": 0, "cg_vv_v": 43.549366, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.2728653, "dclink_p_w": 11625.1816, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2623, "hz_tim_isr": 4999, "hz_vsense": 2623, "pwm_moe": 1, "temp_inv1_c": 60.5798645, "temp_inv2_c": 58.5293884, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 937.912476, "values": {"Elec_RPM": -12518.7832, "EncoderCos": 27362, "EncoderSin": 12437, "GapTicks": 38222, "Mech_RPM": -2503.75659, "cg_du": 39.9971352, "cg_dv": 34.7479706, "cg_dw": 65.2520294, "cg_id_a": 1.79064393, "cg_id_raw_a": 3.82409358, "cg_iq_a": 297.341614, "cg_iq_raw_a": 304.84079, "cg_iu_a": -53.5248985, "cg_iv_a": 275.064758, "cg_iw_a": -221.539856, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 6711962, "cg_sample_valid": 1, "cg_theta_rad": 4.49295139, "cg_vd_req_v": 7.13203573, "cg_vd_v": 7.13203573, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4187393, "cg_vq_v": -27.4187393, "cg_vu_v": 39.1504402, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.7440338, "dclink_p_w": 11696.0654, "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": 60.5361938, "temp_inv2_c": 58.5164795, "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": 0.117981225, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 938.962585, "values": {"Elec_RPM": -12514.248, "EncoderCos": 47356, "EncoderSin": 47555, "GapTicks": 37213, "Mech_RPM": -2502.84961, "cg_du": 53.7966461, "cg_dv": 33.8308105, "cg_dw": 66.1691895, "cg_id_a": 1.17644656, "cg_id_raw_a": 11.3926849, "cg_iq_a": 299.516846, "cg_iq_raw_a": 302.97226, "cg_iu_a": -183.314056, "cg_iv_a": 301.305267, "cg_iw_a": -117.991219, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 6717363, "cg_sample_valid": 1, "cg_theta_rad": 0.829987168, "cg_vd_req_v": 7.19526339, "cg_vd_v": 7.19526339, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4171143, "cg_vq_v": -27.4171143, "cg_vu_v": 132.847549, "cg_vv_v": 72.5822754, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 76.3250885, "dclink_p_w": 11482.5947, "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": 60.6236267, "temp_inv2_c": 58.5500488, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 939.980042, "values": {"Elec_RPM": -12513.3945, "EncoderCos": 27919, "EncoderSin": 12335, "GapTicks": 37563, "Mech_RPM": -2502.67896, "cg_du": 43.6850586, "cg_dv": 34.149086, "cg_dw": 65.850914, "cg_id_a": 2.37441945, "cg_id_raw_a": 4.77648926, "cg_iq_a": 294.139313, "cg_iq_raw_a": 299.750183, "cg_iu_a": -94.2992096, "cg_iv_a": 282.784668, "cg_iw_a": -188.485474, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6722512, "cg_sample_valid": 1, "cg_theta_rad": 4.521873, "cg_vd_req_v": 7.11443233, "cg_vd_v": 7.11443233, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3443794, "cg_vq_v": -27.3443794, "cg_vu_v": 45.3089333, "cg_vv_v": 0, "cg_vw_v": 21.1148415, "control_outputs_enabled": 1, "dclink_i_a": 77.3109207, "dclink_p_w": 11596.8984, "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": 60.66745, "temp_inv2_c": 58.5164795, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 940.997437, "values": {"Elec_RPM": -12514.9434, "EncoderCos": 44133, "EncoderSin": 50133, "GapTicks": 37032, "Mech_RPM": -2502.98877, "cg_du": 66.3338852, "cg_dv": 33.6661148, "cg_dw": 47.842453, "cg_id_a": 1.57459199, "cg_id_raw_a": 5.69045258, "cg_iq_a": 305.212341, "cg_iq_raw_a": 308.178772, "cg_iu_a": -310.058777, "cg_iv_a": 137.374435, "cg_iw_a": 172.684341, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 6727562, "cg_sample_valid": 1, "cg_theta_rad": 1.01721358, "cg_vd_req_v": 7.20306206, "cg_vd_v": 7.20306206, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5304089, "cg_vq_v": -27.5304089, "cg_vu_v": 77.4210892, "cg_vv_v": 62.9046364, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 77.9832382, "dclink_p_w": 11732.0518, "enc_isr_hz": 5001, "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": 60.5798645, "temp_inv2_c": 58.5578003, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 942.014832, "values": {"Elec_RPM": -12517.4395, "EncoderCos": 43836, "EncoderSin": 50354, "GapTicks": 37200, "Mech_RPM": -2503.48779, "cg_du": 66.1812286, "cg_dv": 33.8187752, "cg_dw": 45.289444, "cg_id_a": -1.7985208, "cg_id_raw_a": 0.64307934, "cg_iq_a": 302.72818, "cg_iq_raw_a": 298.224701, "cg_iu_a": -290.197144, "cg_iv_a": 92.5408173, "cg_iw_a": 125.20491, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 6732663, "cg_sample_valid": 1, "cg_theta_rad": 1.03160238, "cg_vd_req_v": 7.25050497, "cg_vd_v": 7.25050497, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4800282, "cg_vq_v": -27.4800282, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 87.098732, "control_outputs_enabled": 1, "dclink_i_a": 77.120636, "dclink_p_w": 11602.2793, "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": 60.7113037, "temp_inv2_c": 58.5164795, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117175549, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 943.032227, "values": {"Elec_RPM": -12514.166, "EncoderCos": 41518, "EncoderSin": 51620, "GapTicks": 37598, "Mech_RPM": -2502.83325, "cg_du": 65.8194122, "cg_dv": 42.965107, "cg_dw": 34.1805916, "cg_id_a": 3.70801425, "cg_id_raw_a": 1.12529647, "cg_iq_a": 302.222198, "cg_iq_raw_a": 307.020447, "cg_iu_a": -264.029083, "cg_iv_a": 6.57040405, "cg_iw_a": 257.458679, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 6737762, "cg_sample_valid": 1, "cg_theta_rad": 1.12488747, "cg_vd_req_v": 7.13298416, "cg_vd_v": 7.13298416, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4610233, "cg_vq_v": -27.4610233, "cg_vu_v": 113.932175, "cg_vv_v": 111.732712, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 77.548317, "dclink_p_w": 11632.5088, "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": 60.5798645, "temp_inv2_c": 58.5785217, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 944.049622, "values": {"Elec_RPM": -12515.9414, "EncoderCos": 17669, "EncoderSin": 18243, "GapTicks": 37081, "Mech_RPM": -2503.18823, "cg_du": 48.9719849, "cg_dv": 66.289299, "cg_dw": 33.710701, "cg_id_a": -3.58658028, "cg_id_raw_a": 6.43721819, "cg_iq_a": 296.353943, "cg_iq_raw_a": 299.713989, "cg_iu_a": 161.473511, "cg_iv_a": -300.342346, "cg_iw_a": 138.868835, "cg_sample_age_us": 23.9981823, "cg_sample_seq": 6742812, "cg_sample_valid": 1, "cg_theta_rad": 3.95495796, "cg_vd_req_v": 7.27200985, "cg_vd_v": 7.27200985, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3663292, "cg_vq_v": -27.3663292, "cg_vu_v": 77.8609848, "cg_vv_v": 151.762939, "cg_vw_v": 119.650772, "control_outputs_enabled": 1, "dclink_i_a": 77.6425476, "dclink_p_w": 11680.7979, "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": 60.6236267, "temp_inv2_c": 58.5500488, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 945.067078, "values": {"Elec_RPM": -12513.2656, "EncoderCos": 34246, "EncoderSin": 11883, "GapTicks": 37640, "Mech_RPM": -2502.65308, "cg_du": 65.7810364, "cg_dv": 34.2189636, "cg_dw": 42.6805496, "cg_id_a": -4.41688013, "cg_id_raw_a": -7.83755112, "cg_iq_a": 298.233521, "cg_iq_raw_a": 291.759583, "cg_iu_a": -279.722656, "cg_iv_a": 65.3216705, "cg_iw_a": 214.400986, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 6748013, "cg_sample_valid": 1, "cg_theta_rad": 4.83443356, "cg_vd_req_v": 7.24812698, "cg_vd_v": 7.24812698, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.439045, "cg_vq_v": -27.439045, "cg_vu_v": 152.202835, "cg_vv_v": 149.123581, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 77.4015274, "dclink_p_w": 11610.4902, "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": 60.5798645, "temp_inv2_c": 58.5785217, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.114607453, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 945.928406, "values": {"Elec_RPM": -12516.5508, "EncoderCos": 48957, "EncoderSin": 45598, "GapTicks": 38975, "Mech_RPM": -2503.31006, "cg_du": 36.9637184, "cg_dv": 35.4323921, "cg_dw": 64.5676117, "cg_id_a": 7.69087982, "cg_id_raw_a": -7.24248123, "cg_iq_a": 304.708435, "cg_iq_raw_a": 297.358276, "cg_iu_a": -3.58089471, "cg_iv_a": 264.699005, "cg_iw_a": -261.118103, "cg_sample_age_us": 23.4963627, "cg_sample_seq": 6752263, "cg_sample_valid": 1, "cg_theta_rad": 0.697529376, "cg_vd_req_v": 7.02779341, "cg_vd_v": 7.02779341, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5179329, "cg_vq_v": -27.5179329, "cg_vu_v": 149.123581, "cg_vv_v": 108.653458, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 78.6193237, "dclink_p_w": 11793.1641, "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": 60.6236267, "temp_inv2_c": 58.5578003, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 946.945862, "values": {"Elec_RPM": -12513.9375, "EncoderCos": 13155, "EncoderSin": 25393, "GapTicks": 37100, "Mech_RPM": -2502.7876, "cg_du": 66.2719421, "cg_dv": 33.7280617, "cg_dw": 47.5305901, "cg_id_a": -7.38020706, "cg_id_raw_a": -3.2183876, "cg_iq_a": 298.776367, "cg_iq_raw_a": 299.550293, "cg_iu_a": -305.45578, "cg_iv_a": 126.610001, "cg_iw_a": 178.845779, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 6757312, "cg_sample_valid": 1, "cg_theta_rad": 3.53335738, "cg_vd_req_v": 7.35397816, "cg_vd_v": 7.35397816, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4058838, "cg_vq_v": -27.4058838, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.7820892, "dclink_p_w": 11701.79, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 60.66745, "temp_inv2_c": 58.6199036, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 947.907227, "values": {"Elec_RPM": -12520.1211, "EncoderCos": 14914, "EncoderSin": 20869, "GapTicks": 37037, "Mech_RPM": -2504.02417, "cg_du": 66.3296814, "cg_dv": 49.6949272, "cg_dw": 33.6703186, "cg_id_a": -5.45394182, "cg_id_raw_a": -0.589933693, "cg_iq_a": 294.517822, "cg_iq_raw_a": 296.209595, "cg_iu_a": -134.058701, "cg_iv_a": -157.215469, "cg_iw_a": 291.27417, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 6762062, "cg_sample_valid": 1, "cg_theta_rad": 3.7381978, "cg_vd_req_v": 7.27367878, "cg_vd_v": 7.27367878, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3349285, "cg_vq_v": -27.3349285, "cg_vu_v": 41.3499031, "cg_vv_v": 77.8609848, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.178627, "dclink_p_w": 11611.0039, "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": 60.6236267, "temp_inv2_c": 58.5371399, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 948.957336, "values": {"Elec_RPM": -12516.5811, "EncoderCos": 46389, "EncoderSin": 17068, "GapTicks": 38131, "Mech_RPM": -2503.31616, "cg_du": 34.665226, "cg_dv": 65.3347778, "cg_dw": 59.616272, "cg_id_a": -1.7297318, "cg_id_raw_a": 6.55928802, "cg_iq_a": 299.996826, "cg_iq_raw_a": 303.121063, "cg_iu_a": 285.137482, "cg_iv_a": -59.5745697, "cg_iw_a": -225.562912, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6767363, "cg_sample_valid": 1, "cg_theta_rad": 5.47467613, "cg_vd_req_v": 7.20862627, "cg_vd_v": 7.20862627, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4845047, "cg_vq_v": -27.4845047, "cg_vu_v": 109.533249, "cg_vv_v": 131.527878, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.5262375, "dclink_p_w": 11479.1934, "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": 60.66745, "temp_inv2_c": 58.5785217, "temp_inv3_c": null, "temp_motor_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": 150.883148}}
{"type": "telemetry", "t": 949.974792, "values": {"Elec_RPM": -12517.3252, "EncoderCos": 24179, "EncoderSin": 51733, "GapTicks": 37187, "Mech_RPM": -2503.46509, "cg_du": 46.0013885, "cg_dv": 33.8067932, "cg_dw": 66.1932068, "cg_id_a": 5.69170284, "cg_id_raw_a": 10.2691307, "cg_iq_a": 301.022888, "cg_iq_raw_a": 305.148499, "cg_iu_a": -117.966431, "cg_iv_a": 292.389282, "cg_iw_a": -174.422867, "cg_sample_age_us": 23.863636, "cg_sample_seq": 6772412, "cg_sample_valid": 1, "cg_theta_rad": 2.02885294, "cg_vd_req_v": 7.12157965, "cg_vd_v": 7.12157965, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4220371, "cg_vq_v": -27.4220371, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 27.2733402, "control_outputs_enabled": 1, "dclink_i_a": 77.7041626, "dclink_p_w": 11655.8867, "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": 60.6236267, "temp_inv2_c": 58.6820984, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116672009, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 950.992249, "values": {"Elec_RPM": -12518.4268, "EncoderCos": 48456, "EncoderSin": 19241, "GapTicks": 36970, "Mech_RPM": -2503.6853, "cg_du": 33.60952, "cg_dv": 49.4963379, "cg_dw": 66.39048, "cg_id_a": 0.815721631, "cg_id_raw_a": 0.275774986, "cg_iq_a": 304.749054, "cg_iq_raw_a": 297.362213, "cg_iu_a": 134.326889, "cg_iv_a": 163.180038, "cg_iw_a": -297.506927, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 6777563, "cg_sample_valid": 1, "cg_theta_rad": 5.62319851, "cg_vd_req_v": 7.13057661, "cg_vd_v": 7.13057661, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.570343, "cg_vq_v": -27.570343, "cg_vu_v": 136.366699, "cg_vv_v": 83.5795898, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.8708878, "dclink_p_w": 11680.8955, "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": 60.6236267, "temp_inv2_c": 58.5940247, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 952.009583, "values": {"Elec_RPM": -12514.8301, "EncoderCos": 50002, "EncoderSin": 21398, "GapTicks": 38377, "Mech_RPM": -2502.96606, "cg_du": 39.092144, "cg_dv": 34.8890152, "cg_dw": 65.1109848, "cg_id_a": 9.2899971, "cg_id_raw_a": 12.1175175, "cg_iq_a": 304.824127, "cg_iq_raw_a": 312.891235, "cg_iu_a": -40.4771194, "cg_iv_a": 278.326691, "cg_iw_a": -282.900635, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6782662, "cg_sample_valid": 1, "cg_theta_rad": 5.74030876, "cg_vd_req_v": 7.00663328, "cg_vd_v": 7.00663328, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5621605, "cg_vq_v": -27.5621605, "cg_vu_v": 38.7105446, "cg_vv_v": 0, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 77.5881805, "dclink_p_w": 11638.4883, "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": 60.755188, "temp_inv2_c": 58.6302795, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 953.027039, "values": {"Elec_RPM": -12514.707, "EncoderCos": 50218, "EncoderSin": 21707, "GapTicks": 37813, "Mech_RPM": -2502.94141, "cg_du": 41.5096626, "cg_dv": 34.376255, "cg_dw": 65.6237411, "cg_id_a": 7.28828621, "cg_id_raw_a": -4.01379776, "cg_iq_a": 304.840027, "cg_iq_raw_a": 300.57074, "cg_iu_a": -152.977982, "cg_iv_a": 299.92804, "cg_iw_a": -146.950043, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 6787763, "cg_sample_valid": 1, "cg_theta_rad": 5.82232714, "cg_vd_req_v": 7.01065636, "cg_vd_v": 7.01065636, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5681267, "cg_vq_v": -27.5681267, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.6896667, "dclink_p_w": 11687.8857, "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": 60.66745, "temp_inv2_c": 58.6302795, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 954.044373, "values": {"Elec_RPM": -12513.8584, "EncoderCos": 51487, "EncoderSin": 24045, "GapTicks": 37970, "Mech_RPM": -2502.77173, "cg_du": 59.3675079, "cg_dv": 34.5184021, "cg_dw": 65.4815979, "cg_id_a": 6.70437908, "cg_id_raw_a": 1.9180249, "cg_iq_a": 306.296021, "cg_iq_raw_a": 301.766541, "cg_iu_a": -234.309143, "cg_iv_a": 286.372803, "cg_iw_a": -52.0636749, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 6792862, "cg_sample_valid": 1, "cg_theta_rad": 5.89826107, "cg_vd_req_v": 7.04797125, "cg_vd_v": 7.04797125, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6023788, "cg_vq_v": -27.6023788, "cg_vu_v": 45.7488289, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 77.8418884, "dclink_p_w": 11676.5459, "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": 60.7113037, "temp_inv2_c": 58.6743164, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11672236, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 955.06189, "values": {"Elec_RPM": -12516.1992, "EncoderCos": 18819, "EncoderSin": 48272, "GapTicks": 38100, "Mech_RPM": -2503.23975, "cg_du": 65.3628616, "cg_dv": 34.6371384, "cg_dw": 40.0093422, "cg_id_a": -5.28457212, "cg_id_raw_a": -13.5980988, "cg_iq_a": 303.065491, "cg_iq_raw_a": 296.064453, "cg_iu_a": -280.157593, "cg_iv_a": 47.5984497, "cg_iw_a": 232.559143, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 6797913, "cg_sample_valid": 1, "cg_theta_rad": 2.33325624, "cg_vd_req_v": 7.3208766, "cg_vd_v": 7.3208766, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4646435, "cg_vq_v": -27.4646435, "cg_vu_v": 151.323044, "cg_vv_v": 149.123581, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 77.5519409, "dclink_p_w": 11667.166, "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": 60.7113037, "temp_inv2_c": 58.7807922, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 955.923279, "values": {"Elec_RPM": -12519.7256, "EncoderCos": 27942, "EncoderSin": 53029, "GapTicks": 37040, "Mech_RPM": -2503.94507, "cg_du": 33.6732178, "cg_dv": 51.425312, "cg_dw": 66.3267822, "cg_id_a": 1.30624592, "cg_id_raw_a": 6.0769434, "cg_iq_a": 299.295593, "cg_iq_raw_a": 303.530304, "cg_iu_a": 169.592133, "cg_iv_a": 137.954315, "cg_iw_a": -307.546448, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 6802212, "cg_sample_valid": 1, "cg_theta_rad": 1.84279907, "cg_vd_req_v": 7.2103858, "cg_vd_v": 7.2103858, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.381916, "cg_vq_v": -27.381916, "cg_vu_v": 41.3499031, "cg_vv_v": 36.9509773, "cg_vw_v": 84.0194778, "control_outputs_enabled": 1, "dclink_i_a": 77.2674255, "dclink_p_w": 11590.374, "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": 60.755188, "temp_inv2_c": 58.7158508, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 956.940674, "values": {"Elec_RPM": -12520.1904, "EncoderCos": 25440, "EncoderSin": 52220, "GapTicks": 37953, "Mech_RPM": -2504.03809, "cg_du": 34.5032578, "cg_dv": 41.1214066, "cg_dw": 65.4967422, "cg_id_a": 1.29558659, "cg_id_raw_a": -12.723402, "cg_iq_a": 299.376556, "cg_iq_raw_a": 295.17688, "cg_iu_a": 65.2461472, "cg_iv_a": 222.982361, "cg_iw_a": -288.228516, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 6807312, "cg_sample_valid": 1, "cg_theta_rad": 1.91772699, "cg_vd_req_v": 7.34289837, "cg_vd_v": 7.34289837, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3877525, "cg_vq_v": -27.3877525, "cg_vu_v": 63.3445282, "cg_vv_v": 36.9509773, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 76.4247589, "dclink_p_w": 11497.5889, "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": 60.66745, "temp_inv2_c": 58.7600098, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119089037, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 957.8974, "values": {"Elec_RPM": -12521.4023, "EncoderCos": 52194, "EncoderSin": 39620, "GapTicks": 37020, "Mech_RPM": -2504.28052, "cg_du": 33.6554298, "cg_dv": 66.344574, "cg_dw": 49.4993401, "cg_id_a": 4.1987114, "cg_id_raw_a": 10.4370813, "cg_iq_a": 302.409515, "cg_iq_raw_a": 299.558014, "cg_iu_a": 299.816223, "cg_iv_a": -147.538345, "cg_iw_a": -152.277878, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 6811862, "cg_sample_valid": 1, "cg_theta_rad": 0.368509144, "cg_vd_req_v": 7.12115097, "cg_vd_v": 7.12115097, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4903584, "cg_vq_v": -27.4903584, "cg_vu_v": 0, "cg_vv_v": 32.9919434, "cg_vw_v": 54.5466805, "control_outputs_enabled": 1, "dclink_i_a": 77.5899963, "dclink_p_w": 11638.7607, "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": 60.755188, "temp_inv2_c": 58.7392273, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115664914, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 958.952271, "values": {"Elec_RPM": -12516.6455, "EncoderCos": 53277, "EncoderSin": 34207, "GapTicks": 37848, "Mech_RPM": -2503.3291, "cg_du": 58.4062042, "cg_dv": 65.5918503, "cg_dw": 34.4081497, "cg_id_a": 8.57679081, "cg_id_raw_a": -0.742162883, "cg_iq_a": 303.127258, "cg_iq_raw_a": 303.327759, "cg_iu_a": 290.755249, "cg_iv_a": -205.093536, "cg_iw_a": -85.661705, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 6817316, "cg_sample_valid": 1, "cg_theta_rad": 0.327404022, "cg_vd_req_v": 7.04278994, "cg_vd_v": 7.04278994, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.479372, "cg_vq_v": -27.479372, "cg_vu_v": 0, "cg_vv_v": 36.0711899, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 77.6316757, "dclink_p_w": 11645.0127, "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": 60.755188, "temp_inv2_c": 58.7002563, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 959.969604, "values": {"Elec_RPM": -12520.3594, "EncoderCos": 51997, "EncoderSin": 40024, "GapTicks": 37074, "Mech_RPM": -2504.07178, "cg_du": 33.7041016, "cg_dv": 66.2958984, "cg_dw": 52.6107025, "cg_id_a": 0.814296484, "cg_id_raw_a": -3.07854176, "cg_iq_a": 304.301086, "cg_iq_raw_a": 298.577606, "cg_iu_a": 299.381287, "cg_iv_a": -112.091873, "cg_iw_a": -187.289413, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 6822412, "cg_sample_valid": 1, "cg_theta_rad": 0.39745149, "cg_vd_req_v": 7.19369316, "cg_vd_v": 7.19369316, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5043831, "cg_vq_v": -27.5043831, "cg_vu_v": 0, "cg_vv_v": 30.7924805, "cg_vw_v": 48.3881836, "control_outputs_enabled": 1, "dclink_i_a": 77.2058105, "dclink_p_w": 11581.1318, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2591, "hz_tim_isr": 5002, "hz_vsense": 2591, "pwm_moe": 1, "temp_inv1_c": 60.755188, "temp_inv2_c": 58.5862427, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115866333, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 960.986938, "values": {"Elec_RPM": -12511.7324, "EncoderCos": 51882, "EncoderSin": 40412, "GapTicks": 37252, "Mech_RPM": -2502.34644, "cg_du": 33.8658676, "cg_dv": 66.1341324, "cg_dw": 55.3297539, "cg_id_a": 2.91866732, "cg_id_raw_a": 10.7766304, "cg_iq_a": 305.627625, "cg_iq_raw_a": 307.787598, "cg_iu_a": 304.34671, "cg_iv_a": -111.222046, "cg_iw_a": -193.124664, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 6827513, "cg_sample_valid": 1, "cg_theta_rad": 0.42161411, "cg_vd_req_v": 7.17200804, "cg_vd_v": 7.17200804, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.530632, "cg_vq_v": -27.530632, "cg_vu_v": 106.893898, "cg_vv_v": 150.003372, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.3489761, "dclink_p_w": 11602.6074, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2596, "hz_tim_isr": 4997, "hz_vsense": 2596, "pwm_moe": 1, "temp_inv1_c": 60.755188, "temp_inv2_c": 58.7236328, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 962.004395, "values": {"Elec_RPM": -12517.0947, "EncoderCos": 19432, "EncoderSin": 16660, "GapTicks": 38787, "Mech_RPM": -2503.41895, "cg_du": 35.2613983, "cg_dv": 64.7386017, "cg_dw": 37.9594269, "cg_id_a": -2.54516315, "cg_id_raw_a": -16.000761, "cg_iq_a": 296.948669, "cg_iq_raw_a": 292.198883, "cg_iu_a": 269.443909, "cg_iv_a": -248.731155, "cg_iw_a": -20.7127533, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6832663, "cg_sample_valid": 1, "cg_theta_rad": 4.06321049, "cg_vd_req_v": 7.24594307, "cg_vd_v": 7.24594307, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3654194, "cg_vq_v": -27.3654194, "cg_vu_v": 105.574219, "cg_vv_v": 151.762939, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 77.1985626, "dclink_p_w": 11580.0449, "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": 4999, "hz_vsense": 2590, "pwm_moe": 1, "temp_inv1_c": 60.755188, "temp_inv2_c": 58.5991821, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117477685, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 963.02179, "values": {"Elec_RPM": -12515.0547, "EncoderCos": 20610, "EncoderSin": 15723, "GapTicks": 37162, "Mech_RPM": -2503.01099, "cg_du": 33.7842712, "cg_dv": 66.2157288, "cg_dw": 47.8237724, "cg_id_a": -2.55460763, "cg_id_raw_a": 4.7957263, "cg_iq_a": 293.859039, "cg_iq_raw_a": 294.683502, "cg_iu_a": 297.786591, "cg_iv_a": -169.465881, "cg_iw_a": -128.320709, "cg_sample_age_us": 23.954546, "cg_sample_seq": 6837763, "cg_sample_valid": 1, "cg_theta_rad": 4.14277554, "cg_vd_req_v": 7.25323296, "cg_vd_v": 7.25323296, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3070221, "cg_vq_v": -27.3070221, "cg_vu_v": 17.1558094, "cg_vv_v": 37.3908691, "cg_vw_v": 47.5083961, "control_outputs_enabled": 1, "dclink_i_a": 77.2112503, "dclink_p_w": 11649.877, "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": 60.7991333, "temp_inv2_c": 58.7834167, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 964.039246, "values": {"Elec_RPM": -12514.0244, "EncoderCos": 21849, "EncoderSin": 14891, "GapTicks": 37784, "Mech_RPM": -2502.80493, "cg_du": 34.3497543, "cg_dv": 65.6502457, "cg_dw": 57.9172783, "cg_id_a": -6.41157341, "cg_id_raw_a": -1.10877252, "cg_iq_a": 296.226898, "cg_iq_raw_a": 300.540161, "cg_iu_a": 257.121002, "cg_iv_a": 4.79446411, "cg_iw_a": -261.915466, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 6842863, "cg_sample_valid": 1, "cg_theta_rad": 4.25424099, "cg_vd_req_v": 7.31934166, "cg_vd_v": 7.31934166, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3609428, "cg_vq_v": -27.3609428, "cg_vu_v": 0, "cg_vv_v": 0.43989256, "cg_vw_v": 60.2652817, "control_outputs_enabled": 1, "dclink_i_a": 77.7132263, "dclink_p_w": 11691.4307, "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": 60.7991333, "temp_inv2_c": 58.7807922, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 965.057617, "values": {"Elec_RPM": -12514.4688, "EncoderCos": 24150, "EncoderSin": 13691, "GapTicks": 37253, "Mech_RPM": -2502.8938, "cg_du": 33.8667145, "cg_dv": 53.9233055, "cg_dw": 66.1332855, "cg_id_a": -1.63291836, "cg_id_raw_a": -2.80935311, "cg_iq_a": 293.009399, "cg_iq_raw_a": 295.68219, "cg_iu_a": 227.183594, "cg_iv_a": 38.3562622, "cg_iw_a": -265.539856, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 6847962, "cg_sample_valid": 1, "cg_theta_rad": 4.28728199, "cg_vd_req_v": 7.23044825, "cg_vd_v": 7.23044825, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2763214, "cg_vq_v": -27.2763214, "cg_vu_v": 32.9919434, "cg_vv_v": 8.35795879, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 77.425087, "dclink_p_w": 11648.082, "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": 60.931366, "temp_inv2_c": 58.6302795, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119945064, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 966.074036, "values": {"Elec_RPM": -12517.9668, "EncoderCos": 12904, "EncoderSin": 26428, "GapTicks": 37335, "Mech_RPM": -2503.59326, "cg_du": 66.0582733, "cg_dv": 33.9417305, "cg_dw": 54.7357864, "cg_id_a": -3.87369466, "cg_id_raw_a": -0.909419298, "cg_iq_a": 296.829346, "cg_iq_raw_a": 295.712372, "cg_iu_a": -291.538147, "cg_iv_a": 177.025177, "cg_iw_a": 114.512978, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 6852963, "cg_sample_valid": 1, "cg_theta_rad": 3.49181008, "cg_vd_req_v": 7.30256319, "cg_vd_v": 7.30256319, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3389072, "cg_vq_v": -27.3389072, "cg_vu_v": 151.762939, "cg_vv_v": 113.052383, "cg_vw_v": 101.615181, "control_outputs_enabled": 1, "dclink_i_a": 78.0611649, "dclink_p_w": 11743.7754, "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": 60.8431702, "temp_inv2_c": 58.6820984, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 966.935425, "values": {"Elec_RPM": -12517.3789, "EncoderCos": 12592, "EncoderSin": 37778, "GapTicks": 37312, "Mech_RPM": -2503.47583, "cg_du": 33.9200134, "cg_dv": 66.0799866, "cg_dw": 55.5815582, "cg_id_a": -1.58059192, "cg_id_raw_a": 3.95738864, "cg_iq_a": 304.113739, "cg_iq_raw_a": 307.654419, "cg_iu_a": 300.359894, "cg_iv_a": -105.640488, "cg_iw_a": -194.719406, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 6857263, "cg_sample_valid": 1, "cg_theta_rad": 2.94072175, "cg_vd_req_v": 7.27620411, "cg_vd_v": 7.27620411, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4580593, "cg_vq_v": -27.4580593, "cg_vu_v": 86.6588287, "cg_vv_v": 139.445938, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 77.0970764, "dclink_p_w": 11598.7354, "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": 60.7991333, "temp_inv2_c": 58.6925049, "temp_inv3_c": null, "temp_motor_c": 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": 150.003372}}
{"type": "telemetry", "t": 967.887512, "values": {"Elec_RPM": -12521.2559, "EncoderCos": 11963, "EncoderSin": 32713, "GapTicks": 38356, "Mech_RPM": -2504.25122, "cg_du": 34.8695221, "cg_dv": 39.3484459, "cg_dw": 65.1304779, "cg_id_a": -0.699045181, "cg_id_raw_a": 5.7886734, "cg_iq_a": 298.486847, "cg_iq_raw_a": 308.170074, "cg_iu_a": 107.760162, "cg_iv_a": 181.99057, "cg_iw_a": -289.750732, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 6862012, "cg_sample_valid": 1, "cg_theta_rad": 3.13897586, "cg_vd_req_v": 7.27444172, "cg_vd_v": 7.27444172, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3380356, "cg_vq_v": -27.3380356, "cg_vu_v": 27.2733402, "cg_vv_v": 0, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 77.9904861, "dclink_p_w": 11698.8359, "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": 60.755188, "temp_inv2_c": 58.7651978, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 968.946899, "values": {"Elec_RPM": -12519.916, "EncoderCos": 37241, "EncoderSin": 12513, "GapTicks": 37021, "Mech_RPM": -2503.98315, "cg_du": 66.3444748, "cg_dv": 48.5759315, "cg_dw": 33.6555252, "cg_id_a": 0.0439469814, "cg_id_raw_a": 0.25625807, "cg_iq_a": 303.008514, "cg_iq_raw_a": 304.178558, "cg_iu_a": -153.557892, "cg_iv_a": -146.668488, "cg_iw_a": 300.226379, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 6867312, "cg_sample_valid": 1, "cg_theta_rad": 4.97148752, "cg_vd_req_v": 7.17913675, "cg_vd_v": 7.17913675, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5076122, "cg_vq_v": -27.5076122, "cg_vu_v": 36.9509773, "cg_vv_v": 43.9892578, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6534195, "dclink_p_w": 11682.4326, "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": 60.7991333, "temp_inv2_c": 58.9110718, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116067745, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 969.964355, "values": {"Elec_RPM": -12517.7393, "EncoderCos": 37624, "EncoderSin": 12551, "GapTicks": 37094, "Mech_RPM": -2503.54785, "cg_du": 66.2776566, "cg_dv": 51.1891861, "cg_dw": 33.7223434, "cg_id_a": 0.227701783, "cg_id_raw_a": 9.76923847, "cg_iq_a": 297.16571, "cg_iq_raw_a": 298.80838, "cg_iu_a": -54.0685577, "cg_iv_a": -223.251724, "cg_iw_a": 277.320282, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 6872413, "cg_sample_valid": 1, "cg_theta_rad": 5.04820347, "cg_vd_req_v": 7.15167093, "cg_vd_v": 7.15167093, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3837051, "cg_vq_v": -27.3837051, "cg_vu_v": 9.67763615, "cg_vv_v": 46.1887207, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 78.2224503, "dclink_p_w": 11768.04, "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": 60.8431702, "temp_inv2_c": 58.8693542, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 970.98175, "values": {"Elec_RPM": -12517.9873, "EncoderCos": 40138, "EncoderSin": 13365, "GapTicks": 38311, "Mech_RPM": -2503.59741, "cg_du": 60.2476349, "cg_dv": 65.1714325, "cg_dw": 34.8285637, "cg_id_a": 8.99351597, "cg_id_raw_a": -3.35325217, "cg_iq_a": 298.434723, "cg_iq_raw_a": 299.265015, "cg_iu_a": 36.5772705, "cg_iv_a": -275.841522, "cg_iw_a": 239.264252, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 6877512, "cg_sample_valid": 1, "cg_theta_rad": 5.11829185, "cg_vd_req_v": 6.98422003, "cg_vd_v": 6.98422003, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4127827, "cg_vq_v": -27.4127827, "cg_vu_v": 25.953661, "cg_vv_v": 53.666893, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.2964249, "dclink_p_w": 11628.7256, "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": 60.8872375, "temp_inv2_c": 58.7807922, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11682307, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 971.999146, "values": {"Elec_RPM": -12516.8467, "EncoderCos": 23161, "EncoderSin": 14210, "GapTicks": 38593, "Mech_RPM": -2503.36938, "cg_du": 35.0846825, "cg_dv": 61.2348633, "cg_dw": 64.9153137, "cg_id_a": 0.0123632848, "cg_id_raw_a": 6.89366531, "cg_iq_a": 294.602966, "cg_iq_raw_a": 299.209351, "cg_iu_a": 229.177002, "cg_iv_a": 38.2475586, "cg_iw_a": -267.424561, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 6882513, "cg_sample_valid": 1, "cg_theta_rad": 4.2730217, "cg_vd_req_v": 7.20684767, "cg_vd_v": 7.20684767, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3199692, "cg_vq_v": -27.3199692, "cg_vu_v": 109.533249, "cg_vv_v": 99.8556061, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 77.622612, "dclink_p_w": 11677.7979, "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": 60.8431702, "temp_inv2_c": 58.7807922, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116520949, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 973.016602, "values": {"Elec_RPM": -12514.4053, "EncoderCos": 41789, "EncoderSin": 14116, "GapTicks": 37134, "Mech_RPM": -2502.8811, "cg_du": 47.8653374, "cg_dv": 66.2413712, "cg_dw": 33.7586288, "cg_id_a": -1.85631156, "cg_id_raw_a": -2.42150617, "cg_iq_a": 296.21283, "cg_iq_raw_a": 292.12854, "cg_iu_a": 177.203339, "cg_iv_a": -289.650421, "cg_iw_a": 112.44709, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 6887713, "cg_sample_valid": 1, "cg_theta_rad": 5.2271657, "cg_vd_req_v": 7.22169685, "cg_vd_v": 7.22169685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3580189, "cg_vq_v": -27.3580189, "cg_vu_v": 0, "cg_vv_v": 47.0685043, "cg_vw_v": 8.79785156, "control_outputs_enabled": 1, "dclink_i_a": 77.2837372, "dclink_p_w": 11626.8164, "enc_isr_hz": 5001, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5001, "hz_app_loop": 2614, "hz_tim_isr": 5001, "hz_vsense": 2614, "pwm_moe": 1, "temp_inv1_c": 60.8872375, "temp_inv2_c": 58.7106323, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119844362, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 974.034058, "values": {"Elec_RPM": -12515.8555, "EncoderCos": 42172, "EncoderSin": 14324, "GapTicks": 37440, "Mech_RPM": -2503.17114, "cg_du": 44.9639359, "cg_dv": 65.9629593, "cg_dw": 34.0370407, "cg_id_a": 0.563360393, "cg_id_raw_a": 10.8325872, "cg_iq_a": 294.521271, "cg_iq_raw_a": 301.480194, "cg_iu_a": 240.847519, "cg_iv_a": -266.599365, "cg_iw_a": 25.7518311, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 6892814, "cg_sample_valid": 1, "cg_theta_rad": 5.2809701, "cg_vd_req_v": 7.19190264, "cg_vd_v": 7.19190264, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3388767, "cg_vq_v": -27.3388767, "cg_vu_v": 110.413033, "cg_vv_v": 152.202835, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 77.479454, "dclink_p_w": 11690.3438, "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": 60.8431702, "temp_inv2_c": 58.7807922, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117830165, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 975.051453, "values": {"Elec_RPM": -12513.3057, "EncoderCos": 45273, "EncoderSin": 16302, "GapTicks": 37053, "Mech_RPM": -2502.66113, "cg_du": 33.6848221, "cg_dv": 66.3151779, "cg_dw": 50.6875534, "cg_id_a": -3.76657915, "cg_id_raw_a": -5.02843714, "cg_iq_a": 298.031067, "cg_iq_raw_a": 293.469543, "cg_iu_a": 295.285767, "cg_iv_a": -122.675079, "cg_iw_a": -172.610687, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 6897912, "cg_sample_valid": 1, "cg_theta_rad": 5.41584539, "cg_vd_req_v": 7.23467302, "cg_vd_v": 7.23467302, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4119835, "cg_vq_v": -27.4119835, "cg_vu_v": 0, "cg_vv_v": 5.71860361, "cg_vw_v": 65.1041031, "control_outputs_enabled": 1, "dclink_i_a": 77.4178391, "dclink_p_w": 11646.9912, "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": 60.8431702, "temp_inv2_c": 58.7028503, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 976.068848, "values": {"Elec_RPM": -12513.1592, "EncoderCos": 46440, "EncoderSin": 17328, "GapTicks": 37189, "Mech_RPM": -2502.63184, "cg_du": 33.8087196, "cg_dv": 66.1912842, "cg_dw": 53.4605293, "cg_id_a": 1.8869375, "cg_id_raw_a": -7.22957277, "cg_iq_a": 300.245575, "cg_iq_raw_a": 296.762634, "cg_iu_a": 299.852478, "cg_iv_a": -122.058945, "cg_iw_a": -177.793533, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 6903012, "cg_sample_valid": 1, "cg_theta_rad": 5.44413328, "cg_vd_req_v": 7.14238739, "cg_vd_v": 7.14238739, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4202747, "cg_vq_v": -27.4447556, "cg_vu_v": 7.91806602, "cg_vv_v": 31.6722641, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 77.4196472, "dclink_p_w": 11647.2637, "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": 60.8872375, "temp_inv2_c": 58.8016357, "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": 0.115815975, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 976.930237, "values": {"Elec_RPM": -12517.5186, "EncoderCos": 19529, "EncoderSin": 16630, "GapTicks": 38665, "Mech_RPM": -2503.50366, "cg_du": 35.1500854, "cg_dv": 64.8499146, "cg_dw": 38.5540543, "cg_id_a": 0.0988676548, "cg_id_raw_a": 5.25335741, "cg_iq_a": 294.426697, "cg_iq_raw_a": 299.510986, "cg_iu_a": 269.371399, "cg_iv_a": -231.624023, "cg_iw_a": -37.7473679, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 6907212, "cg_sample_valid": 1, "cg_theta_rad": 4.06077194, "cg_vd_req_v": 7.21163177, "cg_vd_v": 7.21163177, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2993202, "cg_vq_v": -27.2993202, "cg_vu_v": 0, "cg_vv_v": 39.590332, "cg_vw_v": 41.7897949, "control_outputs_enabled": 1, "dclink_i_a": 76.3867035, "dclink_p_w": 11491.8643, "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": 60.8872375, "temp_inv2_c": 58.7964172, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117880516, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 977.882385, "values": {"Elec_RPM": -12518.165, "EncoderCos": 33918, "EncoderSin": 53352, "GapTicks": 38850, "Mech_RPM": -2503.63306, "cg_du": 35.3189583, "cg_dv": 64.6810379, "cg_dw": 37.6906738, "cg_id_a": 0.324770689, "cg_id_raw_a": 3.90945029, "cg_iq_a": 297.47522, "cg_iq_raw_a": 303.419098, "cg_iu_a": 224.863983, "cg_iv_a": -279.465912, "cg_iw_a": 54.6019287, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 6912012, "cg_sample_valid": 1, "cg_theta_rad": 1.50533938, "cg_vd_req_v": 7.25433922, "cg_vd_v": 7.25433922, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3043728, "cg_vq_v": -27.3043728, "cg_vu_v": 0, "cg_vv_v": 43.1094704, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 77.5990601, "dclink_p_w": 11674.2549, "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": 61.0197449, "temp_inv2_c": 58.8380737, "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": 0.11647059, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 978.941711, "values": {"Elec_RPM": -12517.5645, "EncoderCos": 12305, "EncoderSin": 29266, "GapTicks": 37221, "Mech_RPM": -2503.51294, "cg_du": 55.0334854, "cg_dv": 33.8376884, "cg_dw": 66.1623077, "cg_id_a": -3.67237163, "cg_id_raw_a": 2.98312855, "cg_iq_a": 291.520081, "cg_iq_raw_a": 289.623322, "cg_iu_a": -123.149292, "cg_iv_a": 294.418945, "cg_iw_a": -171.269669, "cg_sample_age_us": 23.7072735, "cg_sample_seq": 6917312, "cg_sample_valid": 1, "cg_theta_rad": 3.30214119, "cg_vd_req_v": 7.33680582, "cg_vd_v": 7.33680582, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.186533, "cg_vq_v": -27.186533, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 77.4848862, "dclink_p_w": 11622.9941, "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": 60.8872375, "temp_inv2_c": 58.7651978, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119290456, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 979.959167, "values": {"Elec_RPM": -12518.9102, "EncoderCos": 52597, "EncoderSin": 27670, "GapTicks": 37324, "Mech_RPM": -2503.78198, "cg_du": 66.0687332, "cg_dv": 33.9312668, "cg_dw": 44.1441612, "cg_id_a": 2.8710227, "cg_id_raw_a": 3.61079621, "cg_iq_a": 310.212036, "cg_iq_raw_a": 303.695099, "cg_iu_a": -295.198792, "cg_iv_a": 86.8505249, "cg_iw_a": 208.348267, "cg_sample_age_us": 24.045454, "cg_sample_seq": 6922363, "cg_sample_valid": 1, "cg_theta_rad": 6.09113789, "cg_vd_req_v": 7.17283726, "cg_vd_v": 7.17283726, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6087227, "cg_vq_v": -27.6087227, "cg_vu_v": 41.3499031, "cg_vv_v": 30.3525867, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.359848, "dclink_p_w": 11638.2676, "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": 60.931366, "temp_inv2_c": 58.8876038, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116520949, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 980.976624, "values": {"Elec_RPM": -12514.6504, "EncoderCos": 53088, "EncoderSin": 30292, "GapTicks": 37353, "Mech_RPM": -2502.93018, "cg_du": 66.0420837, "cg_dv": 44.3028831, "cg_dw": 33.9579124, "cg_id_a": 12.8217869, "cg_id_raw_a": 11.070796, "cg_iq_a": 308.487823, "cg_iq_raw_a": 313.468689, "cg_iu_a": -144.786865, "cg_iv_a": -161.202301, "cg_iw_a": 305.989166, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 6927462, "cg_sample_valid": 1, "cg_theta_rad": 6.26170063, "cg_vd_req_v": 6.95161819, "cg_vd_v": 6.95161819, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5851326, "cg_vq_v": -27.5851326, "cg_vu_v": 132.407669, "cg_vv_v": 151.762939, "cg_vw_v": 102.055069, "control_outputs_enabled": 1, "dclink_i_a": 77.6969147, "dclink_p_w": 11688.9766, "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": 60.8872375, "temp_inv2_c": 58.8484802, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118384071, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 981.994019, "values": {"Elec_RPM": -12515.2168, "EncoderCos": 13496, "EncoderSin": 24963, "GapTicks": 37437, "Mech_RPM": -2503.04346, "cg_du": 65.9659653, "cg_dv": 34.0340347, "cg_dw": 43.9160461, "cg_id_a": -9.7482338, "cg_id_raw_a": -6.99311543, "cg_iq_a": 297.917664, "cg_iq_raw_a": 300.669769, "cg_iu_a": -263.884125, "cg_iv_a": 17.1536255, "cg_iw_a": 246.730499, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 6932612, "cg_sample_valid": 1, "cg_theta_rad": 3.61462283, "cg_vd_req_v": 7.41173267, "cg_vd_v": 7.41173267, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3286095, "cg_vq_v": -27.3286095, "cg_vu_v": 151.323044, "cg_vv_v": 148.24379, "cg_vw_v": 105.134323, "control_outputs_enabled": 1, "dclink_i_a": 77.5682526, "dclink_p_w": 11635.499, "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": 60.931366, "temp_inv2_c": 58.8876038, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.114808887, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 983.011353, "values": {"Elec_RPM": -12515.4961, "EncoderCos": 14191, "EncoderSin": 41884, "GapTicks": 37328, "Mech_RPM": -2503.09912, "cg_du": 45.0091667, "cg_dv": 66.0650635, "cg_dw": 33.9349403, "cg_id_a": 0.653749585, "cg_id_raw_a": -0.81552732, "cg_iq_a": 299.380859, "cg_iq_raw_a": 293.887726, "cg_iu_a": 196.883743, "cg_iv_a": -288.56311, "cg_iw_a": 178.447113, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 6937613, "cg_sample_valid": 1, "cg_theta_rad": 2.71076512, "cg_vd_req_v": 7.22147083, "cg_vd_v": 7.22147083, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3322697, "cg_vq_v": -27.3322697, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 77.3181686, "dclink_p_w": 11597.9863, "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": 60.8872375, "temp_inv2_c": 58.8876038, "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": 0.120448619, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 984.028809, "values": {"Elec_RPM": -12510.125, "EncoderCos": 14259, "EncoderSin": 23265, "GapTicks": 38328, "Mech_RPM": -2502.0249, "cg_du": 65.155777, "cg_dv": 39.4350052, "cg_dw": 34.844223, "cg_id_a": -5.87891483, "cg_id_raw_a": -15.4822693, "cg_iq_a": 297.358521, "cg_iq_raw_a": 290.74173, "cg_iu_a": -234.852798, "cg_iv_a": 35.420517, "cg_iw_a": 240.532791, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 6942813, "cg_sample_valid": 1, "cg_theta_rad": 3.64313197, "cg_vd_req_v": 7.32816124, "cg_vd_v": 7.32816124, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3321419, "cg_vq_v": -27.3321419, "cg_vu_v": 113.932175, "cg_vv_v": 113.492287, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 78.10466, "dclink_p_w": 11750.3193, "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": 60.931366, "temp_inv2_c": 58.7392273, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 985.046204, "values": {"Elec_RPM": -12513.418, "EncoderCos": 52968, "EncoderSin": 36235, "GapTicks": 37408, "Mech_RPM": -2502.68359, "cg_du": 44.4080734, "cg_dv": 65.9919281, "cg_dw": 34.0080719, "cg_id_a": 1.26644397, "cg_id_raw_a": 9.24356747, "cg_iq_a": 300.500183, "cg_iq_raw_a": 305.141174, "cg_iu_a": 197.644867, "cg_iv_a": -298.820129, "cg_iw_a": 101.175262, "cg_sample_age_us": 23.3654537, "cg_sample_seq": 6947862, "cg_sample_valid": 1, "cg_theta_rad": 0.219113469, "cg_vd_req_v": 7.22986841, "cg_vd_v": 7.22986841, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4034672, "cg_vq_v": -27.4034672, "cg_vu_v": 17.5957031, "cg_vv_v": 65.9838867, "cg_vw_v": 30.3525867, "control_outputs_enabled": 1, "dclink_i_a": 78.5885162, "dclink_p_w": 11788.542, "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": 61.0197449, "temp_inv2_c": 58.8589172, "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": 0.115967043, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 986.06366, "values": {"Elec_RPM": -12516.3008, "EncoderCos": 52977, "EncoderSin": 35516, "GapTicks": 37087, "Mech_RPM": -2503.26025, "cg_du": 49.3904724, "cg_dv": 66.2839355, "cg_dw": 33.7160645, "cg_id_a": 8.59952068, "cg_id_raw_a": 20.8368912, "cg_iq_a": 301.305786, "cg_iq_raw_a": 306.71933, "cg_iu_a": 218.630035, "cg_iv_a": -282.655365, "cg_iw_a": 64.0253372, "cg_sample_age_us": 23.3909092, "cg_sample_seq": 6952964, "cg_sample_valid": 1, "cg_theta_rad": 0.231719121, "cg_vd_req_v": 7.07253933, "cg_vd_v": 7.07253933, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3963699, "cg_vq_v": -27.3963699, "cg_vu_v": 109.973145, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 77.5628128, "dclink_p_w": 11668.8018, "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": 60.9755249, "temp_inv2_c": 58.9058533, "temp_inv3_c": null, "temp_motor_c": 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": 150.443253}}
{"type": "telemetry", "t": 986.924988, "values": {"Elec_RPM": -12518.4951, "EncoderCos": 17457, "EncoderSin": 46732, "GapTicks": 37343, "Mech_RPM": -2503.69897, "cg_du": 66.0512085, "cg_dv": 44.6509781, "cg_dw": 33.9487953, "cg_id_a": -5.20727348, "cg_id_raw_a": -4.99396467, "cg_iq_a": 299.170837, "cg_iq_raw_a": 300.8013, "cg_iu_a": -185.234985, "cg_iv_a": -108.974915, "cg_iw_a": 294.2099, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 6957212, "cg_sample_valid": 1, "cg_theta_rad": 2.44101191, "cg_vd_req_v": 7.38176727, "cg_vd_v": 7.38176727, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3327847, "cg_vq_v": -27.3327847, "cg_vu_v": 70.3828125, "cg_vv_v": 66.4237747, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6044922, "dclink_p_w": 11675.0723, "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": 60.8872375, "temp_inv2_c": 58.9502258, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 987.877136, "values": {"Elec_RPM": -12516.832, "EncoderCos": 25828, "EncoderSin": 13157, "GapTicks": 37835, "Mech_RPM": -2503.36646, "cg_du": 34.3958054, "cg_dv": 41.9713631, "cg_dw": 65.6041946, "cg_id_a": -4.65687943, "cg_id_raw_a": -9.3923769, "cg_iq_a": 295.06897, "cg_iq_raw_a": 286.224976, "cg_iu_a": 56.9100647, "cg_iv_a": 216.820892, "cg_iw_a": -273.730957, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 6961813, "cg_sample_valid": 1, "cg_theta_rad": 4.40939093, "cg_vd_req_v": 7.33500051, "cg_vd_v": 7.33500051, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3099651, "cg_vq_v": -27.3099651, "cg_vu_v": 112.612495, "cg_vv_v": 88.8582916, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.729538, "dclink_p_w": 11693.8848, "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": 60.9755249, "temp_inv2_c": 58.8667297, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118182652, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 988.936584, "values": {"Elec_RPM": -12517.2539, "EncoderCos": 21030, "EncoderSin": 15567, "GapTicks": 37140, "Mech_RPM": -2503.45068, "cg_du": 33.7637558, "cg_dv": 66.2362442, "cg_dw": 50.9113693, "cg_id_a": -7.63794804, "cg_id_raw_a": 1.09275627, "cg_iq_a": 292.379517, "cg_iq_raw_a": 292.951141, "cg_iu_a": 116.313705, "cg_iv_a": 172.639664, "cg_iw_a": -288.953369, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 6967267, "cg_sample_valid": 1, "cg_theta_rad": 4.36477757, "cg_vd_req_v": 7.37626982, "cg_vd_v": 7.37626982, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2388363, "cg_vq_v": -27.2388363, "cg_vu_v": 129.768311, "cg_vv_v": 86.2189407, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.9792862, "dclink_p_w": 11581.0146, "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": 60.9755249, "temp_inv2_c": 58.8901978, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 989.953918, "values": {"Elec_RPM": -12518.749, "EncoderCos": 26357, "EncoderSin": 12983, "GapTicks": 38636, "Mech_RPM": -2503.74976, "cg_du": 35.1239853, "cg_dv": 38.481514, "cg_dw": 64.8760147, "cg_id_a": -1.87913585, "cg_id_raw_a": -15.379508, "cg_iq_a": 298.160858, "cg_iq_raw_a": 289.743439, "cg_iu_a": 29.9446507, "cg_iv_a": 239.473312, "cg_iw_a": -300.261475, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6972363, "cg_sample_valid": 1, "cg_theta_rad": 4.43554258, "cg_vd_req_v": 7.24509764, "cg_vd_v": 7.24509764, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3639603, "cg_vq_v": -27.3639603, "cg_vu_v": 120.090675, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 77.5809326, "dclink_p_w": 11637.4014, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 60.9755249, "temp_inv2_c": 58.8693542, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.113801777, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 990.971375, "values": {"Elec_RPM": -12515.7617, "EncoderCos": 44397, "EncoderSin": 49676, "GapTicks": 37096, "Mech_RPM": -2503.15234, "cg_du": 66.2756271, "cg_dv": 33.7243729, "cg_dw": 50.9380569, "cg_id_a": 0.5852319, "cg_id_raw_a": 7.81825399, "cg_iq_a": 300.223114, "cg_iq_raw_a": 300.226135, "cg_iu_a": -283.165833, "cg_iv_a": 215.117432, "cg_iw_a": 68.0483932, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 6977412, "cg_sample_valid": 1, "cg_theta_rad": 0.960799277, "cg_vd_req_v": 7.25610065, "cg_vd_v": 7.25610065, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3427486, "cg_vq_v": -27.3427486, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.430191, "dclink_p_w": 11464.7861, "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": 60.931366, "temp_inv2_c": 58.8406677, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119139388, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 991.98877, "values": {"Elec_RPM": -12513.0996, "EncoderCos": 31490, "EncoderSin": 12100, "GapTicks": 38322, "Mech_RPM": -2502.61987, "cg_du": 60.2961273, "cg_dv": 34.8390388, "cg_dw": 65.160965, "cg_id_a": -3.34582043, "cg_id_raw_a": 0.45518434, "cg_iq_a": 296.09903, "cg_iq_raw_a": 299.472687, "cg_iu_a": -234.961533, "cg_iv_a": 272.636414, "cg_iw_a": -37.6748657, "cg_sample_age_us": 23.6236362, "cg_sample_seq": 6982562, "cg_sample_valid": 1, "cg_theta_rad": 4.65179253, "cg_vd_req_v": 7.30789375, "cg_vd_v": 7.30789375, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3290672, "cg_vq_v": -27.3290672, "cg_vu_v": 77.4210892, "cg_vv_v": 37.3908691, "cg_vw_v": 41.7897949, "control_outputs_enabled": 1, "dclink_i_a": 76.7600098, "dclink_p_w": 11548.0254, "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": 60.931366, "temp_inv2_c": 58.9580994, "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": 150.443253}}
{"type": "telemetry", "t": 993.006226, "values": {"Elec_RPM": -12513.749, "EncoderCos": 30760, "EncoderSin": 12147, "GapTicks": 39010, "Mech_RPM": -2502.74976, "cg_du": 62.7467079, "cg_dv": 35.464119, "cg_dw": 64.535881, "cg_id_a": -9.67315674, "cg_id_raw_a": -2.7962544, "cg_iq_a": 295.422699, "cg_iq_raw_a": 299.798401, "cg_iu_a": -249.857758, "cg_iv_a": 264.554047, "cg_iw_a": -14.6962814, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 6987663, "cg_sample_valid": 1, "cg_theta_rad": 4.65737677, "cg_vd_req_v": 7.37890577, "cg_vd_v": 7.37890577, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3243332, "cg_vq_v": -27.3243332, "cg_vu_v": 132.847549, "cg_vv_v": 73.462059, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 77.0173416, "dclink_p_w": 11586.7393, "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": 61.1083679, "temp_inv2_c": 58.9450378, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.443253}}
{"type": "telemetry", "t": 994.02356, "values": {"Elec_RPM": -12516.1045, "EncoderCos": 16751, "EncoderSin": 19565, "GapTicks": 38240, "Mech_RPM": -2503.22095, "cg_du": 59.7026596, "cg_dv": 65.2361755, "cg_dw": 34.7638283, "cg_id_a": 3.34690285, "cg_id_raw_a": 5.53788376, "cg_iq_a": 294.882874, "cg_iq_raw_a": 297.385223, "cg_iu_a": 57.3449898, "cg_iv_a": -273.449432, "cg_iw_a": 216.104431, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 6992663, "cg_sample_valid": 1, "cg_theta_rad": 3.87648392, "cg_vd_req_v": 7.16905499, "cg_vd_v": 7.16905499, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2735825, "cg_vq_v": -27.2735825, "cg_vu_v": 74.3418427, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 77.1188278, "dclink_p_w": 11602.0068, "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": 61.0197449, "temp_inv2_c": 59.007782, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 995.040955, "values": {"Elec_RPM": -12519.0137, "EncoderCos": 33768, "EncoderSin": 12108, "GapTicks": 37271, "Mech_RPM": -2503.80273, "cg_du": 66.1167526, "cg_dv": 33.8832474, "cg_dw": 45.8000221, "cg_id_a": -1.41497469, "cg_id_raw_a": -1.61455393, "cg_iq_a": 301.347168, "cg_iq_raw_a": 294.139648, "cg_iu_a": -289.47226, "cg_iv_a": 96.7450867, "cg_iw_a": 192.727173, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 6997863, "cg_sample_valid": 1, "cg_theta_rad": 4.81613779, "cg_vd_req_v": 7.24217224, "cg_vd_v": 7.24217224, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4563465, "cg_vq_v": -27.4563465, "cg_vu_v": 126.249161, "cg_vv_v": 108.21357, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 77.548317, "dclink_p_w": 11700.7344, "enc_isr_hz": 5002, "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": 61.0197449, "temp_inv2_c": 58.9946899, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118283361, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 996.058411, "values": {"Elec_RPM": -12517.4551, "EncoderCos": 37680, "EncoderSin": 52725, "GapTicks": 37990, "Mech_RPM": -2503.49097, "cg_du": 59.1665001, "cg_dv": 65.4629669, "cg_dw": 34.5370331, "cg_id_a": 0.972434759, "cg_id_raw_a": -10.3514824, "cg_iq_a": 301.481506, "cg_iq_raw_a": 300.937317, "cg_iu_a": 141.358185, "cg_iv_a": -288.418152, "cg_iw_a": 231.870514, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 7002912, "cg_sample_valid": 1, "cg_theta_rad": 1.40518367, "cg_vd_req_v": 7.28208828, "cg_vd_v": 7.28208828, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3558407, "cg_vq_v": -27.3558407, "cg_vu_v": 106.453995, "cg_vv_v": 151.762939, "cg_vw_v": 145.164551, "control_outputs_enabled": 1, "dclink_i_a": 77.421463, "dclink_p_w": 11613.4805, "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": 61.0640259, "temp_inv2_c": 59.0784912, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 997.075867, "values": {"Elec_RPM": -12513.458, "EncoderCos": 37795, "EncoderSin": 12756, "GapTicks": 37133, "Mech_RPM": -2502.69165, "cg_du": 66.2420197, "cg_dv": 52.7827988, "cg_dw": 33.7579803, "cg_id_a": -3.28223896, "cg_id_raw_a": -5.12055492, "cg_iq_a": 299.562286, "cg_iq_raw_a": 297.831879, "cg_iu_a": -109.666595, "cg_iv_a": -184.615784, "cg_iw_a": 294.282379, "cg_sample_age_us": 24.005455, "cg_sample_seq": 7008062, "cg_sample_valid": 1, "cg_theta_rad": 5.00040007, "cg_vd_req_v": 7.27293921, "cg_vd_v": 7.27293921, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4041634, "cg_vq_v": -27.4041634, "cg_vu_v": 33.4318352, "cg_vv_v": 44.8690414, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.977478, "dclink_p_w": 11580.7422, "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": 61.0197449, "temp_inv2_c": 59.0470276, "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": 0.121405356, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 998.117004, "values": {"Elec_RPM": -12518.8223, "EncoderCos": 49529, "EncoderSin": 44470, "GapTicks": 37686, "Mech_RPM": -2503.7644, "cg_du": 34.2605362, "cg_dv": 42.3055229, "cg_dw": 65.7394638, "cg_id_a": 4.46045923, "cg_id_raw_a": 10.2712736, "cg_iq_a": 305.977844, "cg_iq_raw_a": 313.546082, "cg_iu_a": 87.8623047, "cg_iv_a": 213.55896, "cg_iw_a": -301.421265, "cg_sample_age_us": 23.4236355, "cg_sample_seq": 7013012, "cg_sample_valid": 1, "cg_theta_rad": 0.650072336, "cg_vd_req_v": 7.18031025, "cg_vd_v": 7.18031025, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4879913, "cg_vq_v": -27.4879913, "cg_vu_v": 114.37207, "cg_vv_v": 81.820015, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.9662704, "dclink_p_w": 11361.7793, "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": 60.9755249, "temp_inv2_c": 59.015625, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120448619, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 999.087341, "values": {"Elec_RPM": -12521.5879, "EncoderCos": 52541, "EncoderSin": 27808, "GapTicks": 37438, "Mech_RPM": -2504.31763, "cg_du": 65.9649277, "cg_dv": 34.0350723, "cg_dw": 43.304142, "cg_id_a": 3.15410757, "cg_id_raw_a": 1.611588, "cg_iq_a": 307.758514, "cg_iq_raw_a": 302.534851, "cg_iu_a": -290.668304, "cg_iv_a": 77.1734009, "cg_iw_a": 213.494904, "cg_sample_age_us": 24.0527267, "cg_sample_seq": 7018013, "cg_sample_valid": 1, "cg_theta_rad": 6.09278107, "cg_vd_req_v": 7.1883235, "cg_vd_v": 7.1883235, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.52882, "cg_vq_v": -27.52882, "cg_vu_v": 146.924118, "cg_vv_v": 111.292824, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 76.6567154, "dclink_p_w": 11498.7656, "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": 61.0197449, "temp_inv2_c": 59.0260925, "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": 0.120096132, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 999.928589, "values": {"Elec_RPM": -12512.9082, "EncoderCos": 24710, "EncoderSin": 51740, "GapTicks": 37655, "Mech_RPM": -2502.58154, "cg_du": 42.8298836, "cg_dv": 34.2320023, "cg_dw": 65.7679977, "cg_id_a": 5.006001, "cg_id_raw_a": 4.56074429, "cg_iq_a": 298.999786, "cg_iq_raw_a": 306.707306, "cg_iu_a": -86.977951, "cg_iv_a": 283.219604, "cg_iw_a": -196.241638, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 7022262, "cg_sample_valid": 1, "cg_theta_rad": 2.01577353, "cg_vd_req_v": 7.18925381, "cg_vd_v": 7.18925381, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3065987, "cg_vq_v": -27.3065987, "cg_vu_v": 71.7024918, "cg_vv_v": 20.6749516, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 77.5301971, "dclink_p_w": 11629.791, "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": 61.0640259, "temp_inv2_c": 59.1624756, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11672236, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1000.966064, "values": {"Elec_RPM": -12515.6064, "EncoderCos": 12946, "EncoderSin": 38643, "GapTicks": 37095, "Mech_RPM": -2503.12134, "cg_du": 33.7233505, "cg_dv": 66.2766495, "cg_dw": 49.2467499, "cg_id_a": 1.05551815, "cg_id_raw_a": 10.0516195, "cg_iq_a": 299.055298, "cg_iq_raw_a": 301.004517, "cg_iu_a": 303.078186, "cg_iv_a": -209.877731, "cg_iw_a": -75.9121246, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7027463, "cg_sample_valid": 1, "cg_theta_rad": 2.87861729, "cg_vd_req_v": 7.24336672, "cg_vd_v": 7.24336672, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3422089, "cg_vq_v": -27.3422089, "cg_vu_v": 73.0221634, "cg_vv_v": 96.7763672, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 76.8252487, "dclink_p_w": 11591.6357, "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": 61.0640259, "temp_inv2_c": 59.0574951, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117830165, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1001.983521, "values": {"Elec_RPM": -12511.9521, "EncoderCos": 23021, "EncoderSin": 50942, "GapTicks": 37458, "Mech_RPM": -2502.39038, "cg_du": 55.734211, "cg_dv": 34.0535812, "cg_dw": 65.9464188, "cg_id_a": -2.86867118, "cg_id_raw_a": 4.21741676, "cg_iq_a": 296.161743, "cg_iq_raw_a": 302.937927, "cg_iu_a": -197.086731, "cg_iv_a": 291.193268, "cg_iw_a": -94.1065292, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 7032463, "cg_sample_valid": 1, "cg_theta_rad": 2.10630655, "cg_vd_req_v": 7.38995457, "cg_vd_v": 7.38995457, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2244415, "cg_vq_v": -27.2244415, "cg_vu_v": 142.085297, "cg_vv_v": 73.462059, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 77.7096024, "dclink_p_w": 11656.7021, "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": 61.0197449, "temp_inv2_c": 58.9450378, "temp_inv3_c": null, "temp_motor_c": null, "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": 150.003372}}
{"type": "telemetry", "t": 1003.000916, "values": {"Elec_RPM": -12514.7598, "EncoderCos": 12307, "EncoderSin": 35696, "GapTicks": 38092, "Mech_RPM": -2502.9519, "cg_du": 34.6299133, "cg_dv": 59.5895844, "cg_dw": 65.3700867, "cg_id_a": 5.30904293, "cg_id_raw_a": 10.0157347, "cg_iq_a": 301.399933, "cg_iq_raw_a": 304.753387, "cg_iu_a": 177.783234, "cg_iv_a": 129.473267, "cg_iw_a": -307.2565, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 7037663, "cg_sample_valid": 1, "cg_theta_rad": 3.08743334, "cg_vd_req_v": 7.13200855, "cg_vd_v": 7.13200855, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.383379, "cg_vq_v": -27.383379, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 76.5969162, "dclink_p_w": 11489.7959, "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": 61.0640259, "temp_inv2_c": 59.0574951, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 1004.018372, "values": {"Elec_RPM": -12517.4893, "EncoderCos": 12255, "EncoderSin": 35320, "GapTicks": 37581, "Mech_RPM": -2503.4978, "cg_du": 34.1648483, "cg_dv": 56.9265175, "cg_dw": 65.8351517, "cg_id_a": -1.92581856, "cg_id_raw_a": -11.5795918, "cg_iq_a": 299.375488, "cg_iq_raw_a": 298.383789, "cg_iu_a": 130.738739, "cg_iv_a": 160.244293, "cg_iw_a": -290.983032, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 7042764, "cg_sample_valid": 1, "cg_theta_rad": 3.1059494, "cg_vd_req_v": 7.30345345, "cg_vd_v": 7.30345345, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3299885, "cg_vq_v": -27.3299885, "cg_vu_v": 111.292824, "cg_vv_v": 92.3774414, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.1568832, "dclink_p_w": 11573.793, "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": 4998, "hz_vsense": 2604, "pwm_moe": 1, "temp_inv1_c": 61.0640259, "temp_inv2_c": 59.0784912, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.1165713, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1005.035706, "values": {"Elec_RPM": -12518.6807, "EncoderCos": 19328, "EncoderSin": 48397, "GapTicks": 37572, "Mech_RPM": -2503.73608, "cg_du": 65.8434143, "cg_dv": 34.1565857, "cg_dw": 42.960743, "cg_id_a": -5.36897182, "cg_id_raw_a": -6.64962673, "cg_iq_a": 300.610535, "cg_iq_raw_a": 293.799835, "cg_iu_a": -282.767151, "cg_iv_a": 68.5836182, "cg_iw_a": 151.409195, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 7047763, "cg_sample_valid": 1, "cg_theta_rad": 2.30605292, "cg_vd_req_v": 7.4298172, "cg_vd_v": 7.4298172, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3391037, "cg_vq_v": -27.3391037, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 85.7790527, "control_outputs_enabled": 1, "dclink_i_a": 77.6951065, "dclink_p_w": 11688.7041, "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": 61.1083679, "temp_inv2_c": 59.0758972, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119441517, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1006.053162, "values": {"Elec_RPM": -12515.874, "EncoderCos": 51758, "EncoderSin": 25480, "GapTicks": 38194, "Mech_RPM": -2503.1748, "cg_du": 65.2781067, "cg_dv": 34.7218895, "cg_dw": 60.078968, "cg_id_a": 9.20710754, "cg_id_raw_a": 13.1309128, "cg_iq_a": 305.199524, "cg_iq_raw_a": 308.293732, "cg_iu_a": -282.803406, "cg_iv_a": 232.804443, "cg_iw_a": 49.9989548, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 7052913, "cg_sample_valid": 1, "cg_theta_rad": 5.96241283, "cg_vd_req_v": 7.06756687, "cg_vd_v": 7.06756687, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5071468, "cg_vq_v": -27.5071468, "cg_vu_v": 152.202835, "cg_vv_v": 111.292824, "cg_vw_v": 98.5359344, "control_outputs_enabled": 1, "dclink_i_a": 77.5700607, "dclink_p_w": 11635.7705, "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": 61.152771, "temp_inv2_c": 59.028717, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117427327, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1007.070557, "values": {"Elec_RPM": -12519.5176, "EncoderCos": 17179, "EncoderSin": 46303, "GapTicks": 37074, "Mech_RPM": -2503.90356, "cg_du": 66.2955399, "cg_dv": 48.0048409, "cg_dw": 33.7044601, "cg_id_a": -1.57542324, "cg_id_raw_a": 6.44643736, "cg_iq_a": 300.487366, "cg_iq_raw_a": 298.652283, "cg_iu_a": -172.658386, "cg_iv_a": -131.119873, "cg_iw_a": 303.778259, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7057963, "cg_sample_valid": 1, "cg_theta_rad": 2.4588666, "cg_vd_req_v": 7.29981041, "cg_vd_v": 7.29981041, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3379478, "cg_vq_v": -27.3379478, "cg_vu_v": 116.131638, "cg_vv_v": 142.085297, "cg_vw_v": 95.0167923, "control_outputs_enabled": 1, "dclink_i_a": 77.3852158, "dclink_p_w": 11608.043, "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": 61.1083679, "temp_inv2_c": 59.0784912, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118333712, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1008.111755, "values": {"Elec_RPM": -12519.0625, "EncoderCos": 52623, "EncoderSin": 28354, "GapTicks": 38155, "Mech_RPM": -2503.8125, "cg_du": 65.3129272, "cg_dv": 34.6870728, "cg_dw": 39.7309418, "cg_id_a": 5.48857021, "cg_id_raw_a": -2.13317609, "cg_iq_a": 308.489716, "cg_iq_raw_a": 303.368713, "cg_iu_a": -283.564514, "cg_iv_a": 49.9180603, "cg_iw_a": 233.646454, "cg_sample_age_us": 24.0563641, "cg_sample_seq": 7063113, "cg_sample_valid": 1, "cg_theta_rad": 6.11534214, "cg_vd_req_v": 7.12911129, "cg_vd_v": 7.12911129, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5340366, "cg_vq_v": -27.5340366, "cg_vu_v": 134.167236, "cg_vv_v": 115.69175, "cg_vw_v": 105.134323, "control_outputs_enabled": 1, "dclink_i_a": 77.6262436, "dclink_p_w": 11678.3447, "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": 61.152771, "temp_inv2_c": 59.0365601, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118031591, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1009.082153, "values": {"Elec_RPM": -12519.1309, "EncoderCos": 29902, "EncoderSin": 53085, "GapTicks": 39314, "Mech_RPM": -2503.82617, "cg_du": 35.7406158, "cg_dv": 63.8632355, "cg_dw": 64.2593842, "cg_id_a": -6.63450003, "cg_id_raw_a": 5.40405083, "cg_iq_a": 300.462677, "cg_iq_raw_a": 304.169525, "cg_iu_a": 255.924957, "cg_iv_a": 2.90979004, "cg_iw_a": -258.834747, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 7068063, "cg_sample_valid": 1, "cg_theta_rad": 1.7415638, "cg_vd_req_v": 7.44825602, "cg_vd_v": 7.44825602, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3265209, "cg_vq_v": -27.3265209, "cg_vu_v": 73.9019547, "cg_vv_v": 73.9019547, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 77.2891693, "dclink_p_w": 11593.6357, "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": 61.1083679, "temp_inv2_c": 59.2045593, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11682307, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1009.943481, "values": {"Elec_RPM": -12512.2861, "EncoderCos": 15808, "EncoderSin": 20967, "GapTicks": 37783, "Mech_RPM": -2502.45728, "cg_du": 65.6512909, "cg_dv": 57.5560951, "cg_dw": 34.3487091, "cg_id_a": -9.85165501, "cg_id_raw_a": -7.12544441, "cg_iq_a": 293.473999, "cg_iq_raw_a": 292.682983, "cg_iu_a": 161.944687, "cg_iv_a": -296.138062, "cg_iw_a": 134.193375, "cg_sample_age_us": 26.823637, "cg_sample_seq": 7072315, "cg_sample_valid": 1, "cg_theta_rad": 3.95900202, "cg_vd_req_v": 7.45115662, "cg_vd_v": 7.45115662, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2240906, "cg_vq_v": -27.2240906, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 77.1695709, "dclink_p_w": 11609.6416, "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": 61.1083679, "temp_inv2_c": 58.9946899, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117326625, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1010.960815, "values": {"Elec_RPM": -12517.9785, "EncoderCos": 18167, "EncoderSin": 18146, "GapTicks": 37296, "Mech_RPM": -2503.5957, "cg_du": 46.0769615, "cg_dv": 66.0944748, "cg_dw": 33.9055252, "cg_id_a": -1.78738654, "cg_id_raw_a": -3.21081257, "cg_iq_a": 295.683868, "cg_iq_raw_a": 293.072205, "cg_iu_a": 189.5625, "cg_iv_a": -285.554871, "cg_iw_a": 95.9923782, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 7077413, "cg_sample_valid": 1, "cg_theta_rad": 3.96088624, "cg_vd_req_v": 7.29695463, "cg_vd_v": 7.29695463, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2751102, "cg_vq_v": -27.2751102, "cg_vu_v": 105.574219, "cg_vv_v": 151.762939, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 77.3852158, "dclink_p_w": 11642.084, "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": 61.152771, "temp_inv2_c": 59.0339355, "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": 0.122916006, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1011.978271, "values": {"Elec_RPM": -12517.373, "EncoderCos": 20141, "EncoderSin": 16406, "GapTicks": 37765, "Mech_RPM": -2503.47461, "cg_du": 34.3319397, "cg_dv": 65.6680603, "cg_dw": 42.5804672, "cg_id_a": 0.264319897, "cg_id_raw_a": 1.31363451, "cg_iq_a": 294.684875, "cg_iq_raw_a": 296.341217, "cg_iu_a": 283.796448, "cg_iv_a": -197.301117, "cg_iw_a": -86.4953232, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 7082512, "cg_sample_valid": 1, "cg_theta_rad": 4.09144688, "cg_vd_req_v": 7.24718237, "cg_vd_v": 7.24718237, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2704449, "cg_vq_v": -27.2704449, "cg_vu_v": 0, "cg_vv_v": 36.9509773, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": 76.9067993, "dclink_p_w": 11570.1094, "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": 61.152771, "temp_inv2_c": 59.1624756, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 1012.995728, "values": {"Elec_RPM": -12514.7168, "EncoderCos": 50552, "EncoderSin": 42652, "GapTicks": 37507, "Mech_RPM": -2502.94336, "cg_du": 34.0975037, "cg_dv": 56.501564, "cg_dw": 65.9024963, "cg_id_a": 7.58049774, "cg_id_raw_a": 11.0568419, "cg_iq_a": 305.326691, "cg_iq_raw_a": 304.418518, "cg_iu_a": 203.480133, "cg_iv_a": 87.0679626, "cg_iw_a": -290.548096, "cg_sample_age_us": 23.5, "cg_sample_seq": 7087563, "cg_sample_valid": 1, "cg_theta_rad": 0.543453515, "cg_vd_req_v": 7.14369917, "cg_vd_v": 7.14369917, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4708309, "cg_vq_v": -27.4708309, "cg_vu_v": 112.172607, "cg_vv_v": 102.055069, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.734642, "dclink_p_w": 11544.209, "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": 61.152771, "temp_inv2_c": 59.0365601, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115564197, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1014.013062, "values": {"Elec_RPM": -12514.2754, "EncoderCos": 20722, "EncoderSin": 15945, "GapTicks": 37199, "Mech_RPM": -2502.85498, "cg_du": 33.8174782, "cg_dv": 66.1825256, "cg_dw": 47.6960335, "cg_id_a": -4.43312836, "cg_id_raw_a": -2.73629355, "cg_iq_a": 293.36676, "cg_iq_raw_a": 291.769623, "cg_iu_a": 291.190186, "cg_iv_a": -99.7327271, "cg_iw_a": -191.457458, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 7092714, "cg_sample_valid": 1, "cg_theta_rad": 4.17861843, "cg_vd_req_v": 7.35432291, "cg_vd_v": 7.35432291, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2309685, "cg_vq_v": -27.2309685, "cg_vu_v": 101.175293, "cg_vv_v": 147.364014, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.5026779, "dclink_p_w": 11509.3115, "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": 61.2416992, "temp_inv2_c": 59.1178589, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121355005, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1015.030518, "values": {"Elec_RPM": -12513.0713, "EncoderCos": 48242, "EncoderSin": 45996, "GapTicks": 37782, "Mech_RPM": -2502.61426, "cg_du": 41.8159027, "cg_dv": 34.3480148, "cg_dw": 65.6519852, "cg_id_a": 15.2426062, "cg_id_raw_a": 14.6147032, "cg_iq_a": 306.060059, "cg_iq_raw_a": 313.441132, "cg_iu_a": -68.8197937, "cg_iv_a": 286.046631, "cg_iw_a": -217.226837, "cg_sample_age_us": 23.4709091, "cg_sample_seq": 7097762, "cg_sample_valid": 1, "cg_theta_rad": 0.736132622, "cg_vd_req_v": 7.00523949, "cg_vd_v": 7.00523949, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4389553, "cg_vq_v": -27.4389553, "cg_vu_v": 76.5413055, "cg_vv_v": 36.9509773, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 77.1061401, "dclink_p_w": 11600.0986, "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": 61.1972046, "temp_inv2_c": 59.0574951, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117880516, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1016.047974, "values": {"Elec_RPM": -12516.4688, "EncoderCos": 25262, "EncoderSin": 13524, "GapTicks": 37212, "Mech_RPM": -2503.2937, "cg_du": 33.8298302, "cg_dv": 46.471489, "cg_dw": 66.170166, "cg_id_a": -0.266408205, "cg_id_raw_a": 3.22990704, "cg_iq_a": 300.129913, "cg_iq_raw_a": 306.972809, "cg_iu_a": 121.641556, "cg_iv_a": 182.171799, "cg_iw_a": -303.813354, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 7102912, "cg_sample_valid": 1, "cg_theta_rad": 4.3788085, "cg_vd_req_v": 7.25746155, "cg_vd_v": 7.25746155, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3663902, "cg_vq_v": -27.3663902, "cg_vu_v": 47.9482918, "cg_vv_v": 36.9509773, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 77.660675, "dclink_p_w": 11683.5244, "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": 61.152771, "temp_inv2_c": 59.0994873, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118081942, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1017.06543, "values": {"Elec_RPM": -12516.6318, "EncoderCos": 26684, "EncoderSin": 13046, "GapTicks": 39273, "Mech_RPM": -2503.32642, "cg_du": 35.703476, "cg_dv": 36.6183014, "cg_dw": 64.296524, "cg_id_a": -4.14799118, "cg_id_raw_a": 1.86081588, "cg_iq_a": 294.396545, "cg_iq_raw_a": 304.102295, "cg_iu_a": 7.79966879, "cg_iv_a": 250.890091, "cg_iw_a": -258.689758, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7108012, "cg_sample_valid": 1, "cg_theta_rad": 4.4678669, "cg_vd_req_v": 7.32479429, "cg_vd_v": 7.32479429, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2631302, "cg_vq_v": -27.2631302, "cg_vu_v": 151.323044, "cg_vv_v": 107.333786, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.2311859, "dclink_p_w": 11618.9111, "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": 61.152771, "temp_inv2_c": 59.0574951, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120045774, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1018.101929, "values": {"Elec_RPM": -12519.4551, "EncoderCos": 28086, "EncoderSin": 12625, "GapTicks": 37441, "Mech_RPM": -2503.89111, "cg_du": 44.420311, "cg_dv": 34.0377541, "cg_dw": 65.9622498, "cg_id_a": 0.339471579, "cg_id_raw_a": -0.685073555, "cg_iq_a": 297.475464, "cg_iq_raw_a": 300.626617, "cg_iu_a": -103.505142, "cg_iv_a": 288.764893, "cg_iw_a": -185.259766, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7113112, "cg_sample_valid": 1, "cg_theta_rad": 4.523314, "cg_vd_req_v": 7.21464729, "cg_vd_v": 7.21464729, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3527012, "cg_vq_v": -27.3527012, "cg_vu_v": 76.5413055, "cg_vv_v": 32.9919434, "cg_vw_v": 76.9812012, "control_outputs_enabled": 1, "dclink_i_a": 77.1315079, "dclink_p_w": 11603.915, "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": 61.2416992, "temp_inv2_c": 59.1335754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116621651, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1019.076782, "values": {"Elec_RPM": -12518.252, "EncoderCos": 13121, "EncoderSin": 38876, "GapTicks": 37085, "Mech_RPM": -2503.65039, "cg_du": 33.7144165, "cg_dv": 66.2855835, "cg_dw": 47.4457397, "cg_id_a": -1.63014507, "cg_id_raw_a": -2.8383863, "cg_iq_a": 301.648254, "cg_iq_raw_a": 298.777679, "cg_iu_a": 284.630066, "cg_iv_a": -234.99472, "cg_iw_a": -49.6353378, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 7118012, "cg_sample_valid": 1, "cg_theta_rad": 2.83401942, "cg_vd_req_v": 7.34407902, "cg_vd_v": 7.34407902, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3548088, "cg_vq_v": -27.3548088, "cg_vu_v": 0, "cg_vv_v": 29.4728031, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 77.0862045, "dclink_p_w": 11597.0996, "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": 61.1972046, "temp_inv2_c": 59.1178589, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116218813, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1019.938232, "values": {"Elec_RPM": -12516.7207, "EncoderCos": 23900, "EncoderSin": 51252, "GapTicks": 37115, "Mech_RPM": -2503.34424, "cg_du": 49.4516029, "cg_dv": 33.7416382, "cg_dw": 66.2583618, "cg_id_a": -4.09927082, "cg_id_raw_a": 2.38563395, "cg_iq_a": 294.07666, "cg_iq_raw_a": 294.658508, "cg_iu_a": -290.55957, "cg_iv_a": 66.5539551, "cg_iw_a": 224.005615, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 7122317, "cg_sample_valid": 1, "cg_theta_rad": 2.31647897, "cg_vd_req_v": 7.41300344, "cg_vd_v": 7.41300344, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1732769, "cg_vq_v": -27.1732769, "cg_vu_v": 47.0685043, "cg_vv_v": 37.3908691, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 77.3707199, "dclink_p_w": 11605.8691, "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": 61.2416992, "temp_inv2_c": 59.1204834, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 1020.955566, "values": {"Elec_RPM": -12512.166, "EncoderCos": 34251, "EncoderSin": 12275, "GapTicks": 37732, "Mech_RPM": -2502.43311, "cg_du": 65.6972961, "cg_dv": 34.3027077, "cg_dw": 42.4020767, "cg_id_a": -1.74323153, "cg_id_raw_a": -6.80021381, "cg_iq_a": 299.920654, "cg_iq_raw_a": 294.630157, "cg_iu_a": -66.2827225, "cg_iv_a": -219.591095, "cg_iw_a": 285.87381, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 7127367, "cg_sample_valid": 1, "cg_theta_rad": 5.05071592, "cg_vd_req_v": 7.2861166, "cg_vd_v": 7.2861166, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3600578, "cg_vq_v": -27.3600578, "cg_vu_v": 127.568848, "cg_vv_v": 151.762939, "cg_vw_v": 87.9785156, "control_outputs_enabled": 1, "dclink_i_a": 76.7056427, "dclink_p_w": 11539.8467, "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": 61.2416992, "temp_inv2_c": 59.1178589, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120297544, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1021.973022, "values": {"Elec_RPM": -12513.834, "EncoderCos": 41005, "EncoderSin": 14019, "GapTicks": 37274, "Mech_RPM": -2502.76685, "cg_du": 53.0006447, "cg_dv": 66.114212, "cg_dw": 33.8857841, "cg_id_a": 2.47571683, "cg_id_raw_a": 7.70051718, "cg_iq_a": 296.054749, "cg_iq_raw_a": 298.791901, "cg_iu_a": 121.967743, "cg_iv_a": -299.581238, "cg_iw_a": 177.613495, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 7132462, "cg_sample_valid": 1, "cg_theta_rad": 5.17621565, "cg_vd_req_v": 7.20479012, "cg_vd_v": 7.20479012, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3021069, "cg_vq_v": -27.3021069, "cg_vu_v": 15.3962402, "cg_vv_v": 59.825386, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.2456818, "dclink_p_w": 11621.0918, "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": 61.1972046, "temp_inv2_c": 59.1756287, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119491868, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1022.990479, "values": {"Elec_RPM": -12514.3926, "EncoderCos": 42346, "EncoderSin": 14700, "GapTicks": 37793, "Mech_RPM": -2502.87842, "cg_du": 42.6099968, "cg_dv": 65.6422348, "cg_dw": 34.357769, "cg_id_a": -4.90110874, "cg_id_raw_a": 1.0969429, "cg_iq_a": 294.810913, "cg_iq_raw_a": 300.013367, "cg_iu_a": 210.583923, "cg_iv_a": -286.605957, "cg_iw_a": 76.0220261, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 7137562, "cg_sample_valid": 1, "cg_theta_rad": 5.24840403, "cg_vd_req_v": 7.3422637, "cg_vd_v": 7.3422637, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.27738, "cg_vq_v": -27.27738, "cg_vu_v": 0, "cg_vv_v": 42.6695786, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 76.9702301, "dclink_p_w": 11545.7939, "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": 61.2416992, "temp_inv2_c": 59.1204834, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115564197, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1024.007813, "values": {"Elec_RPM": -12514.2461, "EncoderCos": 29769, "EncoderSin": 53004, "GapTicks": 39045, "Mech_RPM": -2502.84912, "cg_du": 35.4957962, "cg_dv": 63.0871353, "cg_dw": 64.5042038, "cg_id_a": -0.999305844, "cg_id_raw_a": -16.8554668, "cg_iq_a": 303.862244, "cg_iq_raw_a": 300.130035, "cg_iu_a": 263.354919, "cg_iv_a": 9.21624756, "cg_iw_a": -272.571167, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 7142612, "cg_sample_valid": 1, "cg_theta_rad": 1.74539614, "cg_vd_req_v": 7.3459878, "cg_vd_v": 7.3459878, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3580227, "cg_vq_v": -27.3580227, "cg_vu_v": 0, "cg_vv_v": 0.43989256, "cg_vw_v": 56.3062477, "control_outputs_enabled": 1, "dclink_i_a": 77.2311859, "dclink_p_w": 11584.9385, "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": 61.1972046, "temp_inv2_c": 59.1966553, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118031591, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1025.025269, "values": {"Elec_RPM": -12516.0928, "EncoderCos": 43964, "EncoderSin": 15635, "GapTicks": 38042, "Mech_RPM": -2503.21851, "cg_du": 34.5840149, "cg_dv": 65.4159851, "cg_dw": 40.9782028, "cg_id_a": -2.16840982, "cg_id_raw_a": -12.5690966, "cg_iq_a": 296.519653, "cg_iq_raw_a": 291.239746, "cg_iu_a": 286.768433, "cg_iv_a": -228.833252, "cg_iw_a": -57.935173, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7147763, "cg_sample_valid": 1, "cg_theta_rad": 5.35426044, "cg_vd_req_v": 7.29128838, "cg_vd_v": 7.29128838, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3109722, "cg_vq_v": -27.3109722, "cg_vu_v": 79.1806641, "cg_vv_v": 113.492287, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 78.0194855, "dclink_p_w": 11737.5049, "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": 61.2416992, "temp_inv2_c": 59.1598511, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117175549, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1026.042603, "values": {"Elec_RPM": -12514.6299, "EncoderCos": 45137, "EncoderSin": 16531, "GapTicks": 37113, "Mech_RPM": -2502.92603, "cg_du": 33.7397232, "cg_dv": 66.2602768, "cg_dw": 50.8830185, "cg_id_a": -0.242185712, "cg_id_raw_a": 9.05912209, "cg_iq_a": 299.840942, "cg_iq_raw_a": 300.423889, "cg_iu_a": 304.564148, "cg_iv_a": -196.358826, "cg_iw_a": -95.1213455, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 7152863, "cg_sample_valid": 1, "cg_theta_rad": 5.40582323, "cg_vd_req_v": 7.21248913, "cg_vd_v": 7.21248913, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4103355, "cg_vq_v": -27.4103355, "cg_vu_v": 94.1370087, "cg_vv_v": 149.123581, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.1605072, "dclink_p_w": 11608.2773, "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": 61.2416992, "temp_inv2_c": 59.1624756, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118988328, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1027.060059, "values": {"Elec_RPM": -12517.2764, "EncoderCos": 46290, "EncoderSin": 17526, "GapTicks": 38517, "Mech_RPM": -2503.45532, "cg_du": 35.0158272, "cg_dv": 64.984169, "cg_dw": 61.1839752, "cg_id_a": -1.97289348, "cg_id_raw_a": 7.10835552, "cg_iq_a": 301.059509, "cg_iq_raw_a": 305.008728, "cg_iu_a": 277.055115, "cg_iv_a": -40.2928619, "cg_iw_a": -195.625488, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 7157963, "cg_sample_valid": 1, "cg_theta_rad": 5.48070192, "cg_vd_req_v": 7.28704214, "cg_vd_v": 7.28704214, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3913059, "cg_vq_v": -27.3913059, "cg_vu_v": 108.653458, "cg_vv_v": 129.328415, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 77.5809326, "dclink_p_w": 11671.5283, "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": 61.2416992, "temp_inv2_c": 59.2045593, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 1028.092041, "values": {"Elec_RPM": -12518.1289, "EncoderCos": 24115, "EncoderSin": 51311, "GapTicks": 37162, "Mech_RPM": -2503.62573, "cg_du": 47.8740883, "cg_dv": 33.7840652, "cg_dw": 66.2159348, "cg_id_a": -1.72343707, "cg_id_raw_a": 5.61771345, "cg_iq_a": 294.747955, "cg_iq_raw_a": 296.500366, "cg_iu_a": -137.030701, "cg_iv_a": 289.924713, "cg_iw_a": -152.894012, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7163012, "cg_sample_valid": 1, "cg_theta_rad": 2.03422141, "cg_vd_req_v": 7.35411787, "cg_vd_v": 7.35411787, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1908379, "cg_vq_v": -27.1908379, "cg_vu_v": 45.3089333, "cg_vv_v": 0, "cg_vw_v": 4.39892578, "control_outputs_enabled": 1, "dclink_i_a": 77.0717087, "dclink_p_w": 11594.9189, "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": 61.2416992, "temp_inv2_c": 59.2256165, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.114808887, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1029.071533, "values": {"Elec_RPM": -12519.8281, "EncoderCos": 18082, "EncoderSin": 18378, "GapTicks": 37221, "Mech_RPM": -2503.96558, "cg_du": 47.5776863, "cg_dv": 66.1621857, "cg_dw": 33.8378105, "cg_id_a": -3.97513223, "cg_id_raw_a": 4.72962713, "cg_iq_a": 293.566956, "cg_iq_raw_a": 297.99826, "cg_iu_a": 230.55426, "cg_iv_a": -272.50708, "cg_iw_a": 41.9528275, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 7167962, "cg_sample_valid": 1, "cg_theta_rad": 4.0110755, "cg_vd_req_v": 7.3287878, "cg_vd_v": 7.3287878, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2117367, "cg_vq_v": -27.2117367, "cg_vu_v": 107.773682, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 77.4921417, "dclink_p_w": 11658.1699, "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": 61.2862549, "temp_inv2_c": 59.1993103, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 1029.912842, "values": {"Elec_RPM": -12518.8047, "EncoderCos": 12562, "EncoderSin": 29287, "GapTicks": 37475, "Mech_RPM": -2503.76099, "cg_du": 55.2532654, "cg_dv": 34.0686684, "cg_dw": 65.9313278, "cg_id_a": -5.37631369, "cg_id_raw_a": 4.04988766, "cg_iq_a": 294.379822, "cg_iq_raw_a": 298.528748, "cg_iu_a": -192.918686, "cg_iv_a": 292.099335, "cg_iw_a": -99.1806488, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 7172263, "cg_sample_valid": 1, "cg_theta_rad": 3.35006452, "cg_vd_req_v": 7.427598, "cg_vd_v": 7.427598, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1757145, "cg_vq_v": -27.1757145, "cg_vu_v": 151.762939, "cg_vv_v": 81.820015, "cg_vw_v": 134.607132, "control_outputs_enabled": 1, "dclink_i_a": 77.5555649, "dclink_p_w": 11667.7119, "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": 61.2416992, "temp_inv2_c": 59.1835022, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116672009, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1030.930298, "values": {"Elec_RPM": -12516.8965, "EncoderCos": 52773, "EncoderSin": 29974, "GapTicks": 37759, "Mech_RPM": -2503.37939, "cg_du": 65.6729965, "cg_dv": 42.0563431, "cg_dw": 34.3269997, "cg_id_a": 10.6933126, "cg_id_raw_a": 5.56851339, "cg_iq_a": 310.683807, "cg_iq_raw_a": 315.745514, "cg_iu_a": -278.635376, "cg_iv_a": 21.4304199, "cg_iw_a": 257.204956, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 7177312, "cg_sample_valid": 1, "cg_theta_rad": 6.14730024, "cg_vd_req_v": 7.06412697, "cg_vd_v": 7.06412697, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5604229, "cg_vq_v": -27.5604229, "cg_vu_v": 118.3311, "cg_vv_v": 111.732712, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 77.0771484, "dclink_p_w": 11561.832, "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": 61.2862549, "temp_inv2_c": 59.2256165, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11682307, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1031.967773, "values": {"Elec_RPM": -12520.1709, "EncoderCos": 52192, "EncoderSin": 27114, "GapTicks": 37011, "Mech_RPM": -2504.03418, "cg_du": 66.3529205, "cg_dv": 33.6470833, "cg_dw": 48.5116997, "cg_id_a": 5.48497868, "cg_id_raw_a": 14.8620749, "cg_iq_a": 308.476776, "cg_iq_raw_a": 310.180145, "cg_iu_a": -122.968079, "cg_iv_a": -180.012817, "cg_iw_a": 302.980896, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 7182416, "cg_sample_valid": 1, "cg_theta_rad": 6.26242113, "cg_vd_req_v": 7.18732548, "cg_vd_v": 7.18732548, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5240345, "cg_vq_v": -27.5240345, "cg_vu_v": 29.912693, "cg_vv_v": 50.1477547, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.7690735, "dclink_p_w": 11549.3887, "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": 61.2416992, "temp_inv2_c": 59.2229614, "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": 0.118988328, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1032.985229, "values": {"Elec_RPM": -12512.3154, "EncoderCos": 52964, "EncoderSin": 32977, "GapTicks": 38829, "Mech_RPM": -2502.46313, "cg_du": 64.7003937, "cg_dv": 62.4045258, "cg_dw": 35.2996063, "cg_id_a": 9.6250782, "cg_id_raw_a": -2.46564484, "cg_iq_a": 309.119965, "cg_iq_raw_a": 307.699463, "cg_iu_a": -35.0042992, "cg_iv_a": -247.897552, "cg_iw_a": 282.901855, "cg_sample_age_us": 24.2745457, "cg_sample_seq": 7187512, "cg_sample_valid": 1, "cg_theta_rad": 0.0535972454, "cg_vd_req_v": 7.10451794, "cg_vd_v": 7.10451794, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5036469, "cg_vq_v": -27.5036469, "cg_vu_v": 0.87978512, "cg_vv_v": 65.9838867, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.8161926, "dclink_p_w": 11556.4775, "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": 61.4202576, "temp_inv2_c": 59.3099365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115312427, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1034.002686, "values": {"Elec_RPM": -12516.3672, "EncoderCos": 14354, "EncoderSin": 23636, "GapTicks": 38858, "Mech_RPM": -2503.27344, "cg_du": 64.6742172, "cg_dv": 37.6854782, "cg_dw": 35.3257828, "cg_id_a": -4.49461603, "cg_id_raw_a": -15.900568, "cg_iq_a": 296.808319, "cg_iq_raw_a": 290.894135, "cg_iu_a": -248.625458, "cg_iv_a": -16.8793335, "cg_iw_a": 226.433945, "cg_sample_age_us": 24.0745449, "cg_sample_seq": 7192663, "cg_sample_valid": 1, "cg_theta_rad": 3.6302619, "cg_vd_req_v": 7.36845493, "cg_vd_v": 7.36845493, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2651215, "cg_vq_v": -27.2651215, "cg_vu_v": 124.929489, "cg_vv_v": 120.970459, "cg_vw_v": 98.9758301, "control_outputs_enabled": 1, "dclink_i_a": 77.3163528, "dclink_p_w": 11631.7236, "enc_isr_hz": 4998, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2589, "hz_tim_isr": 4999, "hz_vsense": 2589, "pwm_moe": 1, "temp_inv1_c": 61.1972046, "temp_inv2_c": 59.1756287, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122009605, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1035.02002, "values": {"Elec_RPM": -12517.6387, "EncoderCos": 13361, "EncoderSin": 39327, "GapTicks": 37455, "Mech_RPM": -2503.52783, "cg_du": 34.0501175, "cg_dv": 65.9498825, "cg_dw": 44.1532249, "cg_id_a": -6.07822227, "cg_id_raw_a": -12.1359882, "cg_iq_a": 297.464508, "cg_iq_raw_a": 292.325958, "cg_iu_a": 298.148987, "cg_iv_a": -205.999634, "cg_iw_a": -92.1493454, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 7197663, "cg_sample_valid": 1, "cg_theta_rad": 2.84464788, "cg_vd_req_v": 7.44825697, "cg_vd_v": 7.44825697, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2385769, "cg_vq_v": -27.2385769, "cg_vu_v": 73.0221634, "cg_vv_v": 108.21357, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 76.7799454, "dclink_p_w": 11517.251, "enc_isr_hz": 5001, "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": 61.3308716, "temp_inv2_c": 59.3944702, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115312427, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1036.037598, "values": {"Elec_RPM": -12516.8945, "EncoderCos": 52440, "EncoderSin": 37341, "GapTicks": 39159, "Mech_RPM": -2503.37891, "cg_du": 36.734623, "cg_dv": 64.4000854, "cg_dw": 35.5999146, "cg_id_a": 2.44391751, "cg_id_raw_a": 10.329154, "cg_iq_a": 303.576691, "cg_iq_raw_a": 309.234619, "cg_iu_a": 256.722321, "cg_iv_a": -269.535095, "cg_iw_a": 12.8127747, "cg_sample_age_us": 23.4018173, "cg_sample_seq": 7202812, "cg_sample_valid": 1, "cg_theta_rad": 0.269371599, "cg_vd_req_v": 7.2606802, "cg_vd_v": 7.2606802, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3872871, "cg_vq_v": -27.3872871, "cg_vu_v": 0, "cg_vv_v": 48.3881836, "cg_vw_v": 31.6722641, "control_outputs_enabled": 1, "dclink_i_a": 76.984726, "dclink_p_w": 11547.9688, "enc_isr_hz": 4999, "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": 61.2862549, "temp_inv2_c": 59.307312, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116218813, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1037.05481, "values": {"Elec_RPM": -12515.8408, "EncoderCos": 52031, "EncoderSin": 38801, "GapTicks": 37370, "Mech_RPM": -2503.16821, "cg_du": 33.9732819, "cg_dv": 66.0267181, "cg_dw": 44.6695137, "cg_id_a": 5.7781496, "cg_id_raw_a": 4.85260916, "cg_iq_a": 304.999298, "cg_iq_raw_a": 304.05542, "cg_iu_a": 271.364807, "cg_iv_a": -259.785492, "cg_iw_a": -11.5793152, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 7207912, "cg_sample_valid": 1, "cg_theta_rad": 0.298704565, "cg_vd_req_v": 7.20265484, "cg_vd_v": 7.20265484, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4195499, "cg_vq_v": -27.4195499, "cg_vu_v": 0, "cg_vv_v": 34.7515144, "cg_vw_v": 63.7844238, "control_outputs_enabled": 1, "dclink_i_a": 77.4812622, "dclink_p_w": 11622.4502, "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": 61.2862549, "temp_inv2_c": 59.2888489, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118182652, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1038.091431, "values": {"Elec_RPM": -12520.373, "EncoderCos": 18499, "EncoderSin": 17999, "GapTicks": 37612, "Mech_RPM": -2504.07471, "cg_du": 43.6648178, "cg_dv": 65.8068237, "cg_dw": 34.1931763, "cg_id_a": -7.00449753, "cg_id_raw_a": -0.0132971331, "cg_iq_a": 293.977478, "cg_iq_raw_a": 298.085114, "cg_iu_a": 145.308777, "cg_iv_a": -290.955231, "cg_iw_a": 145.646454, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 7213062, "cg_sample_valid": 1, "cg_theta_rad": 3.94334483, "cg_vd_req_v": 7.41256857, "cg_vd_v": 7.41256857, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1924515, "cg_vq_v": -27.1924515, "cg_vu_v": 0, "cg_vv_v": 62.4647446, "cg_vw_v": 12.3169918, "control_outputs_enabled": 1, "dclink_i_a": 76.5280533, "dclink_p_w": 11513.1289, "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": 61.2862549, "temp_inv2_c": 59.2888489, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12100251, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1039.066406, "values": {"Elec_RPM": -12525.0283, "EncoderCos": 51194, "EncoderSin": 24443, "GapTicks": 38418, "Mech_RPM": -2505.00562, "cg_du": 61.0095634, "cg_dv": 34.9263039, "cg_dw": 65.0737, "cg_id_a": 6.85437775, "cg_id_raw_a": -2.81076884, "cg_iq_a": 306.507813, "cg_iq_raw_a": 300.802551, "cg_iu_a": -182.697922, "cg_iv_a": 307.430481, "cg_iw_a": -124.732559, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 7218012, "cg_sample_valid": 1, "cg_theta_rad": 5.86255169, "cg_vd_req_v": 7.15218019, "cg_vd_v": 7.15218019, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5037746, "cg_vq_v": -27.5037746, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 77.2184982, "dclink_p_w": 11617.002, "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": 61.3308716, "temp_inv2_c": 59.3468933, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116772719, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1040.08374, "values": {"Elec_RPM": -12521.7666, "EncoderCos": 38747, "EncoderSin": 13223, "GapTicks": 38229, "Mech_RPM": -2504.35327, "cg_du": 65.2458191, "cg_dv": 59.828331, "cg_dw": 34.7541809, "cg_id_a": -2.59002948, "cg_id_raw_a": 4.00947666, "cg_iq_a": 296.813263, "cg_iq_raw_a": 300.147614, "cg_iu_a": -55.0833817, "cg_iv_a": -225.788818, "cg_iw_a": 280.872192, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 7223013, "cg_sample_valid": 1, "cg_theta_rad": 5.05601883, "cg_vd_req_v": 7.31439972, "cg_vd_v": 7.31439972, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2965164, "cg_vq_v": -27.2965164, "cg_vu_v": 146.484222, "cg_vv_v": 151.762939, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": 77.3779678, "dclink_p_w": 11640.9932, "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": 61.3755493, "temp_inv2_c": 59.3442688, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117981225, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1040.925049, "values": {"Elec_RPM": -12514.9756, "EncoderCos": 45356, "EncoderSin": 48629, "GapTicks": 38325, "Mech_RPM": -2502.99512, "cg_du": 65.1585236, "cg_dv": 34.8414764, "cg_dw": 60.3785744, "cg_id_a": 7.04320717, "cg_id_raw_a": 14.2633219, "cg_iq_a": 301.391907, "cg_iq_raw_a": 305.808289, "cg_iu_a": -277.439301, "cg_iv_a": 232.441986, "cg_iw_a": 44.9973068, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 7227263, "cg_sample_valid": 1, "cg_theta_rad": 0.93085748, "cg_vd_req_v": 7.19953537, "cg_vd_v": 7.19953537, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2994423, "cg_vq_v": -27.2994423, "cg_vu_v": 134.607132, "cg_vv_v": 94.5769043, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 76.3903275, "dclink_p_w": 11458.8066, "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": 61.2862549, "temp_inv2_c": 59.3839111, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118132301, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1041.962524, "values": {"Elec_RPM": -12517.1543, "EncoderCos": 25862, "EncoderSin": 13433, "GapTicks": 37712, "Mech_RPM": -2503.43091, "cg_du": 34.2840462, "cg_dv": 42.898098, "cg_dw": 65.7159576, "cg_id_a": -9.08643818, "cg_id_raw_a": -7.12538576, "cg_iq_a": 293.861237, "cg_iq_raw_a": 298.443512, "cg_iu_a": -158.632019, "cg_iv_a": 300.072998, "cg_iw_a": -141.440964, "cg_sample_age_us": 26.7945461, "cg_sample_seq": 7232416, "cg_sample_valid": 1, "cg_theta_rad": 4.58263636, "cg_vd_req_v": 7.44538212, "cg_vd_v": 7.44538212, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2150898, "cg_vq_v": -27.2150898, "cg_vu_v": 74.3418427, "cg_vv_v": 4.83881807, "cg_vw_v": 34.3116188, "control_outputs_enabled": 1, "dclink_i_a": 77.2565536, "dclink_p_w": 11622.7275, "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": 61.2862549, "temp_inv2_c": 59.2888489, "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": 0.120650038, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1042.97998, "values": {"Elec_RPM": -12516.0117, "EncoderCos": 45653, "EncoderSin": 48419, "GapTicks": 39136, "Mech_RPM": -2503.20239, "cg_du": 64.4215012, "cg_dv": 35.5784988, "cg_dw": 63.1710548, "cg_id_a": 4.16554832, "cg_id_raw_a": -8.92821503, "cg_iq_a": 304.189087, "cg_iq_raw_a": 298.620239, "cg_iu_a": -283.383301, "cg_iv_a": 54.3035583, "cg_iw_a": 229.079742, "cg_sample_age_us": 26.4163628, "cg_sample_seq": 7237466, "cg_sample_valid": 1, "cg_theta_rad": 1.0887717, "cg_vd_req_v": 7.29201698, "cg_vd_v": 7.29201698, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3671665, "cg_vq_v": -27.3671665, "cg_vu_v": 39.1504402, "cg_vv_v": 38.2706528, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.0807724, "dclink_p_w": 11596.2822, "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": 61.3308716, "temp_inv2_c": 59.2888489, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 1043.997437, "values": {"Elec_RPM": -12513.9922, "EncoderCos": 31988, "EncoderSin": 12362, "GapTicks": 37883, "Mech_RPM": -2502.79834, "cg_du": 65.5602036, "cg_dv": 34.4398003, "cg_dw": 57.8506088, "cg_id_a": 1.02083516, "cg_id_raw_a": 2.3532896, "cg_iq_a": 293.170898, "cg_iq_raw_a": 295.35199, "cg_iu_a": -281.06369, "cg_iv_a": 201.997177, "cg_iw_a": 79.0665131, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 7242613, "cg_sample_valid": 1, "cg_theta_rad": 4.73147058, "cg_vd_req_v": 7.25187826, "cg_vd_v": 7.25187826, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2041492, "cg_vq_v": -27.2041492, "cg_vu_v": 130.648087, "cg_vv_v": 73.9019547, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 76.8850555, "dclink_p_w": 11533.0176, "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": 61.3308716, "temp_inv2_c": 59.4474182, "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": 0.11848478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1045.014771, "values": {"Elec_RPM": -12517.5791, "EncoderCos": 34557, "EncoderSin": 12432, "GapTicks": 38174, "Mech_RPM": -2503.51587, "cg_du": 65.2960281, "cg_dv": 34.7039719, "cg_dw": 40.2763252, "cg_id_a": -5.02224541, "cg_id_raw_a": -5.10659933, "cg_iq_a": 302.770447, "cg_iq_raw_a": 307.621185, "cg_iu_a": -290.704529, "cg_iv_a": 115.700623, "cg_iw_a": 179.933105, "cg_sample_age_us": 24.0636368, "cg_sample_seq": 7247712, "cg_sample_valid": 1, "cg_theta_rad": 4.83892012, "cg_vd_req_v": 7.3349824, "cg_vd_v": 7.3349824, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4237003, "cg_vq_v": -27.4237003, "cg_vu_v": 76.5413055, "cg_vv_v": 74.7817383, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 77.0028458, "dclink_p_w": 11584.5586, "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": 61.4202576, "temp_inv2_c": 59.3918457, "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": 0.119894713, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1046.032349, "values": {"Elec_RPM": -12520.5801, "EncoderCos": 18796, "EncoderSin": 17783, "GapTicks": 38030, "Mech_RPM": -2504.11597, "cg_du": 41.3265533, "cg_dv": 65.4271622, "cg_dw": 34.572834, "cg_id_a": -1.82015014, "cg_id_raw_a": -6.43120861, "cg_iq_a": 294.783203, "cg_iq_raw_a": 290.763763, "cg_iu_a": 220.985901, "cg_iv_a": -275.080414, "cg_iw_a": 54.0945206, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 7252713, "cg_sample_valid": 1, "cg_theta_rad": 4.00907373, "cg_vd_req_v": 7.32512379, "cg_vd_v": 7.32512379, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2072563, "cg_vq_v": -27.2072563, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 76.5479889, "dclink_p_w": 11482.4561, "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": 61.3755493, "temp_inv2_c": 59.3310547, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119693294, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1047.049561, "values": {"Elec_RPM": -12515.21, "EncoderCos": 37475, "EncoderSin": 12953, "GapTicks": 37142, "Mech_RPM": -2503.04199, "cg_du": 66.2342224, "cg_dv": 51.0281219, "cg_dw": 33.7657776, "cg_id_a": -2.92094231, "cg_id_raw_a": -0.406928539, "cg_iq_a": 298.999023, "cg_iq_raw_a": 296.122742, "cg_iu_a": -128.404648, "cg_iv_a": -167.617447, "cg_iw_a": 296.022095, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 7257912, "cg_sample_valid": 1, "cg_theta_rad": 4.99809408, "cg_vd_req_v": 7.31910801, "cg_vd_v": 7.31910801, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3402176, "cg_vq_v": -27.3402176, "cg_vu_v": 45.7488289, "cg_vv_v": 65.1041031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.0680847, "dclink_p_w": 11594.373, "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": 61.3308716, "temp_inv2_c": 59.3099365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116218813, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1048.077026, "values": {"Elec_RPM": -12523.9834, "EncoderCos": 49440, "EncoderSin": 44043, "GapTicks": 37328, "Mech_RPM": -2504.79663, "cg_du": 33.9348907, "cg_dv": 44.3050499, "cg_dw": 66.0651093, "cg_id_a": 6.73163605, "cg_id_raw_a": 8.74502945, "cg_iq_a": 309.359558, "cg_iq_raw_a": 316.118378, "cg_iu_a": 110.913376, "cg_iv_a": 137.555634, "cg_iw_a": -302.689789, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 7262862, "cg_sample_valid": 1, "cg_theta_rad": 0.621558845, "cg_vd_req_v": 7.19930124, "cg_vd_v": 7.19930124, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.475481, "cg_vq_v": -27.475481, "cg_vu_v": 26.3935547, "cg_vv_v": 0.43989256, "cg_vw_v": 47.9482918, "control_outputs_enabled": 1, "dclink_i_a": 76.7763214, "dclink_p_w": 11550.4795, "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": 61.3755493, "temp_inv2_c": 59.2888489, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118937977, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1049.061157, "values": {"Elec_RPM": -12521.7197, "EncoderCos": 12675, "EncoderSin": 29155, "GapTicks": 37592, "Mech_RPM": -2504.34399, "cg_du": 56.3457413, "cg_dv": 34.1746063, "cg_dw": 65.8253937, "cg_id_a": -8.57315922, "cg_id_raw_a": -0.43281579, "cg_iq_a": 292.061096, "cg_iq_raw_a": 295.390808, "cg_iu_a": -201.907166, "cg_iv_a": 289.12735, "cg_iw_a": -87.220192, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 7267913, "cg_sample_valid": 1, "cg_theta_rad": 3.34864736, "cg_vd_req_v": 7.49421453, "cg_vd_v": 7.49421453, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1195488, "cg_vq_v": -27.1195488, "cg_vu_v": 151.323044, "cg_vv_v": 103.814644, "cg_vw_v": 147.803909, "control_outputs_enabled": 1, "dclink_i_a": 76.9466705, "dclink_p_w": 11609.9561, "enc_isr_hz": 4999, "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": 61.3308716, "temp_inv2_c": 59.4553528, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 1050.078613, "values": {"Elec_RPM": -12518.293, "EncoderCos": 48367, "EncoderSin": 45544, "GapTicks": 38442, "Mech_RPM": -2503.65869, "cg_du": 39.1786842, "cg_dv": 34.9472961, "cg_dw": 65.0527039, "cg_id_a": 10.3513079, "cg_id_raw_a": -3.95842814, "cg_iq_a": 305.101257, "cg_iq_raw_a": 299.476288, "cg_iu_a": -30.1113815, "cg_iv_a": 278.797882, "cg_iw_a": -248.686493, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 7273063, "cg_sample_valid": 1, "cg_theta_rad": 0.713840008, "cg_vd_req_v": 7.12588882, "cg_vd_v": 7.12588882, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4005585, "cg_vq_v": -27.4005585, "cg_vu_v": 150.443253, "cg_vv_v": 101.175293, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.2348099, "dclink_p_w": 11619.4561, "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": 61.3755493, "temp_inv2_c": 59.3283997, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116621651, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1050.9198, "values": {"Elec_RPM": -12517.2012, "EncoderCos": 48324, "EncoderSin": 19831, "GapTicks": 37119, "Mech_RPM": -2503.44019, "cg_du": 33.7452393, "cg_dv": 46.8992729, "cg_dw": 66.2547607, "cg_id_a": 5.01530552, "cg_id_raw_a": 7.29818964, "cg_iq_a": 306.892395, "cg_iq_raw_a": 313.209534, "cg_iu_a": 134.616837, "cg_iv_a": 178.148727, "cg_iw_a": -312.765564, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 7277262, "cg_sample_valid": 1, "cg_theta_rad": 5.64056492, "cg_vd_req_v": 7.17587471, "cg_vd_v": 7.17587471, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4867535, "cg_vq_v": -27.4867535, "cg_vu_v": 35.1914063, "cg_vv_v": 0, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 77.1387634, "dclink_p_w": 11605.0068, "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": 61.3755493, "temp_inv2_c": 59.3468933, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119391158, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1051.937256, "values": {"Elec_RPM": -12515.9707, "EncoderCos": 48589, "EncoderSin": 20177, "GapTicks": 37415, "Mech_RPM": -2503.19409, "cg_du": 34.0138283, "cg_dv": 43.8462257, "cg_dw": 65.9861755, "cg_id_a": 2.59804678, "cg_id_raw_a": 1.45364821, "cg_iq_a": 308.271484, "cg_iq_raw_a": 297.801392, "cg_iu_a": 88.297226, "cg_iv_a": 206.346451, "cg_iw_a": -294.643677, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 7282363, "cg_sample_valid": 1, "cg_theta_rad": 5.66372776, "cg_vd_req_v": 7.23280096, "cg_vd_v": 7.23280096, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.5134621, "cg_vq_v": -27.5134621, "cg_vu_v": 35.1914063, "cg_vv_v": 0, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 76.8651199, "dclink_p_w": 11563.8389, "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": 61.4202576, "temp_inv2_c": 59.3944702, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123117417, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1053.042725, "values": {"Elec_RPM": -12514.9404, "EncoderCos": 52425, "EncoderSin": 36917, "GapTicks": 38384, "Mech_RPM": -2502.98804, "cg_du": 39.3331108, "cg_dv": 65.1046829, "cg_dw": 34.8953171, "cg_id_a": 3.64286184, "cg_id_raw_a": 10.2179441, "cg_iq_a": 304.533173, "cg_iq_raw_a": 308.871918, "cg_iu_a": 185.104492, "cg_iv_a": -298.348938, "cg_iw_a": 113.244453, "cg_sample_age_us": 23.3981819, "cg_sample_seq": 7287912, "cg_sample_valid": 1, "cg_theta_rad": 0.207220644, "cg_vd_req_v": 7.23634863, "cg_vd_v": 7.23634863, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3970242, "cg_vq_v": -27.3970242, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 11.877099, "control_outputs_enabled": 1, "dclink_i_a": 77.4232712, "dclink_p_w": 11613.752, "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": 61.3755493, "temp_inv2_c": 59.3733215, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11873655, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1054.0802, "values": {"Elec_RPM": -12514.8184, "EncoderCos": 52834, "EncoderSin": 34088, "GapTicks": 38002, "Mech_RPM": -2502.96362, "cg_du": 58.8690643, "cg_dv": 65.4520721, "cg_dw": 34.5479279, "cg_id_a": 9.9738636, "cg_id_raw_a": 1.60938418, "cg_iq_a": 303.454407, "cg_iq_raw_a": 303.40155, "cg_iu_a": 251.177002, "cg_iv_a": -274.609222, "cg_iw_a": 23.4322281, "cg_sample_age_us": 23.3836365, "cg_sample_seq": 7293016, "cg_sample_valid": 1, "cg_theta_rad": 0.278824896, "cg_vd_req_v": 7.10387182, "cg_vd_v": 7.10387182, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3715191, "cg_vq_v": -27.3715191, "cg_vu_v": 0, "cg_vv_v": 37.3908691, "cg_vw_v": 61.5849609, "control_outputs_enabled": 1, "dclink_i_a": 76.3504562, "dclink_p_w": 11452.8262, "enc_isr_hz": 5001, "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": 61.4202576, "temp_inv2_c": 59.299408, "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": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1054.921509, "values": {"Elec_RPM": -12513.2969, "EncoderCos": 41055, "EncoderSin": 14251, "GapTicks": 37223, "Mech_RPM": -2502.65942, "cg_du": 52.003788, "cg_dv": 66.1606216, "cg_dw": 33.8393784, "cg_id_a": 4.50372887, "cg_id_raw_a": 12.3158379, "cg_iq_a": 293.459595, "cg_iq_raw_a": 296.540924, "cg_iu_a": 129.144012, "cg_iv_a": -298.638885, "cg_iw_a": 169.494873, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 7297212, "cg_sample_valid": 1, "cg_theta_rad": 5.18508482, "cg_vd_req_v": 7.20331669, "cg_vd_v": 7.20331669, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2081909, "cg_vq_v": -27.2081909, "cg_vu_v": 0, "cg_vv_v": 67.743454, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 76.6585312, "dclink_p_w": 11532.7588, "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": 61.4202576, "temp_inv2_c": 59.4580078, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119240098, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1055.938843, "values": {"Elec_RPM": -12518.291, "EncoderCos": 16350, "EncoderSin": 44776, "GapTicks": 38210, "Mech_RPM": -2503.6582, "cg_du": 65.2634888, "cg_dv": 59.6463966, "cg_dw": 34.7365112, "cg_id_a": 0.088741973, "cg_id_raw_a": -11.9875698, "cg_iq_a": 299.716797, "cg_iq_raw_a": 297.52356, "cg_iu_a": -48.7407112, "cg_iv_a": -230.717972, "cg_iw_a": 279.458679, "cg_sample_age_us": 23.8745461, "cg_sample_seq": 7302362, "cg_sample_valid": 1, "cg_theta_rad": 2.55074263, "cg_vd_req_v": 7.3435812, "cg_vd_v": 7.3435812, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2531548, "cg_vq_v": -27.2531548, "cg_vu_v": 0.87978512, "cg_vv_v": 56.3062477, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.3939514, "dclink_p_w": 11492.9541, "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": 61.4202576, "temp_inv2_c": 59.521637, "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": 0.119844362, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1056.956421, "values": {"Elec_RPM": -12515.3652, "EncoderCos": 43613, "EncoderSin": 15676, "GapTicks": 38511, "Mech_RPM": -2503.073, "cg_du": 35.0101967, "cg_dv": 64.9898071, "cg_dw": 39.1604729, "cg_id_a": 4.5595746, "cg_id_raw_a": 7.58888769, "cg_iq_a": 297.55014, "cg_iq_raw_a": 301.871399, "cg_iu_a": 231.387878, "cg_iv_a": -276.602661, "cg_iw_a": 45.2147675, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 7307412, "cg_sample_valid": 1, "cg_theta_rad": 5.28564692, "cg_vd_req_v": 7.19472551, "cg_vd_v": 7.19472551, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2855091, "cg_vq_v": -27.2855091, "cg_vu_v": 0, "cg_vv_v": 39.590332, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 76.9339828, "dclink_p_w": 11574.1982, "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": 61.4202576, "temp_inv2_c": 59.3601074, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123268478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1057.951538, "values": {"Elec_RPM": -12519.5039, "EncoderCos": 52808, "EncoderSin": 33954, "GapTicks": 38159, "Mech_RPM": -2503.90088, "cg_du": 59.7000961, "cg_dv": 65.3095398, "cg_dw": 34.6904602, "cg_id_a": 8.39670086, "cg_id_raw_a": -1.94117987, "cg_iq_a": 304.849701, "cg_iq_raw_a": 304.118408, "cg_iu_a": 42.774971, "cg_iv_a": -285.772339, "cg_iw_a": 242.997375, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 7312262, "cg_sample_valid": 1, "cg_theta_rad": 0.0947863162, "cg_vd_req_v": 7.1667223, "cg_vd_v": 7.1667223, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3969803, "cg_vq_v": -27.3969803, "cg_vu_v": 0, "cg_vv_v": 46.1887207, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.6280518, "dclink_p_w": 11644.4697, "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": 61.4202576, "temp_inv2_c": 59.476532, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115564197, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1058.967773, "values": {"Elec_RPM": -12517.7002, "EncoderCos": 29733, "EncoderSin": 12599, "GapTicks": 37543, "Mech_RPM": -2503.54004, "cg_du": 55.7483444, "cg_dv": 34.1300125, "cg_dw": 65.8699875, "cg_id_a": -2.72067428, "cg_id_raw_a": -1.17450535, "cg_iq_a": 293.557434, "cg_iq_raw_a": 289.320587, "cg_iu_a": -202.487061, "cg_iv_a": 280.392578, "cg_iw_a": -77.9055328, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 7317512, "cg_sample_valid": 1, "cg_theta_rad": 4.60889864, "cg_vd_req_v": 7.35265303, "cg_vd_v": 7.35265303, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1885834, "cg_vq_v": -27.1885834, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": 77.8926315, "dclink_p_w": 11718.4209, "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": 61.3308716, "temp_inv2_c": 59.365387, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118434422, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1059.985229, "values": {"Elec_RPM": -12514.7969, "EncoderCos": 42333, "EncoderSin": 50495, "GapTicks": 39212, "Mech_RPM": -2502.95947, "cg_du": 64.3521347, "cg_dv": 35.6478653, "cg_dw": 36.1580811, "cg_id_a": -5.02853394, "cg_id_raw_a": -0.119137466, "cg_iq_a": 301.893402, "cg_iq_raw_a": 309.520599, "cg_iu_a": -264.717712, "cg_iv_a": 3.1272583, "cg_iw_a": 261.590454, "cg_sample_age_us": 23.954546, "cg_sample_seq": 7322562, "cg_sample_valid": 1, "cg_theta_rad": 1.11165738, "cg_vd_req_v": 7.46844482, "cg_vd_v": 7.46844482, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2825947, "cg_vq_v": -27.2825947, "cg_vu_v": 77.4210892, "cg_vv_v": 76.9812012, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 77.2529297, "dclink_p_w": 11588.2002, "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": 61.4202576, "temp_inv2_c": 59.368042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121355005, "tim_isr_running": 1, "vdc_v": 149.123581}}
{"type": "telemetry", "t": 1061.002686, "values": {"Elec_RPM": -12513.1484, "EncoderCos": 41069, "EncoderSin": 51172, "GapTicks": 37358, "Mech_RPM": -2502.62964, "cg_du": 66.038147, "cg_dv": 44.5395699, "cg_dw": 33.9618568, "cg_id_a": 7.02834177, "cg_id_raw_a": 1.78693557, "cg_iq_a": 305.705261, "cg_iq_raw_a": 308.600494, "cg_iu_a": -139.676483, "cg_iv_a": -166.095184, "cg_iw_a": 298.849121, "cg_sample_age_us": 24.0090904, "cg_sample_seq": 7327662, "cg_sample_valid": 1, "cg_theta_rad": 1.22540128, "cg_vd_req_v": 7.22883844, "cg_vd_v": 7.22883844, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3726578, "cg_vq_v": -27.3726578, "cg_vu_v": 101.175293, "cg_vv_v": 113.492287, "cg_vw_v": 65.9838867, "control_outputs_enabled": 1, "dclink_i_a": 76.178299, "dclink_p_w": 11427.002, "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": 61.5098572, "temp_inv2_c": 59.5110168, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123218127, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1062.02002, "values": {"Elec_RPM": -12521.1816, "EncoderCos": 40659, "EncoderSin": 51324, "GapTicks": 37120, "Mech_RPM": -2504.23633, "cg_du": 66.2537537, "cg_dv": 47.6474762, "cg_dw": 33.7462502, "cg_id_a": 1.42753923, "cg_id_raw_a": 8.46919441, "cg_iq_a": 306.000488, "cg_iq_raw_a": 302.372589, "cg_iu_a": -183.785248, "cg_iv_a": -124.632263, "cg_iw_a": 308.417511, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 7332763, "cg_sample_valid": 1, "cg_theta_rad": 1.19630826, "cg_vd_req_v": 7.33005047, "cg_vd_v": 7.33005047, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.36936, "cg_vq_v": -27.36936, "cg_vu_v": 113.052383, "cg_vv_v": 123.60981, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 78.3112488, "dclink_p_w": 11746.9512, "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": 61.3755493, "temp_inv2_c": 59.4474182, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117225915, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1063.037476, "values": {"Elec_RPM": -12521.7568, "EncoderCos": 40326, "EncoderSin": 51455, "GapTicks": 37019, "Mech_RPM": -2504.35132, "cg_du": 66.3459702, "cg_dv": 50.1773529, "cg_dw": 33.6540298, "cg_id_a": -0.771140337, "cg_id_raw_a": 1.04928958, "cg_iq_a": 304.775452, "cg_iq_raw_a": 304.931152, "cg_iu_a": -80.2003555, "cg_iv_a": -212.777252, "cg_iw_a": 292.9776, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 7337864, "cg_sample_valid": 1, "cg_theta_rad": 1.26648951, "cg_vd_req_v": 7.35308743, "cg_vd_v": 7.35308743, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3417568, "cg_vq_v": -27.3417568, "cg_vu_v": 119.210884, "cg_vv_v": 151.323044, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 76.8705521, "dclink_p_w": 11530.8418, "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": 61.4650269, "temp_inv2_c": 59.476532, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115967043, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1064.054932, "values": {"Elec_RPM": -12518.4023, "EncoderCos": 37933, "EncoderSin": 52283, "GapTicks": 38614, "Mech_RPM": -2503.68042, "cg_du": 61.3074799, "cg_dv": 64.8961029, "cg_dw": 35.1038971, "cg_id_a": 0.838077247, "cg_id_raw_a": 6.67963314, "cg_iq_a": 297.254669, "cg_iq_raw_a": 302.493134, "cg_iu_a": 35.0912781, "cg_iv_a": -267.79541, "cg_iw_a": 232.704132, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 7342963, "cg_sample_valid": 1, "cg_theta_rad": 1.34861708, "cg_vd_req_v": 7.35727835, "cg_vd_v": 7.35727835, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1927757, "cg_vq_v": -27.1927757, "cg_vu_v": 111.732712, "cg_vv_v": 151.762939, "cg_vw_v": 109.533249, "control_outputs_enabled": 1, "dclink_i_a": 76.2743454, "dclink_p_w": 11441.4092, "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": 61.4650269, "temp_inv2_c": 59.5003967, "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": 0.121858545, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1064.91626, "values": {"Elec_RPM": -12517.0645, "EncoderCos": 46628, "EncoderSin": 47328, "GapTicks": 37478, "Mech_RPM": -2503.41284, "cg_du": 56.40485, "cg_dv": 34.0712662, "cg_dw": 65.9287338, "cg_id_a": 1.41623116, "cg_id_raw_a": 1.03823435, "cg_iq_a": 304.096924, "cg_iq_raw_a": 299.475433, "cg_iu_a": -214.048843, "cg_iv_a": 290.033447, "cg_iw_a": -75.9846039, "cg_sample_age_us": 23.630909, "cg_sample_seq": 7347262, "cg_sample_valid": 1, "cg_theta_rad": 0.850897431, "cg_vd_req_v": 7.33934689, "cg_vd_v": 7.33934689, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3562737, "cg_vq_v": -27.3562737, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 43.549366, "control_outputs_enabled": 1, "dclink_i_a": 76.8669281, "dclink_p_w": 11564.1104, "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": 61.5098572, "temp_inv2_c": 59.4367981, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122412451, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1065.933716, "values": {"Elec_RPM": -12515.4346, "EncoderCos": 13943, "EncoderSin": 25054, "GapTicks": 37610, "Mech_RPM": -2503.08691, "cg_du": 65.8089218, "cg_dv": 34.1910782, "cg_dw": 43.2920799, "cg_id_a": -7.71316624, "cg_id_raw_a": -11.0607567, "cg_iq_a": 299.045654, "cg_iq_raw_a": 292.90094, "cg_iu_a": -282.368469, "cg_iv_a": 71.0844421, "cg_iw_a": 211.284027, "cg_sample_age_us": 24.0745449, "cg_sample_seq": 7352313, "cg_sample_valid": 1, "cg_theta_rad": 3.57060075, "cg_vd_req_v": 7.48648739, "cg_vd_v": 7.48648739, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2657051, "cg_vq_v": -27.2657051, "cg_vu_v": 152.202835, "cg_vv_v": 149.123581, "cg_vw_v": 86.2189407, "control_outputs_enabled": 1, "dclink_i_a": 76.1855469, "dclink_p_w": 11461.6016, "enc_isr_hz": 5002, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 61.4650269, "temp_inv2_c": 59.4341736, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115262069, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1066.95105, "values": {"Elec_RPM": -12517.1914, "EncoderCos": 14532, "EncoderSin": 23702, "GapTicks": 38821, "Mech_RPM": -2503.43823, "cg_du": 64.7074661, "cg_dv": 37.8470459, "cg_dw": 35.2925339, "cg_id_a": -4.56238794, "cg_id_raw_a": -19.2076855, "cg_iq_a": 298.395386, "cg_iq_raw_a": 291.261383, "cg_iu_a": -248.190521, "cg_iv_a": -19.4164124, "cg_iw_a": 267.606934, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 7357413, "cg_sample_valid": 1, "cg_theta_rad": 3.64614081, "cg_vd_req_v": 7.39212322, "cg_vd_v": 7.39212322, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2399597, "cg_vq_v": -27.2399597, "cg_vu_v": 128.008743, "cg_vv_v": 124.929489, "cg_vw_v": 108.21357, "control_outputs_enabled": 1, "dclink_i_a": 76.1511154, "dclink_p_w": 11456.4219, "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": 61.5098572, "temp_inv2_c": 59.4156189, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121355005, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1067.941772, "values": {"Elec_RPM": -12518.3965, "EncoderCos": 13871, "EncoderSin": 25199, "GapTicks": 37495, "Mech_RPM": -2503.6792, "cg_du": 65.9135513, "cg_dv": 34.0864487, "cg_dw": 44.3501205, "cg_id_a": -9.81099892, "cg_id_raw_a": -8.20737743, "cg_iq_a": 296.300018, "cg_iq_raw_a": 299.756866, "cg_iu_a": 78.1489563, "cg_iv_a": -288.055695, "cg_iw_a": 209.906738, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 7362168, "cg_sample_valid": 1, "cg_theta_rad": 3.88067317, "cg_vd_req_v": 7.52842426, "cg_vd_v": 7.52842426, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.196558, "cg_vq_v": -27.196558, "cg_vu_v": 31.2323723, "cg_vv_v": 78.7407684, "cg_vw_v": 46.1887207, "control_outputs_enabled": 1, "dclink_i_a": 77.544693, "dclink_p_w": 11666.0762, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 61.5098572, "temp_inv2_c": 59.479187, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118434422, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1068.962524, "values": {"Elec_RPM": -12522.5664, "EncoderCos": 13121, "EncoderSin": 37832, "GapTicks": 37270, "Mech_RPM": -2504.51318, "cg_du": 33.8821945, "cg_dv": 66.1178055, "cg_dw": 54.42733, "cg_id_a": -1.53932881, "cg_id_raw_a": -9.89445019, "cg_iq_a": 301.872467, "cg_iq_raw_a": 299.93045, "cg_iu_a": 301.193481, "cg_iv_a": -115.245087, "cg_iw_a": -185.948395, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 7367513, "cg_sample_valid": 1, "cg_theta_rad": 2.93278837, "cg_vd_req_v": 7.37141037, "cg_vd_v": 7.37141037, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2882843, "cg_vq_v": -27.2882843, "cg_vu_v": 73.462059, "cg_vv_v": 96.7763672, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.680275, "dclink_p_w": 11536.0303, "enc_isr_hz": 5001, "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": 61.5098572, "temp_inv2_c": 59.4050598, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119995423, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1069.97998, "values": {"Elec_RPM": -12516.9863, "EncoderCos": 49641, "EncoderSin": 21937, "GapTicks": 38032, "Mech_RPM": -2503.39722, "cg_du": 40.8601532, "cg_dv": 34.5745583, "cg_dw": 65.4254456, "cg_id_a": 14.1713991, "cg_id_raw_a": 13.954896, "cg_iq_a": 306.210815, "cg_iq_raw_a": 313.008881, "cg_iu_a": -56.2069397, "cg_iv_a": 245.272308, "cg_iw_a": -280.943481, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 7372562, "cg_sample_valid": 1, "cg_theta_rad": 5.7516408, "cg_vd_req_v": 7.02956915, "cg_vd_v": 7.02956915, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4349117, "cg_vq_v": -27.4349117, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 34.3116188, "control_outputs_enabled": 1, "dclink_i_a": 76.2290421, "dclink_p_w": 11468.1455, "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": 61.5098572, "temp_inv2_c": 59.4156189, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117679097, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1070.997437, "values": {"Elec_RPM": -12519.2197, "EncoderCos": 20454, "EncoderSin": 48823, "GapTicks": 37109, "Mech_RPM": -2503.84399, "cg_du": 66.2643051, "cg_dv": 33.7356949, "cg_dw": 50.7392273, "cg_id_a": -5.72339916, "cg_id_raw_a": -0.206168398, "cg_iq_a": 296.295105, "cg_iq_raw_a": 295.735596, "cg_iu_a": -281.67984, "cg_iv_a": 208.593552, "cg_iw_a": 73.0862885, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 7377612, "cg_sample_valid": 1, "cg_theta_rad": 2.21677232, "cg_vd_req_v": 7.50040054, "cg_vd_v": 7.50040054, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1644821, "cg_vq_v": -27.1644821, "cg_vu_v": 50.1477547, "cg_vv_v": 0.87978512, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.5334854, "dclink_p_w": 11480.2813, "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": 61.5098572, "temp_inv2_c": 59.5163269, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119038686, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1072.014893, "values": {"Elec_RPM": -12516.2793, "EncoderCos": 51005, "EncoderSin": 24537, "GapTicks": 38451, "Mech_RPM": -2503.25586, "cg_du": 61.0674095, "cg_dv": 34.9559555, "cg_dw": 65.0440445, "cg_id_a": 7.34045219, "cg_id_raw_a": -2.1260426, "cg_iq_a": 308.306854, "cg_iq_raw_a": 301.979736, "cg_iu_a": -244.058746, "cg_iv_a": 285.394257, "cg_iw_a": -41.3355026, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 7382762, "cg_sample_valid": 1, "cg_theta_rad": 5.89925861, "cg_vd_req_v": 7.15173149, "cg_vd_v": 7.15173149, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4782391, "cg_vq_v": -27.4782391, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 76.1728592, "dclink_p_w": 11426.1855, "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": 61.5098572, "temp_inv2_c": 59.521637, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116520949, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1073.032227, "values": {"Elec_RPM": -12513.9658, "EncoderCos": 51158, "EncoderSin": 24903, "GapTicks": 39289, "Mech_RPM": -2502.79321, "cg_du": 63.6414719, "cg_dv": 35.7177162, "cg_dw": 64.2822876, "cg_id_a": 4.10874891, "cg_id_raw_a": 12.3153219, "cg_iq_a": 304.704773, "cg_iq_raw_a": 310.12561, "cg_iu_a": -257.758911, "cg_iv_a": 270.498047, "cg_iw_a": -12.7391205, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 7387863, "cg_sample_valid": 1, "cg_theta_rad": 5.93187904, "cg_vd_req_v": 7.23980713, "cg_vd_v": 7.23980713, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3925037, "cg_vq_v": -27.3925037, "cg_vu_v": 151.762939, "cg_vv_v": 109.093361, "cg_vw_v": 117.891212, "control_outputs_enabled": 1, "dclink_i_a": 76.499054, "dclink_p_w": 11542.418, "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": 61.5098572, "temp_inv2_c": 59.426239, "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": 0.121405356, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1074.049683, "values": {"Elec_RPM": -12516.4541, "EncoderCos": 18011, "EncoderSin": 46609, "GapTicks": 37620, "Mech_RPM": -2503.29077, "cg_du": 65.7994995, "cg_dv": 42.8554878, "cg_dw": 34.2005043, "cg_id_a": -8.12278175, "cg_id_raw_a": -14.6093903, "cg_iq_a": 300.538574, "cg_iq_raw_a": 293.945343, "cg_iu_a": -214.809967, "cg_iv_a": -79.1462402, "cg_iw_a": 293.956207, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 7392913, "cg_sample_valid": 1, "cg_theta_rad": 2.4280107, "cg_vd_req_v": 7.52739191, "cg_vd_v": 7.52739191, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2633572, "cg_vq_v": -27.2633572, "cg_vu_v": 113.492287, "cg_vv_v": 113.492287, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 76.3722, "dclink_p_w": 11489.6826, "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": 61.5098572, "temp_inv2_c": 59.4474182, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118635841, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1075.087158, "values": {"Elec_RPM": -12515.5039, "EncoderCos": 50973, "EncoderSin": 24606, "GapTicks": 38550, "Mech_RPM": -2503.10083, "cg_du": 61.3894005, "cg_dv": 35.0456772, "cg_dw": 64.9543228, "cg_id_a": 8.00849819, "cg_id_raw_a": 1.11249745, "cg_iq_a": 307.119568, "cg_iq_raw_a": 301.295288, "cg_iu_a": -299.765503, "cg_iv_a": 99.7895508, "cg_iw_a": 199.975952, "cg_sample_age_us": 23.772728, "cg_sample_seq": 7398066, "cg_sample_valid": 1, "cg_theta_rad": 6.0759902, "cg_vd_req_v": 7.14730644, "cg_vd_v": 7.14730644, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4639454, "cg_vq_v": -27.4639454, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 77.3109207, "dclink_p_w": 11596.8984, "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": 61.5547485, "temp_inv2_c": 59.4156189, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122160681, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1075.928467, "values": {"Elec_RPM": -12517.4629, "EncoderCos": 31628, "EncoderSin": 12513, "GapTicks": 38567, "Mech_RPM": -2503.49268, "cg_du": 61.022316, "cg_dv": 35.0611877, "cg_dw": 64.9388123, "cg_id_a": -2.75758529, "cg_id_raw_a": -15.6562729, "cg_iq_a": 297.258728, "cg_iq_raw_a": 291.486664, "cg_iu_a": -236.44754, "cg_iv_a": 274.484863, "cg_iw_a": -38.0373154, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 7402263, "cg_sample_valid": 1, "cg_theta_rad": 4.65979862, "cg_vd_req_v": 7.43924999, "cg_vd_v": 7.43924999, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2090969, "cg_vq_v": -27.2090969, "cg_vu_v": 141.645401, "cg_vv_v": 73.9019547, "cg_vw_v": 75.2216263, "control_outputs_enabled": 1, "dclink_i_a": 77.5972443, "dclink_p_w": 11673.9814, "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": 61.5098572, "temp_inv2_c": 59.5189819, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118132301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1076.945801, "values": {"Elec_RPM": -12516.1348, "EncoderCos": 24748, "EncoderSin": 51268, "GapTicks": 37528, "Mech_RPM": -2503.22705, "cg_du": 44.0795555, "cg_dv": 34.1170654, "cg_dw": 65.8829346, "cg_id_a": -0.47406128, "cg_id_raw_a": -5.81766367, "cg_iq_a": 296.787109, "cg_iq_raw_a": 296.413666, "cg_iu_a": -91.3634567, "cg_iv_a": 292.715515, "cg_iw_a": -201.352051, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 7407413, "cg_sample_valid": 1, "cg_theta_rad": 2.01801443, "cg_vd_req_v": 7.40458107, "cg_vd_v": 7.40458107, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1488876, "cg_vq_v": -27.1488876, "cg_vu_v": 139.885834, "cg_vv_v": 73.0221634, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": 76.290657, "dclink_p_w": 11477.415, "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": 61.6447144, "temp_inv2_c": 59.5428772, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118988328, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1077.907227, "values": {"Elec_RPM": -12523.168, "EncoderCos": 36916, "EncoderSin": 52425, "GapTicks": 37328, "Mech_RPM": -2504.63354, "cg_du": 54.4405518, "cg_dv": 66.0646286, "cg_dw": 33.9353714, "cg_id_a": -0.810292006, "cg_id_raw_a": 3.27117991, "cg_iq_a": 298.023315, "cg_iq_raw_a": 301.766296, "cg_iu_a": 103.88208, "cg_iv_a": -298.566406, "cg_iw_a": 194.684326, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 7412062, "cg_sample_valid": 1, "cg_theta_rad": 1.39125526, "cg_vd_req_v": 7.4099946, "cg_vd_v": 7.4099946, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1857185, "cg_vq_v": -27.1857185, "cg_vu_v": 0, "cg_vv_v": 65.9838867, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 77.2565536, "dclink_p_w": 11622.7275, "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": 61.5547485, "temp_inv2_c": 59.6039734, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119642943, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1078.95752, "values": {"Elec_RPM": -12525.2979, "EncoderCos": 50716, "EncoderSin": 41429, "GapTicks": 39340, "Mech_RPM": -2505.05957, "cg_du": 35.7642517, "cg_dv": 63.7721252, "cg_dw": 64.2357483, "cg_id_a": 2.19916725, "cg_id_raw_a": -11.1116819, "cg_iq_a": 305.416687, "cg_iq_raw_a": 300.573303, "cg_iu_a": 271.07489, "cg_iv_a": -4.66516113, "cg_iw_a": -266.409729, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 7417412, "cg_sample_valid": 1, "cg_theta_rad": 0.491912305, "cg_vd_req_v": 7.34636593, "cg_vd_v": 7.34636593, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3567753, "cg_vq_v": -27.3567753, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 63.7844238, "control_outputs_enabled": 1, "dclink_i_a": 76.5606689, "dclink_p_w": 11484.3584, "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": 61.5997009, "temp_inv2_c": 59.521637, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124275573, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1079.974731, "values": {"Elec_RPM": -12520.0313, "EncoderCos": 50037, "EncoderSin": 42696, "GapTicks": 37279, "Mech_RPM": -2504.00635, "cg_du": 33.8906403, "cg_dv": 54.3191414, "cg_dw": 66.1093597, "cg_id_a": 2.7040875, "cg_id_raw_a": -1.6106751, "cg_iq_a": 304.965393, "cg_iq_raw_a": 305.503998, "cg_iu_a": 201.812897, "cg_iv_a": 108.705536, "cg_iw_a": -310.518433, "cg_sample_age_us": 23.5690918, "cg_sample_seq": 7422512, "cg_sample_valid": 1, "cg_theta_rad": 0.56056118, "cg_vd_req_v": 7.31894779, "cg_vd_v": 7.31894779, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3558178, "cg_vq_v": -27.3558178, "cg_vu_v": 37.830761, "cg_vv_v": 32.9919434, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 76.3631439, "dclink_p_w": 11488.3193, "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": 61.5547485, "temp_inv2_c": 59.6279297, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116923779, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1080.992188, "values": {"Elec_RPM": -12516.6992, "EncoderCos": 22100, "EncoderSin": 15487, "GapTicks": 37782, "Mech_RPM": -2503.33984, "cg_du": 34.3480835, "cg_dv": 65.6519165, "cg_dw": 57.3879509, "cg_id_a": -5.21057892, "cg_id_raw_a": -11.252573, "cg_iq_a": 295.669312, "cg_iq_raw_a": 291.665741, "cg_iu_a": 278.976013, "cg_iv_a": -60.6256409, "cg_iw_a": -218.350372, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 7427662, "cg_sample_valid": 1, "cg_theta_rad": 4.195333, "cg_vd_req_v": 7.42781162, "cg_vd_v": 7.42781162, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1851101, "cg_vq_v": -27.1851101, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 68.1833496, "control_outputs_enabled": 1, "dclink_i_a": 77.3272247, "dclink_p_w": 11633.3594, "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": 61.5997009, "temp_inv2_c": 59.521637, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119592577, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1082.009644, "values": {"Elec_RPM": -12517.9531, "EncoderCos": 12914, "EncoderSin": 29221, "GapTicks": 37652, "Mech_RPM": -2503.59058, "cg_du": 56.252243, "cg_dv": 34.22995, "cg_dw": 65.77005, "cg_id_a": -10.4277353, "cg_id_raw_a": -0.819705546, "cg_iq_a": 291.179993, "cg_iq_raw_a": 294.288574, "cg_iu_a": -201.580963, "cg_iv_a": 287.641357, "cg_iw_a": -86.0604019, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7432663, "cg_sample_valid": 1, "cg_theta_rad": 3.35628867, "cg_vd_req_v": 7.57028723, "cg_vd_v": 7.57028723, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0649605, "cg_vq_v": -27.0649605, "cg_vu_v": 126.249161, "cg_vv_v": 80.5003433, "cg_vw_v": 117.891212, "control_outputs_enabled": 1, "dclink_i_a": 76.8977356, "dclink_p_w": 11534.9199, "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": 61.5997009, "temp_inv2_c": 59.7078552, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123772033, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1083.026978, "values": {"Elec_RPM": -12515.9961, "EncoderCos": 23676, "EncoderSin": 14587, "GapTicks": 38158, "Mech_RPM": -2503.19922, "cg_du": 34.6899643, "cg_dv": 59.2040253, "cg_dw": 65.3100357, "cg_id_a": -0.555900455, "cg_id_raw_a": 2.38974214, "cg_iq_a": 295.448456, "cg_iq_raw_a": 297.346954, "cg_iu_a": 214.860687, "cg_iv_a": 59.7763672, "cg_iw_a": -274.637054, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 7437863, "cg_sample_valid": 1, "cg_theta_rad": 4.28942871, "cg_vd_req_v": 7.3148365, "cg_vd_v": 7.3148365, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1857014, "cg_vq_v": -27.1857014, "cg_vu_v": 111.292824, "cg_vv_v": 100.295509, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.4577026, "dclink_p_w": 11652.9883, "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": 61.5997009, "temp_inv2_c": 59.6066284, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120650038, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1084.044434, "values": {"Elec_RPM": -12517.8955, "EncoderCos": 46470, "EncoderSin": 47250, "GapTicks": 37609, "Mech_RPM": -2503.5791, "cg_du": 56.8166237, "cg_dv": 34.1905403, "cg_dw": 65.8094635, "cg_id_a": 2.4088366, "cg_id_raw_a": 0.485310882, "cg_iq_a": 300.791992, "cg_iq_raw_a": 296.205048, "cg_iu_a": -212.997772, "cg_iv_a": 287.713867, "cg_iw_a": -74.7160873, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 7442912, "cg_sample_valid": 1, "cg_theta_rad": 0.854869664, "cg_vd_req_v": 7.34209728, "cg_vd_v": 7.34209728, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2472553, "cg_vq_v": -27.2472553, "cg_vu_v": 73.9019547, "cg_vv_v": 3.95903301, "cg_vw_v": 36.0711899, "control_outputs_enabled": 1, "dclink_i_a": 76.9629745, "dclink_p_w": 11578.5605, "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": 61.5547485, "temp_inv2_c": 59.5641174, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1085.081909, "values": {"Elec_RPM": -12515.3525, "EncoderCos": 48441, "EncoderSin": 45114, "GapTicks": 39040, "Mech_RPM": -2503.07056, "cg_du": 36.9541321, "cg_dv": 35.4911461, "cg_dw": 64.5088501, "cg_id_a": 2.39777184, "cg_id_raw_a": 3.58445573, "cg_iq_a": 302.048187, "cg_iq_raw_a": 309.24118, "cg_iu_a": -276.569458, "cg_iv_a": 255.529327, "cg_iw_a": 21.0401306, "cg_sample_age_us": 23.40909, "cg_sample_seq": 7448016, "cg_sample_valid": 1, "cg_theta_rad": 0.921557009, "cg_vd_req_v": 7.34323883, "cg_vd_v": 7.34323883, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2604599, "cg_vq_v": -27.2604599, "cg_vu_v": 76.9812012, "cg_vv_v": 37.830761, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 75.6835709, "dclink_p_w": 11386.083, "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": 61.5997009, "temp_inv2_c": 59.5986633, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125081256, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1085.923218, "values": {"Elec_RPM": -12513.2725, "EncoderCos": 51596, "EncoderSin": 39168, "GapTicks": 37066, "Mech_RPM": -2502.65454, "cg_du": 33.6965256, "cg_dv": 66.3034744, "cg_dw": 48.0637665, "cg_id_a": 5.03233004, "cg_id_raw_a": 8.45532227, "cg_iq_a": 308.510925, "cg_iq_raw_a": 305.827423, "cg_iu_a": 306.448853, "cg_iv_a": -162.50705, "cg_iw_a": -143.941803, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 7452312, "cg_sample_valid": 1, "cg_theta_rad": 0.365727901, "cg_vd_req_v": 7.26043367, "cg_vd_v": 7.26043367, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4442539, "cg_vq_v": -27.4442539, "cg_vu_v": 0, "cg_vv_v": 33.871727, "cg_vw_v": 54.5466805, "control_outputs_enabled": 1, "dclink_i_a": 76.5715408, "dclink_p_w": 11519.6719, "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": 61.5997009, "temp_inv2_c": 59.5534668, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124225222, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1086.940552, "values": {"Elec_RPM": -12517.5879, "EncoderCos": 12653, "EncoderSin": 34510, "GapTicks": 37101, "Mech_RPM": -2503.51758, "cg_du": 33.7284622, "cg_dv": 51.6167755, "cg_dw": 66.2715378, "cg_id_a": -0.372498751, "cg_id_raw_a": 2.77331257, "cg_iq_a": 300.93811, "cg_iq_raw_a": 298.215057, "cg_iu_a": 154.913391, "cg_iv_a": 138.461731, "cg_iw_a": -293.375122, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 7457363, "cg_sample_valid": 1, "cg_theta_rad": 3.08344245, "cg_vd_req_v": 7.37277508, "cg_vd_v": 7.37277508, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.25033, "cg_vq_v": -27.25033, "cg_vu_v": 116.571533, "cg_vv_v": 96.3364716, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 77.8346405, "dclink_p_w": 11709.6963, "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": 61.5997009, "temp_inv2_c": 59.7052002, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116168454, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1087.926636, "values": {"Elec_RPM": -12513.5693, "EncoderCos": 21143, "EncoderSin": 16113, "GapTicks": 37196, "Mech_RPM": -2502.71387, "cg_du": 33.8147507, "cg_dv": 66.1852493, "cg_dw": 49.5093498, "cg_id_a": -5.21857929, "cg_id_raw_a": 3.88611126, "cg_iq_a": 292.519043, "cg_iq_raw_a": 292.923798, "cg_iu_a": 298.946381, "cg_iv_a": -155.801941, "cg_iw_a": -143.14444, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 7462213, "cg_sample_valid": 1, "cg_theta_rad": 4.14969254, "cg_vd_req_v": 7.42617035, "cg_vd_v": 7.42617035, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1225491, "cg_vq_v": -27.1225491, "cg_vu_v": 73.462059, "cg_vv_v": 105.574219, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.3468323, "dclink_p_w": 11485.8662, "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": 61.5547485, "temp_inv2_c": 59.6705627, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116118103, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1088.952026, "values": {"Elec_RPM": -12516.1875, "EncoderCos": 40112, "EncoderSin": 14067, "GapTicks": 38029, "Mech_RPM": -2503.23755, "cg_du": 58.3416824, "cg_dv": 65.4276657, "cg_dw": 34.5723343, "cg_id_a": 1.42845702, "cg_id_raw_a": -6.62773037, "cg_iq_a": 294.992004, "cg_iq_raw_a": 294.541748, "cg_iu_a": -17.8247223, "cg_iv_a": -244.780563, "cg_iw_a": 262.605286, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7467412, "cg_sample_valid": 1, "cg_theta_rad": 5.09389114, "cg_vd_req_v": 7.26762104, "cg_vd_v": 7.26762104, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2040157, "cg_vq_v": -27.2040157, "cg_vu_v": 75.2216263, "cg_vv_v": 113.492287, "cg_vw_v": 70.3828125, "control_outputs_enabled": 1, "dclink_i_a": 76.3268967, "dclink_p_w": 11482.8662, "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": 61.6447144, "temp_inv2_c": 59.6412354, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1089.969482, "values": {"Elec_RPM": -12514.9492, "EncoderCos": 32099, "EncoderSin": 52810, "GapTicks": 37102, "Mech_RPM": -2502.98975, "cg_du": 33.729351, "cg_dv": 66.2706451, "cg_dw": 49.9637985, "cg_id_a": 1.77334023, "cg_id_raw_a": 3.7177155, "cg_iq_a": 300.389801, "cg_iq_raw_a": 298.488281, "cg_iu_a": 290.030396, "cg_iv_a": -222.744308, "cg_iw_a": -67.286087, "cg_sample_age_us": 23.772728, "cg_sample_seq": 7472462, "cg_sample_valid": 1, "cg_theta_rad": 1.59470749, "cg_vd_req_v": 7.36079454, "cg_vd_v": 7.36079454, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2040024, "cg_vq_v": -27.2040024, "cg_vu_v": 0, "cg_vv_v": 30.7924805, "cg_vw_v": 54.9865723, "control_outputs_enabled": 1, "dclink_i_a": 76.7183304, "dclink_p_w": 11508.0078, "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": 61.6447144, "temp_inv2_c": 59.6172791, "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": 0.120549329, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1090.986938, "values": {"Elec_RPM": -12513.1211, "EncoderCos": 42680, "EncoderSin": 15332, "GapTicks": 38672, "Mech_RPM": -2502.62427, "cg_du": 38.633194, "cg_dv": 64.8427505, "cg_dw": 35.1572495, "cg_id_a": -3.41557074, "cg_id_raw_a": 5.56254339, "cg_iq_a": 295.23175, "cg_iq_raw_a": 301.573029, "cg_iu_a": 281.259399, "cg_iv_a": -233.871185, "cg_iw_a": -47.3882141, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 7477612, "cg_sample_valid": 1, "cg_theta_rad": 5.33327246, "cg_vd_req_v": 7.36485863, "cg_vd_v": 7.36485863, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2132568, "cg_vq_v": -27.2132568, "cg_vu_v": 100.295509, "cg_vv_v": 151.762939, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 76.9104233, "dclink_p_w": 11570.6543, "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": 61.6447144, "temp_inv2_c": 59.7131958, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121506065, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1092.004395, "values": {"Elec_RPM": -12513.2119, "EncoderCos": 43943, "EncoderSin": 16137, "GapTicks": 37739, "Mech_RPM": -2502.64233, "cg_du": 34.3084641, "cg_dv": 65.6915359, "cg_dw": 42.6173096, "cg_id_a": 6.56583118, "cg_id_raw_a": 8.68362427, "cg_iq_a": 300.867004, "cg_iq_raw_a": 301.455902, "cg_iu_a": 288.689392, "cg_iv_a": -269.680084, "cg_iw_a": 16.5821533, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 7482712, "cg_sample_valid": 1, "cg_theta_rad": 5.34133291, "cg_vd_req_v": 7.15789366, "cg_vd_v": 7.15789366, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.324646, "cg_vq_v": -27.324646, "cg_vu_v": 0, "cg_vv_v": 37.830761, "cg_vw_v": 54.5466805, "control_outputs_enabled": 1, "dclink_i_a": 76.7763214, "dclink_p_w": 11550.4795, "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": 61.5997009, "temp_inv2_c": 59.6465759, "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": 0.121254295, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1093.021851, "values": {"Elec_RPM": -12514.4219, "EncoderCos": 45074, "EncoderSin": 16993, "GapTicks": 37239, "Mech_RPM": -2502.88428, "cg_du": 33.8539429, "cg_dv": 66.1460571, "cg_dw": 52.7123718, "cg_id_a": -3.72084618, "cg_id_raw_a": -5.95966291, "cg_iq_a": 298.800751, "cg_iq_raw_a": 291.407959, "cg_iu_a": 296.445557, "cg_iv_a": -111.113312, "cg_iw_a": -185.332245, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 7487812, "cg_sample_valid": 1, "cg_theta_rad": 5.43205881, "cg_vd_req_v": 7.38604975, "cg_vd_v": 7.38604975, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2802505, "cg_vq_v": -27.2802505, "cg_vu_v": 25.5137672, "cg_vv_v": 44.8690414, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 76.9013596, "dclink_p_w": 11569.291, "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": 61.5547485, "temp_inv2_c": 59.6279297, "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": 0.121556424, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1094.039185, "values": {"Elec_RPM": -12518.2695, "EncoderCos": 46186, "EncoderSin": 17941, "GapTicks": 38906, "Mech_RPM": -2503.65381, "cg_du": 35.3692932, "cg_dv": 64.6307068, "cg_dw": 62.4063263, "cg_id_a": 2.74904633, "cg_id_raw_a": -10.6842594, "cg_iq_a": 302.240967, "cg_iq_raw_a": 298.380463, "cg_iu_a": 299.417542, "cg_iv_a": -107.307709, "cg_iw_a": -192.109833, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 7492912, "cg_sample_valid": 1, "cg_theta_rad": 5.45542908, "cg_vd_req_v": 7.22754097, "cg_vd_v": 7.22754097, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3599014, "cg_vq_v": -27.3599014, "cg_vu_v": 73.462059, "cg_vv_v": 76.1014175, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 76.5008698, "dclink_p_w": 11475.3887, "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": 61.6447144, "temp_inv2_c": 59.649231, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120549329, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1095.056519, "values": {"Elec_RPM": -12519.7119, "EncoderCos": 25168, "EncoderSin": 51310, "GapTicks": 38043, "Mech_RPM": -2503.94238, "cg_du": 41.3042984, "cg_dv": 34.5848312, "cg_dw": 65.4151688, "cg_id_a": 4.49867344, "cg_id_raw_a": 3.96329856, "cg_iq_a": 296.0755, "cg_iq_raw_a": 305.235992, "cg_iu_a": -69.1822281, "cg_iv_a": 277.16687, "cg_iw_a": -207.98465, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 7497962, "cg_sample_valid": 1, "cg_theta_rad": 1.99562252, "cg_vd_req_v": 7.33284521, "cg_vd_v": 7.33284521, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1065025, "cg_vq_v": -27.1065025, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 35.6312981, "control_outputs_enabled": 1, "dclink_i_a": 77.0952682, "dclink_p_w": 11598.4629, "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": 61.5547485, "temp_inv2_c": 59.6705627, "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": 0.122865647, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1095.917969, "values": {"Elec_RPM": -12518.4385, "EncoderCos": 49740, "EncoderSin": 42980, "GapTicks": 37059, "Mech_RPM": -2503.68774, "cg_du": 33.6906586, "cg_dv": 51.6242409, "cg_dw": 66.3093414, "cg_id_a": 7.69743824, "cg_id_raw_a": 10.8442926, "cg_iq_a": 306.496399, "cg_iq_raw_a": 310.438141, "cg_iu_a": 178.979279, "cg_iv_a": 135.091064, "cg_iw_a": -314.070343, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 7502162, "cg_sample_valid": 1, "cg_theta_rad": 0.578220069, "cg_vd_req_v": 7.24855757, "cg_vd_v": 7.24855757, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3517151, "cg_vq_v": -27.3517151, "cg_vu_v": 39.1504402, "cg_vv_v": 36.9509773, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 77.1025162, "dclink_p_w": 11565.6377, "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": 61.6447144, "temp_inv2_c": 59.7052002, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119894713, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1096.935303, "values": {"Elec_RPM": -12515.7461, "EncoderCos": 22501, "EncoderSin": 15382, "GapTicks": 38341, "Mech_RPM": -2503.14917, "cg_du": 34.8559799, "cg_dv": 65.1440201, "cg_dw": 59.9663429, "cg_id_a": -1.74939322, "cg_id_raw_a": -12.0180912, "cg_iq_a": 294.502686, "cg_iq_raw_a": 291.210358, "cg_iu_a": 272.742065, "cg_iv_a": -40.8364868, "cg_iw_a": -231.905579, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 7507312, "cg_sample_valid": 1, "cg_theta_rad": 4.21543837, "cg_vd_req_v": 7.35732079, "cg_vd_v": 7.35732079, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1639862, "cg_vq_v": -27.1639862, "cg_vu_v": 31.2323723, "cg_vv_v": 39.1504402, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 77.0064697, "dclink_p_w": 11585.1035, "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": 61.6447144, "temp_inv2_c": 59.649231, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117276266, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1097.91687, "values": {"Elec_RPM": -12520.8867, "EncoderCos": 38666, "EncoderSin": 13608, "GapTicks": 38282, "Mech_RPM": -2504.17725, "cg_du": 65.197403, "cg_dv": 60.0125923, "cg_dw": 34.802597, "cg_id_a": 3.34975433, "cg_id_raw_a": -5.40689611, "cg_iq_a": 300.671814, "cg_iq_raw_a": 298.139069, "cg_iu_a": 234.106171, "cg_iv_a": -272.108429, "cg_iw_a": 103.313629, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 7512166, "cg_sample_valid": 1, "cg_theta_rad": 5.26839542, "cg_vd_req_v": 7.24108458, "cg_vd_v": 7.24108458, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3019409, "cg_vq_v": -27.3019409, "cg_vu_v": 0, "cg_vv_v": 47.5083961, "cg_vw_v": 14.0765619, "control_outputs_enabled": 1, "dclink_i_a": 76.5914764, "dclink_p_w": 11522.6709, "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": 61.6897583, "temp_inv2_c": 59.6705627, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12226139, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1098.946899, "values": {"Elec_RPM": -12524.4482, "EncoderCos": 16102, "EncoderSin": 43900, "GapTicks": 39148, "Mech_RPM": -2504.88965, "cg_du": 63.0367241, "cg_dv": 64.4100266, "cg_dw": 35.5899734, "cg_id_a": -0.650383472, "cg_id_raw_a": 5.21501827, "cg_iq_a": 298.379456, "cg_iq_raw_a": 302.942139, "cg_iu_a": 7.69093752, "cg_iv_a": -258.770691, "cg_iw_a": 251.079742, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 7517313, "cg_sample_valid": 1, "cg_theta_rad": 2.58401394, "cg_vd_req_v": 7.41422749, "cg_vd_v": 7.41422749, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1655655, "cg_vq_v": -27.1655655, "cg_vu_v": 113.492287, "cg_vv_v": 151.762939, "cg_vw_v": 101.175293, "control_outputs_enabled": 1, "dclink_i_a": 76.2707214, "dclink_p_w": 11474.415, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 61.6897583, "temp_inv2_c": 59.6705627, "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": 0.125685513, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1099.964355, "values": {"Elec_RPM": -12517.3379, "EncoderCos": 13815, "EncoderSin": 26068, "GapTicks": 37104, "Mech_RPM": -2503.46753, "cg_du": 66.268631, "cg_dv": 33.7313728, "cg_dw": 50.02882, "cg_id_a": -12.4457932, "cg_id_raw_a": -7.99596786, "cg_iq_a": 294.789886, "cg_iq_raw_a": 290.922211, "cg_iu_a": -290.342102, "cg_iv_a": 130.995514, "cg_iw_a": 83.089592, "cg_sample_age_us": 24.0854549, "cg_sample_seq": 7522513, "cg_sample_valid": 1, "cg_theta_rad": 3.50931215, "cg_vd_req_v": 7.62230301, "cg_vd_v": 7.62230301, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1282425, "cg_vq_v": -27.1282425, "cg_vu_v": 151.762939, "cg_vv_v": 128.008743, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 76.7726974, "dclink_p_w": 11549.9346, "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": 61.6447144, "temp_inv2_c": 59.5853577, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122815281, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1100.981812, "values": {"Elec_RPM": -12519.2324, "EncoderCos": 14736, "EncoderSin": 41423, "GapTicks": 37620, "Mech_RPM": -2503.84644, "cg_du": 43.5966797, "cg_dv": 65.7993011, "cg_dw": 34.2006989, "cg_id_a": -1.73330569, "cg_id_raw_a": -4.74287128, "cg_iq_a": 295.64447, "cg_iq_raw_a": 291.519012, "cg_iu_a": 209.641571, "cg_iv_a": -280.84317, "cg_iw_a": 71.2015915, "cg_sample_age_us": 23.7909088, "cg_sample_seq": 7527513, "cg_sample_valid": 1, "cg_theta_rad": 2.72230577, "cg_vd_req_v": 7.44675827, "cg_vd_v": 7.44675827, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1005077, "cg_vq_v": -27.1005077, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 76.7364502, "dclink_p_w": 11510.7266, "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": 61.6447144, "temp_inv2_c": 59.6385803, "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": 0.122412451, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1101.999146, "values": {"Elec_RPM": -12520.2383, "EncoderCos": 14971, "EncoderSin": 23387, "GapTicks": 38074, "Mech_RPM": -2504.04761, "cg_du": 65.3865051, "cg_dv": 41.1165199, "cg_dw": 34.6134949, "cg_id_a": -6.06129742, "cg_id_raw_a": -15.1109943, "cg_iq_a": 296.632996, "cg_iq_raw_a": 290.593567, "cg_iu_a": -223.834686, "cg_iv_a": -59.1033936, "cg_iw_a": 249.847443, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 7532713, "cg_sample_valid": 1, "cg_theta_rad": 3.65690517, "cg_vd_req_v": 7.49192429, "cg_vd_v": 7.49192429, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1604805, "cg_vq_v": -27.1604805, "cg_vu_v": 151.762939, "cg_vv_v": 151.323044, "cg_vw_v": 86.2189407, "control_outputs_enabled": 1, "dclink_i_a": 76.6476593, "dclink_p_w": 11564.8398, "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": 61.6447144, "temp_inv2_c": 59.8173828, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117427327, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1103.016602, "values": {"Elec_RPM": -12515.7334, "EncoderCos": 52372, "EncoderSin": 35275, "GapTicks": 37099, "Mech_RPM": -2503.14673, "cg_du": 50.3990784, "cg_dv": 66.2728424, "cg_dw": 33.7271614, "cg_id_a": 11.2633371, "cg_id_raw_a": 15.9869137, "cg_iq_a": 305.240234, "cg_iq_raw_a": 305.027496, "cg_iu_a": 149.331833, "cg_iv_a": -292.622406, "cg_iw_a": 232.196701, "cg_sample_age_us": 23.4781818, "cg_sample_seq": 7537763, "cg_sample_valid": 1, "cg_theta_rad": 0.158354685, "cg_vd_req_v": 7.15156841, "cg_vd_v": 7.15156841, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3520203, "cg_vq_v": -27.3520203, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 82.2599106, "control_outputs_enabled": 1, "dclink_i_a": 76.2290421, "dclink_p_w": 11434.6133, "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": 61.6897583, "temp_inv2_c": 59.7745972, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11848478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1104.033936, "values": {"Elec_RPM": -12515.9727, "EncoderCos": 12991, "EncoderSin": 36307, "GapTicks": 39361, "Mech_RPM": -2503.19458, "cg_du": 35.7830582, "cg_dv": 63.720356, "cg_dw": 64.2169418, "cg_id_a": -3.90949774, "cg_id_raw_a": -20.5571518, "cg_iq_a": 299.201599, "cg_iq_raw_a": 295.831085, "cg_iu_a": 260.455444, "cg_iv_a": 3.19973755, "cg_iw_a": -263.655182, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 7542812, "cg_sample_valid": 1, "cg_theta_rad": 2.99610877, "cg_vd_req_v": 7.47287846, "cg_vd_v": 7.47287846, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1809502, "cg_vq_v": -27.1809502, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 48.8280716, "control_outputs_enabled": 1, "dclink_i_a": 77.0463409, "dclink_p_w": 11591.1025, "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": 61.6897583, "temp_inv2_c": 59.7318726, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120448619, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1105.071533, "values": {"Elec_RPM": -12515.5557, "EncoderCos": 14982, "EncoderSin": 23391, "GapTicks": 38068, "Mech_RPM": -2503.11108, "cg_du": 65.3920517, "cg_dv": 41.1367683, "cg_dw": 34.6079483, "cg_id_a": -6.96898651, "cg_id_raw_a": -16.7022858, "cg_iq_a": 296.735504, "cg_iq_raw_a": 290.584595, "cg_iu_a": 76.0105667, "cg_iv_a": -279.68338, "cg_iw_a": 203.672821, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 7548017, "cg_sample_valid": 1, "cg_theta_rad": 3.88657379, "cg_vd_req_v": 7.49799633, "cg_vd_v": 7.49799633, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1616364, "cg_vq_v": -27.1616364, "cg_vu_v": 109.973145, "cg_vv_v": 151.762939, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 76.2380981, "dclink_p_w": 11469.5078, "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": 61.7348633, "temp_inv2_c": 59.7131958, "temp_inv3_c": null, "temp_motor_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": 150.443253}}
{"type": "telemetry", "t": 1106.068848, "values": {"Elec_RPM": -12516.6602, "EncoderCos": 12745, "EncoderSin": 33391, "GapTicks": 37556, "Mech_RPM": -2503.33203, "cg_du": 34.1418877, "cg_dv": 43.7017326, "cg_dw": 65.8581161, "cg_id_a": -5.28311062, "cg_id_raw_a": -0.676832914, "cg_iq_a": 298.971924, "cg_iq_raw_a": 306.838409, "cg_iu_a": 150.020477, "cg_iv_a": 143.862061, "cg_iw_a": -293.882538, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 7553012, "cg_sample_valid": 1, "cg_theta_rad": 3.10270858, "cg_vd_req_v": 7.50730705, "cg_vd_v": 7.50730705, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1621704, "cg_vq_v": -27.1621704, "cg_vu_v": 109.533249, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 76.8234406, "dclink_p_w": 11557.5684, "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": 61.6897583, "temp_inv2_c": 59.8816528, "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": 0.120045774, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1106.930298, "values": {"Elec_RPM": -12520.8975, "EncoderCos": 31322, "EncoderSin": 52666, "GapTicks": 37436, "Mech_RPM": -2504.17944, "cg_du": 34.0334625, "cg_dv": 65.9665375, "cg_dw": 55.5331078, "cg_id_a": -1.81257665, "cg_id_raw_a": 8.76958466, "cg_iq_a": 301.286041, "cg_iq_raw_a": 304.783264, "cg_iu_a": 298.040283, "cg_iv_a": -105.749222, "cg_iw_a": -192.291061, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 7557213, "cg_sample_valid": 1, "cg_theta_rad": 1.67448378, "cg_vd_req_v": 7.45318222, "cg_vd_v": 7.45318222, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2009621, "cg_vq_v": -27.2009621, "cg_vu_v": 73.462059, "cg_vv_v": 88.8582916, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 77.1931229, "dclink_p_w": 11613.1846, "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": 61.6897583, "temp_inv2_c": 59.649231, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121606775, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1107.886963, "values": {"Elec_RPM": -12522.8926, "EncoderCos": 26599, "EncoderSin": 51736, "GapTicks": 38286, "Mech_RPM": -2504.57861, "cg_du": 34.8062248, "cg_dv": 39.9675903, "cg_dw": 65.193779, "cg_id_a": -5.39575958, "cg_id_raw_a": -0.366010576, "cg_iq_a": 298.553864, "cg_iq_raw_a": 306.878357, "cg_iu_a": 58.830986, "cg_iv_a": 227.331604, "cg_iw_a": -290.548096, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 7561962, "cg_sample_valid": 1, "cg_theta_rad": 1.90661275, "cg_vd_req_v": 7.51357603, "cg_vd_v": 7.51357603, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1437569, "cg_vq_v": -27.1437569, "cg_vu_v": 25.0738773, "cg_vv_v": 0, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": 76.5697327, "dclink_p_w": 11519.3994, "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": 61.6897583, "temp_inv2_c": 59.9460144, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121959254, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1108.94165, "values": {"Elec_RPM": -12519.3652, "EncoderCos": 44738, "EncoderSin": 48539, "GapTicks": 37735, "Mech_RPM": -2503.87305, "cg_du": 65.694809, "cg_dv": 34.3051949, "cg_dw": 57.454689, "cg_id_a": 8.01270866, "cg_id_raw_a": 9.92626476, "cg_iq_a": 302.550598, "cg_iq_raw_a": 305.078156, "cg_iu_a": -287.877533, "cg_iv_a": 207.796188, "cg_iw_a": 80.0813446, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 7567313, "cg_sample_valid": 1, "cg_theta_rad": 0.955890477, "cg_vd_req_v": 7.23772955, "cg_vd_v": 7.23772955, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2434216, "cg_vq_v": -27.2434216, "cg_vu_v": 125.809273, "cg_vv_v": 91.0577545, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 76.1239319, "dclink_p_w": 11418.8467, "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": 61.6897583, "temp_inv2_c": 59.8093567, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11707484, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1109.959229, "values": {"Elec_RPM": -12520.6982, "EncoderCos": 29563, "EncoderSin": 12982, "GapTicks": 37398, "Mech_RPM": -2504.13965, "cg_du": 54.1955414, "cg_dv": 33.9988327, "cg_dw": 66.0011673, "cg_id_a": -1.82567132, "cg_id_raw_a": 7.75869608, "cg_iq_a": 293.18634, "cg_iq_raw_a": 295.891083, "cg_iu_a": -182.154266, "cg_iv_a": 295.796204, "cg_iw_a": -113.641953, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 7572463, "cg_sample_valid": 1, "cg_theta_rad": 4.59526396, "cg_vd_req_v": 7.34658194, "cg_vd_v": 7.34658194, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1365566, "cg_vq_v": -27.1365566, "cg_vu_v": 151.762939, "cg_vv_v": 82.6998062, "cg_vw_v": 137.686371, "control_outputs_enabled": 1, "dclink_i_a": 76.2562256, "dclink_p_w": 11472.2344, "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": 61.7348633, "temp_inv2_c": 59.7505798, "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": 0.124325924, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1110.976563, "values": {"Elec_RPM": -12517.8105, "EncoderCos": 32072, "EncoderSin": 12747, "GapTicks": 37762, "Mech_RPM": -2503.56201, "cg_du": 65.6702042, "cg_dv": 34.3297958, "cg_dw": 57.1833992, "cg_id_a": -5.7091198, "cg_id_raw_a": -15.9923143, "cg_iq_a": 297.804901, "cg_iq_raw_a": 292.671051, "cg_iu_a": -296.177368, "cg_iv_a": 213.269012, "cg_iw_a": 82.9083633, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 7577562, "cg_sample_valid": 1, "cg_theta_rad": 4.71721649, "cg_vd_req_v": 7.4585228, "cg_vd_v": 7.4585228, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2387066, "cg_vq_v": -27.2387066, "cg_vu_v": 76.9812012, "cg_vv_v": 38.7105446, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 77.4667664, "dclink_p_w": 11654.3525, "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": 61.6897583, "temp_inv2_c": 59.7692566, "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": 0.119441517, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1111.994019, "values": {"Elec_RPM": -12518.3281, "EncoderCos": 41052, "EncoderSin": 50757, "GapTicks": 37564, "Mech_RPM": -2503.66553, "cg_du": 65.8501892, "cg_dv": 43.7339973, "cg_dw": 34.1498108, "cg_id_a": -2.08129764, "cg_id_raw_a": -6.45586681, "cg_iq_a": 303.190277, "cg_iq_raw_a": 299.550293, "cg_iu_a": -210.27948, "cg_iv_a": -86.9386597, "cg_iw_a": 297.21814, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 7582613, "cg_sample_valid": 1, "cg_theta_rad": 1.17745733, "cg_vd_req_v": 7.47063589, "cg_vd_v": 7.47063589, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2365761, "cg_vq_v": -27.2365761, "cg_vu_v": 113.492287, "cg_vv_v": 118.770996, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 76.6911469, "dclink_p_w": 11503.9307, "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": 61.7800293, "temp_inv2_c": 59.7478943, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120398253, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1113.011353, "values": {"Elec_RPM": -12515.4639, "EncoderCos": 39708, "EncoderSin": 51359, "GapTicks": 37245, "Mech_RPM": -2503.09277, "cg_du": 66.1406555, "cg_dv": 54.013752, "cg_dw": 33.8593483, "cg_id_a": 1.0667882, "cg_id_raw_a": 11.5717936, "cg_iq_a": 303.615295, "cg_iq_raw_a": 305.194153, "cg_iu_a": -123.692963, "cg_iv_a": -180.846466, "cg_iw_a": 304.539429, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 7587713, "cg_sample_valid": 1, "cg_theta_rad": 1.23576546, "cg_vd_req_v": 7.38771152, "cg_vd_v": 7.38771152, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2604046, "cg_vq_v": -27.2604046, "cg_vu_v": 106.453995, "cg_vv_v": 113.492287, "cg_vw_v": 70.3828125, "control_outputs_enabled": 1, "dclink_i_a": 76.676651, "dclink_p_w": 11535.4844, "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": 61.7800293, "temp_inv2_c": 59.7772827, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1114.028687, "values": {"Elec_RPM": -12519.5459, "EncoderCos": 36338, "EncoderSin": 13147, "GapTicks": 37652, "Mech_RPM": -2503.90918, "cg_du": 65.7702789, "cg_dv": 43.6078644, "cg_dw": 34.2297173, "cg_id_a": 1.84740698, "cg_id_raw_a": -1.2003212, "cg_iq_a": 299.428223, "cg_iq_raw_a": 304.040833, "cg_iu_a": -258.338806, "cg_iv_a": -0.605834961, "cg_iw_a": 258.944641, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 7592862, "cg_sample_valid": 1, "cg_theta_rad": 4.89693642, "cg_vd_req_v": 7.30315638, "cg_vd_v": 7.30315638, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2566071, "cg_vq_v": -27.2566071, "cg_vu_v": 124.489601, "cg_vv_v": 112.612495, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 76.5842285, "dclink_p_w": 11521.5801, "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": 61.7348633, "temp_inv2_c": 59.8093567, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121153578, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1115.046265, "values": {"Elec_RPM": -12512.915, "EncoderCos": 35918, "EncoderSin": 52313, "GapTicks": 37216, "Mech_RPM": -2502.58301, "cg_du": 47.7729797, "cg_dv": 66.1671295, "cg_dw": 33.8328743, "cg_id_a": 4.40481567, "cg_id_raw_a": 13.3162775, "cg_iq_a": 301.568146, "cg_iq_raw_a": 307.633575, "cg_iu_a": 166.003998, "cg_iv_a": -303.386841, "cg_iw_a": 137.382843, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 7597912, "cg_sample_valid": 1, "cg_theta_rad": 1.44369066, "cg_vd_req_v": 7.33861208, "cg_vd_v": 7.33861208, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.201149, "cg_vq_v": -27.201149, "cg_vu_v": 22.4345207, "cg_vv_v": 78.3008804, "cg_vw_v": 74.7817383, "control_outputs_enabled": 1, "dclink_i_a": 76.7890091, "dclink_p_w": 11586.167, "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": 61.7800293, "temp_inv2_c": 59.7692566, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124980539, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1116.083618, "values": {"Elec_RPM": -12516.6494, "EncoderCos": 34977, "EncoderSin": 12949, "GapTicks": 38847, "Mech_RPM": -2503.32983, "cg_du": 64.6841125, "cg_dv": 35.3158875, "cg_dw": 37.7451859, "cg_id_a": -4.51354218, "cg_id_raw_a": -0.549672544, "cg_iq_a": 302.99295, "cg_iq_raw_a": 308.996674, "cg_iu_a": -24.8197823, "cg_iv_a": -246.302811, "cg_iw_a": 271.122589, "cg_sample_age_us": 26.9327278, "cg_sample_seq": 7603066, "cg_sample_valid": 1, "cg_theta_rad": 5.09394264, "cg_vd_req_v": 7.41992331, "cg_vd_v": 7.41992331, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3260365, "cg_vq_v": -27.3260365, "cg_vu_v": 12.7568836, "cg_vv_v": 76.5413055, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 76.2236023, "dclink_p_w": 11500.8574, "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": 61.7348633, "temp_inv2_c": 59.7345581, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122009605, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1116.925049, "values": {"Elec_RPM": -12515.0605, "EncoderCos": 14620, "EncoderSin": 24359, "GapTicks": 39063, "Mech_RPM": -2503.01221, "cg_du": 64.4873199, "cg_dv": 35.5126839, "cg_dw": 37.3063354, "cg_id_a": -6.09590054, "cg_id_raw_a": -14.5600824, "cg_iq_a": 294.718414, "cg_iq_raw_a": 288.883423, "cg_iu_a": -262.289368, "cg_iv_a": 20.0893555, "cg_iw_a": 242.200012, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 7607263, "cg_sample_valid": 1, "cg_theta_rad": 3.60566521, "cg_vd_req_v": 7.48568344, "cg_vd_v": 7.48568344, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1067581, "cg_vq_v": -27.1067581, "cg_vu_v": 141.645401, "cg_vv_v": 121.410347, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 77.3689117, "dclink_p_w": 11639.6309, "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": 61.7800293, "temp_inv2_c": 59.798645, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117628746, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1117.881714, "values": {"Elec_RPM": -12519.5703, "EncoderCos": 41412, "EncoderSin": 50560, "GapTicks": 38034, "Mech_RPM": -2503.91406, "cg_du": 65.4228363, "cg_dv": 40.8316956, "cg_dw": 34.5771599, "cg_id_a": 2.93161988, "cg_id_raw_a": 1.33953488, "cg_iq_a": 304.97467, "cg_iq_raw_a": 310.896881, "cg_iu_a": -226.081787, "cg_iv_a": -62.5465698, "cg_iw_a": 288.628357, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 7612062, "cg_sample_valid": 1, "cg_theta_rad": 1.1589334, "cg_vd_req_v": 7.38600636, "cg_vd_v": 7.38600636, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2604618, "cg_vq_v": -27.2604618, "cg_vu_v": 151.323044, "cg_vv_v": 151.323044, "cg_vw_v": 80.9402313, "control_outputs_enabled": 1, "dclink_i_a": 76.49543, "dclink_p_w": 11508.2217, "enc_isr_hz": 5001, "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": 61.7800293, "temp_inv2_c": 59.7105408, "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": 0.127296865, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1118.936401, "values": {"Elec_RPM": -12522.4023, "EncoderCos": 48206, "EncoderSin": 20454, "GapTicks": 37461, "Mech_RPM": -2504.48047, "cg_du": 34.0562592, "cg_dv": 43.9109573, "cg_dw": 65.9437408, "cg_id_a": 1.89084136, "cg_id_raw_a": 2.60349035, "cg_iq_a": 306.807434, "cg_iq_raw_a": 310.920837, "cg_iu_a": 104.860657, "cg_iv_a": 203.881866, "cg_iw_a": -308.742523, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 7617312, "cg_sample_valid": 1, "cg_theta_rad": 5.65452194, "cg_vd_req_v": 7.2940402, "cg_vd_v": 7.2940402, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4083023, "cg_vq_v": -27.4083023, "cg_vu_v": 0.87978512, "cg_vv_v": 0, "cg_vw_v": 68.1833496, "control_outputs_enabled": 1, "dclink_i_a": 77.0318375, "dclink_p_w": 11588.9199, "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": 61.7800293, "temp_inv2_c": 59.7772827, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12059968, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1119.953857, "values": {"Elec_RPM": -12515.3223, "EncoderCos": 49064, "EncoderSin": 21647, "GapTicks": 38976, "Mech_RPM": -2503.06445, "cg_du": 37.4347382, "cg_dv": 35.4329681, "cg_dw": 64.5670319, "cg_id_a": 8.2173624, "cg_id_raw_a": 12.6559086, "cg_iq_a": 303.753815, "cg_iq_raw_a": 312.528015, "cg_iu_a": -10.6121988, "cg_iv_a": 265.315155, "cg_iw_a": -254.702942, "cg_sample_age_us": 23.823637, "cg_sample_seq": 7622412, "cg_sample_valid": 1, "cg_theta_rad": 5.74373484, "cg_vd_req_v": 7.20582867, "cg_vd_v": 7.20582867, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3360481, "cg_vq_v": -27.3360481, "cg_vu_v": 125.809273, "cg_vv_v": 86.2189407, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.2544098, "dclink_p_w": 11471.9619, "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": 61.7800293, "temp_inv2_c": 59.691864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124225222, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1120.971313, "values": {"Elec_RPM": -12518.9141, "EncoderCos": 49212, "EncoderSin": 21936, "GapTicks": 38409, "Mech_RPM": -2503.78271, "cg_du": 39.3702621, "cg_dv": 34.9180984, "cg_dw": 65.0819016, "cg_id_a": 14.9236965, "cg_id_raw_a": -2.80960512, "cg_iq_a": 306.447571, "cg_iq_raw_a": 300.08075, "cg_iu_a": -30.1113815, "cg_iv_a": 279.703949, "cg_iw_a": -249.592575, "cg_sample_age_us": 23.954546, "cg_sample_seq": 7627513, "cg_sample_valid": 1, "cg_theta_rad": 5.75375366, "cg_vd_req_v": 7.05687618, "cg_vd_v": 7.05687618, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3914337, "cg_vq_v": -27.3914337, "cg_vu_v": 124.929489, "cg_vv_v": 96.7763672, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 77.3453522, "dclink_p_w": 11636.0859, "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": 61.6897583, "temp_inv2_c": 59.798645, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122160681, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1121.98877, "values": {"Elec_RPM": -12519.1104, "EncoderCos": 49961, "EncoderSin": 23234, "GapTicks": 37091, "Mech_RPM": -2503.82202, "cg_du": 49.8585815, "cg_dv": 33.7198868, "cg_dw": 66.2801132, "cg_id_a": 10.5716858, "cg_id_raw_a": 20.1305351, "cg_iq_a": 306.01651, "cg_iq_raw_a": 309.760223, "cg_iu_a": -146.09166, "cg_iv_a": 310.402466, "cg_iw_a": -164.310822, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 7632613, "cg_sample_valid": 1, "cg_theta_rad": 5.82670164, "cg_vd_req_v": 7.1405921, "cg_vd_v": 7.1405921, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3653889, "cg_vq_v": -27.3653889, "cg_vu_v": 151.762939, "cg_vv_v": 107.773682, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 77.5156937, "dclink_p_w": 11627.6152, "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": 61.8252563, "temp_inv2_c": 59.798645, "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": 0.119592577, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1123.006104, "values": {"Elec_RPM": -12519.2979, "EncoderCos": 18907, "EncoderSin": 47076, "GapTicks": 39206, "Mech_RPM": -2503.85962, "cg_du": 64.3579407, "cg_dv": 36.7235985, "cg_dw": 35.6420593, "cg_id_a": -9.15612793, "cg_id_raw_a": -5.97961712, "cg_iq_a": 298.112244, "cg_iq_raw_a": 305.894165, "cg_iu_a": -250.075211, "cg_iv_a": -15.0671234, "cg_iw_a": 265.142334, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 7637662, "cg_sample_valid": 1, "cg_theta_rad": 2.37748861, "cg_vd_req_v": 7.65760469, "cg_vd_v": 7.65760469, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1313648, "cg_vq_v": -27.1313648, "cg_vu_v": 40.0302238, "cg_vv_v": 36.5110817, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.9448547, "dclink_p_w": 11575.834, "enc_isr_hz": 4999, "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": 61.7800293, "temp_inv2_c": 59.7078552, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123671323, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1124.02356, "values": {"Elec_RPM": -12518.7852, "EncoderCos": 51136, "EncoderSin": 25832, "GapTicks": 38030, "Mech_RPM": -2503.75708, "cg_du": 65.4267044, "cg_dv": 34.5732918, "cg_dw": 59.2350349, "cg_id_a": 10.6004534, "cg_id_raw_a": 11.1306248, "cg_iq_a": 308.598389, "cg_iq_raw_a": 309.551575, "cg_iu_a": -289.580994, "cg_iv_a": 230.919754, "cg_iw_a": 58.6612396, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 7642813, "cg_sample_valid": 1, "cg_theta_rad": 5.96842861, "cg_vd_req_v": 7.14738703, "cg_vd_v": 7.14738703, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4386806, "cg_vq_v": -27.4386806, "cg_vu_v": 152.202835, "cg_vv_v": 112.172607, "cg_vw_v": 88.4184036, "control_outputs_enabled": 1, "dclink_i_a": 77.3997192, "dclink_p_w": 11644.2656, "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": 61.7800293, "temp_inv2_c": 59.8414917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1125.041016, "values": {"Elec_RPM": -12751.3652, "EncoderCos": 51557, "EncoderSin": 27197, "GapTicks": 36992, "Mech_RPM": -2550.27295, "cg_du": 66.3706589, "cg_dv": 33.6293411, "cg_dw": 49.1239319, "cg_id_a": 5.28441715, "cg_id_raw_a": 9.37468719, "cg_iq_a": 308.145447, "cg_iq_raw_a": 303.508911, "cg_iu_a": -301.505188, "cg_iv_a": 137.99054, "cg_iw_a": 82.6546555, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 7647913, "cg_sample_valid": 1, "cg_theta_rad": 6.03478384, "cg_vd_req_v": 7.43021059, "cg_vd_v": 7.43021059, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.378664, "cg_vq_v": -27.378664, "cg_vu_v": 152.202835, "cg_vv_v": 146.924118, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 76.6512833, "dclink_p_w": 11497.9512, "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": 61.7800293, "temp_inv2_c": 59.9245605, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119038686, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1126.05835, "values": {"Elec_RPM": -12886.1914, "EncoderCos": 51944, "EncoderSin": 28557, "GapTicks": 38332, "Mech_RPM": -2577.23828, "cg_du": 65.151886, "cg_dv": 34.848114, "cg_dw": 39.280899, "cg_id_a": 7.35501289, "cg_id_raw_a": 2.43684244, "cg_iq_a": 309.953979, "cg_iq_raw_a": 304.439667, "cg_iu_a": -286.391541, "cg_iv_a": 49.1207123, "cg_iw_a": 237.270828, "cg_sample_age_us": 24.1290913, "cg_sample_seq": 7653013, "cg_sample_valid": 1, "cg_theta_rad": 6.10459089, "cg_vd_req_v": 7.57180071, "cg_vd_v": 7.57180071, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.4055157, "cg_vq_v": -27.4055157, "cg_vu_v": 152.202835, "cg_vv_v": 149.563477, "cg_vw_v": 92.3774414, "control_outputs_enabled": 1, "dclink_i_a": 76.8832397, "dclink_p_w": 11566.5645, "enc_isr_hz": 5002, "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": 61.7800293, "temp_inv2_c": 59.7772827, "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": 0.122462802, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1126.9198, "values": {"Elec_RPM": -12942.1309, "EncoderCos": 32409, "EncoderSin": 12908, "GapTicks": 37409, "Mech_RPM": -2588.42627, "cg_du": 65.9914322, "cg_dv": 34.0085678, "cg_dw": 54.8063354, "cg_id_a": -7.07359219, "cg_id_raw_a": -9.41483021, "cg_iq_a": 294.672607, "cg_iq_raw_a": 289.748444, "cg_iu_a": -300.74408, "cg_iv_a": 194.567169, "cg_iw_a": 106.17691, "cg_sample_age_us": 24.1181812, "cg_sample_seq": 7657212, "cg_sample_valid": 1, "cg_theta_rad": 4.74619341, "cg_vd_req_v": 7.87163115, "cg_vd_v": 7.87163115, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0738487, "cg_vq_v": -27.0738487, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.5044937, "dclink_p_w": 11509.585, "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": 61.8252563, "temp_inv2_c": 59.8709106, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118434422, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1127.871948, "values": {"Elec_RPM": -12951.6777, "EncoderCos": 50341, "EncoderSin": 41417, "GapTicks": 39028, "Mech_RPM": -2590.33545, "cg_du": 35.4808197, "cg_dv": 62.8159866, "cg_dw": 64.5191803, "cg_id_a": 4.06547546, "cg_id_raw_a": -14.1500311, "cg_iq_a": 305.845947, "cg_iq_raw_a": 301.754089, "cg_iu_a": 267.015564, "cg_iv_a": 6.09924316, "cg_iw_a": -273.114807, "cg_sample_age_us": 23.5581818, "cg_sample_seq": 7661812, "cg_sample_valid": 1, "cg_theta_rad": 0.494913012, "cg_vd_req_v": 7.69926786, "cg_vd_v": 7.69926786, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2416191, "cg_vq_v": -27.2416191, "cg_vu_v": 0, "cg_vv_v": 0.43989256, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": 76.6983948, "dclink_p_w": 11505.0176, "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": 61.8252563, "temp_inv2_c": 59.7025452, "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": 0.123318836, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1128.931274, "values": {"Elec_RPM": -12970.7617, "EncoderCos": 50754, "EncoderSin": 40531, "GapTicks": 37962, "Mech_RPM": -2594.15234, "cg_du": 34.511528, "cg_dv": 65.488472, "cg_dw": 59.1818848, "cg_id_a": 2.6415205, "cg_id_raw_a": -7.46647978, "cg_iq_a": 306.640381, "cg_iq_raw_a": 301.871521, "cg_iu_a": 288.580627, "cg_iv_a": -55.7327118, "cg_iw_a": -232.847916, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 7667262, "cg_sample_valid": 1, "cg_theta_rad": 0.444369316, "cg_vd_req_v": 7.75657892, "cg_vd_v": 7.75657892, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2737427, "cg_vq_v": -27.2737427, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 59.385498, "control_outputs_enabled": 1, "dclink_i_a": 76.6367798, "dclink_p_w": 11495.7754, "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": 61.8252563, "temp_inv2_c": 59.9030762, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120096132, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1129.94873, "values": {"Elec_RPM": -12978.7383, "EncoderCos": 20447, "EncoderSin": 17095, "GapTicks": 38039, "Mech_RPM": -2595.74756, "cg_du": 34.5815277, "cg_dv": 65.4184723, "cg_dw": 41.5211716, "cg_id_a": 1.66148496, "cg_id_raw_a": 4.9085927, "cg_iq_a": 294.095947, "cg_iq_raw_a": 296.372498, "cg_iu_a": 276.910126, "cg_iv_a": -209.950241, "cg_iw_a": -66.9598846, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 7672412, "cg_sample_valid": 1, "cg_theta_rad": 4.08969736, "cg_vd_req_v": 7.71539402, "cg_vd_v": 7.71539402, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0221729, "cg_vq_v": -27.0221729, "cg_vu_v": 36.9509773, "cg_vv_v": 76.9812012, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 76.2199783, "dclink_p_w": 11433.2539, "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": 61.7800293, "temp_inv2_c": 59.9003906, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120045774, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1130.966064, "values": {"Elec_RPM": -12970.6982, "EncoderCos": 49958, "EncoderSin": 42028, "GapTicks": 37789, "Mech_RPM": -2594.13965, "cg_du": 34.3545303, "cg_dv": 58.2123108, "cg_dw": 65.6454697, "cg_id_a": 9.86643982, "cg_id_raw_a": 11.8590097, "cg_iq_a": 308.171631, "cg_iq_raw_a": 309.713837, "cg_iu_a": 219.536133, "cg_iv_a": 68.1487122, "cg_iw_a": -287.684845, "cg_sample_age_us": 23.5363636, "cg_sample_seq": 7677463, "cg_sample_valid": 1, "cg_theta_rad": 0.537062526, "cg_vd_req_v": 7.59463978, "cg_vd_v": 7.59463978, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2789631, "cg_vq_v": -27.2789631, "cg_vu_v": 111.732712, "cg_vv_v": 102.93486, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.3399124, "dclink_p_w": 11601.248, "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": 61.8252563, "temp_inv2_c": 59.9460144, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120700389, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1131.983521, "values": {"Elec_RPM": -12969.5557, "EncoderCos": 49228, "EncoderSin": 43260, "GapTicks": 37075, "Mech_RPM": -2593.91113, "cg_du": 33.7050552, "cg_dv": 47.8860207, "cg_dw": 66.2949448, "cg_id_a": 1.35091257, "cg_id_raw_a": 4.59348536, "cg_iq_a": 308.597809, "cg_iq_raw_a": 301.882507, "cg_iu_a": 126.208275, "cg_iv_a": 173.545746, "cg_iw_a": -299.754028, "cg_sample_age_us": 23.5436363, "cg_sample_seq": 7682563, "cg_sample_valid": 1, "cg_theta_rad": 0.60180521, "cg_vd_req_v": 7.78491831, "cg_vd_v": 7.78491831, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2979946, "cg_vq_v": -27.2979946, "cg_vu_v": 109.533249, "cg_vv_v": 72.5822754, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.8633041, "dclink_p_w": 11563.5654, "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": 61.8252563, "temp_inv2_c": 59.7719421, "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": 0.118333712, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1133.000854, "values": {"Elec_RPM": -12979.6152, "EncoderCos": 48507, "EncoderSin": 44388, "GapTicks": 38491, "Mech_RPM": -2595.9231, "cg_du": 34.9921837, "cg_dv": 38.7706451, "cg_dw": 65.0078125, "cg_id_a": 11.3891554, "cg_id_raw_a": 1.32998049, "cg_iq_a": 307.756866, "cg_iq_raw_a": 299.63031, "cg_iu_a": -43.0504303, "cg_iv_a": 280.320099, "cg_iw_a": -237.269669, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 7687663, "cg_sample_valid": 1, "cg_theta_rad": 0.730012119, "cg_vd_req_v": 7.60502291, "cg_vd_v": 7.60502291, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.276392, "cg_vq_v": -27.276392, "cg_vu_v": 76.1014175, "cg_vv_v": 32.1121559, "cg_vw_v": 77.4210892, "control_outputs_enabled": 1, "dclink_i_a": 76.3250885, "dclink_p_w": 11449.0205, "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": 61.8705444, "temp_inv2_c": 59.9057617, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12251316, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1134.018433, "values": {"Elec_RPM": -12984.5938, "EncoderCos": 47671, "EncoderSin": 45485, "GapTicks": 37822, "Mech_RPM": -2596.9187, "cg_du": 41.9123535, "cg_dv": 34.3844299, "cg_dw": 65.6155701, "cg_id_a": 11.2521801, "cg_id_raw_a": -1.55725801, "cg_iq_a": 308.537415, "cg_iq_raw_a": 303.85141, "cg_iu_a": -58.4178162, "cg_iv_a": 293.114166, "cg_iw_a": -234.69635, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 7692763, "cg_sample_valid": 1, "cg_theta_rad": 0.752818823, "cg_vd_req_v": 7.61354637, "cg_vd_v": 7.61354637, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2708473, "cg_vq_v": -27.2708473, "cg_vu_v": 68.6232376, "cg_vv_v": 0, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 76.6349716, "dclink_p_w": 11529.2148, "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": 61.8252563, "temp_inv2_c": 59.9111328, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121455714, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1135.035767, "values": {"Elec_RPM": -13003.4941, "EncoderCos": 46755, "EncoderSin": 46507, "GapTicks": 37134, "Mech_RPM": -2600.69873, "cg_du": 51.6841049, "cg_dv": 33.7583237, "cg_dw": 66.2416763, "cg_id_a": 9.05642223, "cg_id_raw_a": 19.9977913, "cg_iq_a": 301.683838, "cg_iq_raw_a": 306.844635, "cg_iu_a": -159.175674, "cg_iv_a": 290.069702, "cg_iw_a": -200.083511, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 7697863, "cg_sample_valid": 1, "cg_theta_rad": 0.801142693, "cg_vd_req_v": 7.66869593, "cg_vd_v": 7.66869593, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.118988, "cg_vq_v": -27.118988, "cg_vu_v": 151.323044, "cg_vv_v": 102.93486, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 76.1927948, "dclink_p_w": 11462.6914, "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": 61.8252563, "temp_inv2_c": 59.8628845, "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": 0.122916006, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1136.053101, "values": {"Elec_RPM": -13005.498, "EncoderCos": 46102, "EncoderSin": 49616, "GapTicks": 38262, "Mech_RPM": -2601.09961, "cg_du": 65.2157059, "cg_dv": 34.7842941, "cg_dw": 60.0241928, "cg_id_a": 4.17851496, "cg_id_raw_a": -8.61394405, "cg_iq_a": 305.337769, "cg_iq_raw_a": 299.7034, "cg_iu_a": -239.528259, "cg_iv_a": 284.379425, "cg_iw_a": -44.8511581, "cg_sample_age_us": 23.4599991, "cg_sample_seq": 7702962, "cg_sample_valid": 1, "cg_theta_rad": 0.891326249, "cg_vd_req_v": 7.77056456, "cg_vd_v": 7.77056456, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1912041, "cg_vq_v": -27.1912041, "cg_vu_v": 131.967773, "cg_vv_v": 73.462059, "cg_vw_v": 74.3418427, "control_outputs_enabled": 1, "dclink_i_a": 76.4646225, "dclink_p_w": 11469.9512, "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": 61.8705444, "temp_inv2_c": 59.8361206, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120247193, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1137.070679, "values": {"Elec_RPM": -12995.1162, "EncoderCos": 13930, "EncoderSin": 21793, "GapTicks": 37287, "Mech_RPM": -2599.02319, "cg_du": 66.1025848, "cg_dv": 46.868763, "cg_dw": 33.8974113, "cg_id_a": -0.598465919, "cg_id_raw_a": -3.4026649, "cg_iq_a": 300.7966, "cg_iq_raw_a": 302.618347, "cg_iu_a": -240.216888, "cg_iv_a": -38.1182251, "cg_iw_a": 278.335114, "cg_sample_age_us": 24.1000004, "cg_sample_seq": 7708012, "cg_sample_valid": 1, "cg_theta_rad": 3.66590786, "cg_vd_req_v": 7.82025909, "cg_vd_v": 7.82025909, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1262016, "cg_vq_v": -27.1262016, "cg_vu_v": 113.932175, "cg_vv_v": 113.052383, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 76.4265671, "dclink_p_w": 11497.8613, "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": 61.8705444, "temp_inv2_c": 59.9648132, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125081256, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1137.866699, "values": {"Elec_RPM": -12980.6553, "EncoderCos": 52513, "EncoderSin": 24424, "GapTicks": 39467, "Mech_RPM": -2596.1311, "cg_du": 64.1201782, "cg_dv": 35.879818, "cg_dw": 64.0278015, "cg_id_a": 2.72656226, "cg_id_raw_a": 15.0431538, "cg_iq_a": 302.141968, "cg_iq_raw_a": 307.835022, "cg_iu_a": -259.099915, "cg_iv_a": 266.619934, "cg_iw_a": -7.52000427, "cg_sample_age_us": 23.5945454, "cg_sample_seq": 7711913, "cg_sample_valid": 1, "cg_theta_rad": 5.93622589, "cg_vd_req_v": 7.71771669, "cg_vd_v": 7.71771669, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2040367, "cg_vq_v": -27.2040367, "cg_vu_v": 152.202835, "cg_vv_v": 106.014107, "cg_vw_v": 124.049698, "control_outputs_enabled": 1, "dclink_i_a": 76.4048233, "dclink_p_w": 11494.5898, "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": 61.8252563, "temp_inv2_c": 59.8414917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119794004, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1138.926025, "values": {"Elec_RPM": -12991.4893, "EncoderCos": 38231, "EncoderSin": 11802, "GapTicks": 37299, "Mech_RPM": -2598.29785, "cg_du": 66.0913467, "cg_dv": 53.962616, "cg_dw": 33.9086533, "cg_id_a": 3.15199161, "cg_id_raw_a": 10.2456961, "cg_iq_a": 299.972809, "cg_iq_raw_a": 302.329865, "cg_iu_a": -122.025742, "cg_iv_a": -118.652023, "cg_iw_a": 296.855713, "cg_sample_age_us": 24.0127277, "cg_sample_seq": 7717263, "cg_sample_valid": 1, "cg_theta_rad": 5.00503349, "cg_vd_req_v": 7.66027594, "cg_vd_v": 7.66027594, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1754971, "cg_vq_v": -27.1754971, "cg_vu_v": 108.653458, "cg_vv_v": 118.3311, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 75.9553986, "dclink_p_w": 11393.5664, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2608, "hz_tim_isr": 4998, "hz_vsense": 2608, "pwm_moe": 1, "temp_inv1_c": 61.8705444, "temp_inv2_c": 59.8414917, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119441517, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1139.943481, "values": {"Elec_RPM": -12985.0596, "EncoderCos": 34736, "EncoderSin": 54236, "GapTicks": 38687, "Mech_RPM": -2597.01196, "cg_du": 38.3781662, "cg_dv": 64.8299255, "cg_dw": 35.1700706, "cg_id_a": 4.55754042, "cg_id_raw_a": -4.59118605, "cg_iq_a": 302.287903, "cg_iq_raw_a": 298.74646, "cg_iu_a": 238.527908, "cg_iv_a": -278.124878, "cg_iw_a": 39.5969696, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 7722313, "cg_sample_valid": 1, "cg_theta_rad": 1.50709879, "cg_vd_req_v": 7.76968718, "cg_vd_v": 7.76968718, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1019382, "cg_vq_v": -27.1019382, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 76.5171814, "dclink_p_w": 11511.4932, "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": 61.8705444, "temp_inv2_c": 59.9057617, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119542226, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1140.960815, "values": {"Elec_RPM": -12991.7881, "EncoderCos": 41057, "EncoderSin": 12836, "GapTicks": 37553, "Mech_RPM": -2598.35767, "cg_du": 55.8423309, "cg_dv": 65.8606186, "cg_dw": 34.1393814, "cg_id_a": 8.66744041, "cg_id_raw_a": 8.4265604, "cg_iq_a": 298.664307, "cg_iq_raw_a": 300.677795, "cg_iu_a": 92.5740051, "cg_iv_a": -286.171021, "cg_iw_a": 193.597015, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 7727463, "cg_sample_valid": 1, "cg_theta_rad": 5.15119076, "cg_vd_req_v": 7.57174587, "cg_vd_v": 7.57174587, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1320477, "cg_vq_v": -27.1320477, "cg_vu_v": 110.852921, "cg_vv_v": 151.323044, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 76.232666, "dclink_p_w": 11435.1572, "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": 61.8705444, "temp_inv2_c": 59.8548584, "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": 0.122865647, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1141.978271, "values": {"Elec_RPM": -13000.6484, "EncoderCos": 30572, "EncoderSin": 54276, "GapTicks": 38176, "Mech_RPM": -2600.12964, "cg_du": 34.7059097, "cg_dv": 65.2940903, "cg_dw": 59.6492577, "cg_id_a": -3.35587931, "cg_id_raw_a": -9.8851347, "cg_iq_a": 299.947632, "cg_iq_raw_a": 296.087067, "cg_iu_a": 301.374725, "cg_iv_a": -136.33902, "cg_iw_a": -165.035706, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 7732512, "cg_sample_valid": 1, "cg_theta_rad": 1.66146302, "cg_vd_req_v": 7.91965771, "cg_vd_v": 7.91965771, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0582771, "cg_vq_v": -27.0582771, "cg_vu_v": 23.7541981, "cg_vv_v": 36.5110817, "cg_vw_v": 56.3062477, "control_outputs_enabled": 1, "dclink_i_a": 77.2656174, "dclink_p_w": 11624.0908, "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": 61.8705444, "temp_inv2_c": 59.9191895, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121606775, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1142.995605, "values": {"Elec_RPM": -12988.7227, "EncoderCos": 44681, "EncoderSin": 14823, "GapTicks": 37980, "Mech_RPM": -2597.74463, "cg_du": 34.5279541, "cg_dv": 65.4720459, "cg_dw": 41.9000473, "cg_id_a": 6.56075764, "cg_id_raw_a": 13.6778307, "cg_iq_a": 296.602753, "cg_iq_raw_a": 297.420532, "cg_iu_a": 281.73056, "cg_iv_a": -208.101807, "cg_iw_a": -73.6287613, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7737662, "cg_sample_valid": 1, "cg_theta_rad": 5.35708714, "cg_vd_req_v": 7.61919403, "cg_vd_v": 7.61919403, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1102524, "cg_vq_v": -27.1102524, "cg_vu_v": 20.6749516, "cg_vv_v": 76.5413055, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 76.3323364, "dclink_p_w": 11450.1074, "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": 61.8252563, "temp_inv2_c": 59.9057617, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12085145, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1144.013184, "values": {"Elec_RPM": -12998.2666, "EncoderCos": 45857, "EncoderSin": 15685, "GapTicks": 37122, "Mech_RPM": -2599.65332, "cg_du": 33.7480011, "cg_dv": 66.2519989, "cg_dw": 51.4607849, "cg_id_a": -3.2838788, "cg_id_raw_a": -5.45435476, "cg_iq_a": 299.007874, "cg_iq_raw_a": 293.156158, "cg_iu_a": 296.62677, "cg_iv_a": -121.044113, "cg_iw_a": -175.582657, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 7742762, "cg_sample_valid": 1, "cg_theta_rad": 5.42219448, "cg_vd_req_v": 7.84492683, "cg_vd_v": 7.84492683, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1601906, "cg_vq_v": -27.1601906, "cg_vu_v": 0, "cg_vv_v": 1.75957024, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": 77.1478195, "dclink_p_w": 11606.3691, "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": 61.8705444, "temp_inv2_c": 59.8762817, "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": 0.126037985, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1145.030518, "values": {"Elec_RPM": -12998.8291, "EncoderCos": 28666, "EncoderSin": 11469, "GapTicks": 37201, "Mech_RPM": -2599.76587, "cg_du": 50.0330429, "cg_dv": 33.8196564, "cg_dw": 66.1803436, "cg_id_a": -2.23457313, "cg_id_raw_a": 5.20295668, "cg_iq_a": 292.392517, "cg_iq_raw_a": 293.876221, "cg_iu_a": -147.468918, "cg_iv_a": 297.282227, "cg_iw_a": -202.221893, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7747763, "cg_sample_valid": 1, "cg_theta_rad": 4.55893421, "cg_vd_req_v": 7.84060526, "cg_vd_v": 7.84060526, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9923191, "cg_vq_v": -26.9923191, "cg_vu_v": 117.451309, "cg_vv_v": 71.2625961, "cg_vw_v": 76.5413055, "control_outputs_enabled": 1, "dclink_i_a": 75.8430405, "dclink_p_w": 11410.0732, "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": 61.8705444, "temp_inv2_c": 59.9272461, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122059971, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1146.047852, "values": {"Elec_RPM": -13006.9395, "EncoderCos": 47307, "EncoderSin": 16926, "GapTicks": 39265, "Mech_RPM": -2601.38794, "cg_du": 35.6959381, "cg_dv": 64.3040619, "cg_dw": 63.3884163, "cg_id_a": -5.07932377, "cg_id_raw_a": 8.20245075, "cg_iq_a": 301.126617, "cg_iq_raw_a": 304.332611, "cg_iu_a": 267.015564, "cg_iv_a": -15.1758728, "cg_iw_a": -251.839691, "cg_sample_age_us": 23.954546, "cg_sample_seq": 7752963, "cg_sample_valid": 1, "cg_theta_rad": 5.50206232, "cg_vd_req_v": 7.88080454, "cg_vd_v": 7.88080454, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2089577, "cg_vq_v": -27.2089577, "cg_vu_v": 73.9019547, "cg_vv_v": 74.7817383, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.4664383, "dclink_p_w": 11503.8594, "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": 61.9158936, "temp_inv2_c": 59.9272461, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11873655, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1147.06543, "values": {"Elec_RPM": -12996.293, "EncoderCos": 24480, "EncoderSin": 52648, "GapTicks": 37866, "Mech_RPM": -2599.25854, "cg_du": 42.3316498, "cg_dv": 34.4240799, "cg_dw": 65.5759201, "cg_id_a": 1.31716669, "cg_id_raw_a": -7.02330017, "cg_iq_a": 293.981842, "cg_iq_raw_a": 291.679077, "cg_iu_a": -65.9202881, "cg_iv_a": 282.603455, "cg_iw_a": -216.683167, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 7758013, "cg_sample_valid": 1, "cg_theta_rad": 2.00348568, "cg_vd_req_v": 7.85383606, "cg_vd_v": 7.85383606, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9255257, "cg_vq_v": -26.9255257, "cg_vu_v": 150.883148, "cg_vv_v": 104.694435, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 76.5751724, "dclink_p_w": 11486.5342, "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": 61.9158936, "temp_inv2_c": 59.8628845, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119441517, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1148.106689, "values": {"Elec_RPM": -12993.1602, "EncoderCos": 22092, "EncoderSin": 51484, "GapTicks": 38252, "Mech_RPM": -2598.63208, "cg_du": 59.4818916, "cg_dv": 34.7751312, "cg_dw": 65.2248688, "cg_id_a": -4.28609467, "cg_id_raw_a": -5.28045559, "cg_iq_a": 290.673828, "cg_iq_raw_a": 286.975983, "cg_iu_a": -224.342102, "cg_iv_a": 266.873657, "cg_iw_a": -42.5315475, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 7763112, "cg_sample_valid": 1, "cg_theta_rad": 2.11948133, "cg_vd_req_v": 7.96012592, "cg_vd_v": 7.96012592, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8694649, "cg_vq_v": -26.8694649, "cg_vu_v": 73.9019547, "cg_vv_v": 1.31967759, "cg_vw_v": 32.5520515, "control_outputs_enabled": 1, "dclink_i_a": 76.7165222, "dclink_p_w": 11541.4834, "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": 61.8705444, "temp_inv2_c": 59.9702148, "temp_inv3_c": null, "temp_motor_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": 150.003372}}
{"type": "telemetry", "t": 1149.076904, "values": {"Elec_RPM": -12994.1445, "EncoderCos": 39687, "EncoderSin": 53097, "GapTicks": 37838, "Mech_RPM": -2598.82886, "cg_du": 65.6014557, "cg_dv": 58.2634735, "cg_dw": 34.3985405, "cg_id_a": -5.47877884, "cg_id_raw_a": 1.54669213, "cg_iq_a": 303.57489, "cg_iq_raw_a": 305.124359, "cg_iu_a": -79.0405502, "cg_iv_a": -216.075439, "cg_iw_a": 295.115997, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 7768113, "cg_sample_valid": 1, "cg_theta_rad": 1.26507127, "cg_vd_req_v": 7.96628046, "cg_vd_v": 7.96628046, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1122818, "cg_vq_v": -27.1122818, "cg_vu_v": 102.494972, "cg_vv_v": 115.251846, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 76.3341446, "dclink_p_w": 11483.957, "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": 61.9158936, "temp_inv2_c": 59.8843079, "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": 0.121908896, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1149.938232, "values": {"Elec_RPM": -12982.4209, "EncoderCos": 53678, "EncoderSin": 28758, "GapTicks": 39353, "Mech_RPM": -2596.48413, "cg_du": 64.2242737, "cg_dv": 35.7757301, "cg_dw": 35.9999313, "cg_id_a": 8.75660229, "cg_id_raw_a": -3.09860468, "cg_iq_a": 311.807587, "cg_iq_raw_a": 305.677948, "cg_iu_a": -277.258087, "cg_iv_a": 18.9295959, "cg_iw_a": 214.002304, "cg_sample_age_us": 24.136364, "cg_sample_seq": 7772313, "cg_sample_valid": 1, "cg_theta_rad": 6.13143492, "cg_vd_req_v": 7.62697029, "cg_vd_v": 7.62697029, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3783417, "cg_vq_v": -27.3783417, "cg_vu_v": 152.202835, "cg_vv_v": 149.563477, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 76.8125687, "dclink_p_w": 11555.9326, "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": 61.9158936, "temp_inv2_c": 59.9191895, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120196834, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1150.955688, "values": {"Elec_RPM": -13001.251, "EncoderCos": 54031, "EncoderSin": 31420, "GapTicks": 37158, "Mech_RPM": -2600.25024, "cg_du": 66.2199097, "cg_dv": 52.6651039, "cg_dw": 33.7800941, "cg_id_a": 6.28770781, "cg_id_raw_a": 5.99489069, "cg_iq_a": 309.877991, "cg_iq_raw_a": 308.801025, "cg_iu_a": -210.134506, "cg_iv_a": -95.2022552, "cg_iw_a": 305.336761, "cg_sample_age_us": 23.994545, "cg_sample_seq": 7777412, "cg_sample_valid": 1, "cg_theta_rad": 6.21951962, "cg_vd_req_v": 7.66365957, "cg_vd_v": 7.66365957, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3318901, "cg_vq_v": -27.3318901, "cg_vu_v": 113.052383, "cg_vv_v": 113.492287, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 76.8433762, "dclink_p_w": 11526.7656, "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": 61.9158936, "temp_inv2_c": 59.9487, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123620957, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1151.973145, "values": {"Elec_RPM": -12996.0889, "EncoderCos": 54094, "EncoderSin": 32843, "GapTicks": 38616, "Mech_RPM": -2599.21777, "cg_du": 64.8941498, "cg_dv": 61.5894775, "cg_dw": 35.105854, "cg_id_a": 10.061985, "cg_id_raw_a": -2.85223103, "cg_iq_a": 310.540436, "cg_iq_raw_a": 308.568085, "cg_iu_a": -45.2975464, "cg_iv_a": -243.149597, "cg_iw_a": 288.447144, "cg_sample_age_us": 24.2672729, "cg_sample_seq": 7782512, "cg_sample_valid": 1, "cg_theta_rad": 0.0404322185, "cg_vd_req_v": 7.60767698, "cg_vd_v": 7.60767698, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.3254471, "cg_vq_v": -27.3254471, "cg_vu_v": 0.87978512, "cg_vv_v": 48.3881836, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.3486404, "dclink_p_w": 11452.5537, "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": 61.9158936, "temp_inv2_c": 59.9702148, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118686192, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1152.990479, "values": {"Elec_RPM": -13006.4688, "EncoderCos": 54020, "EncoderSin": 33195, "GapTicks": 39361, "Mech_RPM": -2601.2937, "cg_du": 64.2169952, "cg_dv": 63.7100906, "cg_dw": 35.7830086, "cg_id_a": 6.28942347, "cg_id_raw_a": 12.4673738, "cg_iq_a": 308.605072, "cg_iq_raw_a": 313.157013, "cg_iu_a": -14.1640949, "cg_iv_a": -256.233612, "cg_iw_a": 270.397705, "cg_sample_age_us": 24.2672729, "cg_sample_seq": 7787613, "cg_sample_valid": 1, "cg_theta_rad": 0.0691983104, "cg_vd_req_v": 7.71751547, "cg_vd_v": 7.71751547, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2792282, "cg_vq_v": -27.2792282, "cg_vu_v": 75.2216263, "cg_vv_v": 113.492287, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 76.368576, "dclink_p_w": 11455.5439, "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": 62.0522766, "temp_inv2_c": 59.9702148, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118585482, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1154.008057, "values": {"Elec_RPM": -12981.8936, "EncoderCos": 14032, "EncoderSin": 22043, "GapTicks": 37346, "Mech_RPM": -2596.37866, "cg_du": 66.0483246, "cg_dv": 45.9320068, "cg_dw": 33.9516754, "cg_id_a": -6.36505461, "cg_id_raw_a": -5.14703846, "cg_iq_a": 296.556641, "cg_iq_raw_a": 293.571655, "cg_iu_a": -103.468903, "cg_iv_a": -188.276428, "cg_iw_a": 291.745331, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 7792763, "cg_sample_valid": 1, "cg_theta_rad": 3.7542963, "cg_vd_req_v": 7.92195225, "cg_vd_v": 7.92195225, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0390129, "cg_vq_v": -27.0390129, "cg_vu_v": 28.1531239, "cg_vv_v": 48.3881836, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.7328262, "dclink_p_w": 11543.9355, "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": 61.9158936, "temp_inv2_c": 60.0293274, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.116420239, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1155.025269, "values": {"Elec_RPM": -12990.0566, "EncoderCos": 53534, "EncoderSin": 37276, "GapTicks": 38673, "Mech_RPM": -2598.01123, "cg_du": 38.4644318, "cg_dv": 64.8418732, "cg_dw": 35.1581268, "cg_id_a": 2.12589955, "cg_id_raw_a": 8.78653431, "cg_iq_a": 304.322266, "cg_iq_raw_a": 310.078857, "cg_iu_a": 242.369751, "cg_iv_a": -281.894257, "cg_iw_a": 39.5245056, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 7797812, "cg_sample_valid": 1, "cg_theta_rad": 0.26639846, "cg_vd_req_v": 7.80704212, "cg_vd_v": 7.80704212, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1599331, "cg_vq_v": -27.1599331, "cg_vu_v": 106.014107, "cg_vv_v": 151.762939, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 76.9919739, "dclink_p_w": 11582.9229, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 61.9613037, "temp_inv2_c": 60.034729, "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": 0.125433743, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1156.042847, "values": {"Elec_RPM": -13004.0391, "EncoderCos": 11476, "EncoderSin": 35906, "GapTicks": 38186, "Mech_RPM": -2600.80786, "cg_du": 34.7148361, "cg_dv": 59.7957306, "cg_dw": 65.2851639, "cg_id_a": -0.385735929, "cg_id_raw_a": -15.8111534, "cg_iq_a": 302.088501, "cg_iq_raw_a": 299.837311, "cg_iu_a": 239.434006, "cg_iv_a": 48.6132965, "cg_iw_a": -288.047302, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 7802862, "cg_sample_valid": 1, "cg_theta_rad": 3.03641105, "cg_vd_req_v": 7.84619045, "cg_vd_v": 7.84619045, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1171169, "cg_vq_v": -27.1171169, "cg_vu_v": 23.7541981, "cg_vv_v": 15.3962402, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 75.7633057, "dclink_p_w": 11364.751, "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": 61.9613037, "temp_inv2_c": 60.0401001, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121052869, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1157.060181, "values": {"Elec_RPM": -12993.4766, "EncoderCos": 17449, "EncoderSin": 17535, "GapTicks": 37318, "Mech_RPM": -2598.69531, "cg_du": 46.5056305, "cg_dv": 66.0738831, "cg_dw": 33.9261208, "cg_id_a": 1.04319286, "cg_id_raw_a": 9.45114422, "cg_iq_a": 296.183411, "cg_iq_raw_a": 300.628174, "cg_iu_a": 174.847504, "cg_iv_a": -297.189148, "cg_iw_a": 122.341652, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 7808062, "cg_sample_valid": 1, "cg_theta_rad": 3.97079015, "cg_vd_req_v": 7.78092051, "cg_vd_v": 7.78092051, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0450859, "cg_vq_v": -27.0450859, "cg_vu_v": 79.6205521, "cg_vv_v": 151.762939, "cg_vw_v": 16.2760258, "control_outputs_enabled": 1, "dclink_i_a": 76.4718704, "dclink_p_w": 11504.6768, "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": 61.9613037, "temp_inv2_c": 60.0778198, "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": 0.122664221, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1158.09668, "values": {"Elec_RPM": -12979.7803, "EncoderCos": 52533, "EncoderSin": 40424, "GapTicks": 37239, "Mech_RPM": -2595.95605, "cg_du": 33.8543472, "cg_dv": 66.1456528, "cg_dw": 53.952034, "cg_id_a": 5.86551237, "cg_id_raw_a": 15.9723387, "cg_iq_a": 307.448761, "cg_iq_raw_a": 310.237274, "cg_iu_a": 307.862366, "cg_iv_a": -130.177582, "cg_iw_a": -177.684784, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 7813113, "cg_sample_valid": 1, "cg_theta_rad": 0.401708871, "cg_vd_req_v": 7.70491886, "cg_vd_v": 7.70491886, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2583981, "cg_vq_v": -27.2583981, "cg_vu_v": 73.462059, "cg_vv_v": 88.8582916, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.6023483, "dclink_p_w": 11490.6104, "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": 61.9613037, "temp_inv2_c": 59.9487, "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": 0.129109636, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1159.071777, "values": {"Elec_RPM": -12994.6729, "EncoderCos": 38528, "EncoderSin": 12076, "GapTicks": 37635, "Mech_RPM": -2598.93457, "cg_du": 65.786087, "cg_dv": 56.2960815, "cg_dw": 34.2139091, "cg_id_a": 4.36154556, "cg_id_raw_a": 13.532649, "cg_iq_a": 300.251801, "cg_iq_raw_a": 303.337646, "cg_iu_a": -103.577629, "cg_iv_a": -194.184143, "cg_iw_a": 297.76178, "cg_sample_age_us": 24.005455, "cg_sample_seq": 7818013, "cg_sample_valid": 1, "cg_theta_rad": 5.03003407, "cg_vd_req_v": 7.69836998, "cg_vd_v": 7.69836998, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1528091, "cg_vq_v": -27.1528091, "cg_vu_v": 123.60981, "cg_vv_v": 150.883148, "cg_vw_v": 102.93486, "control_outputs_enabled": 1, "dclink_i_a": 75.9046555, "dclink_p_w": 11419.3428, "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": 61.9613037, "temp_inv2_c": 60.1101685, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121304654, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1159.932983, "values": {"Elec_RPM": -12993.4072, "EncoderCos": 26656, "EncoderSin": 12033, "GapTicks": 39262, "Mech_RPM": -2598.6814, "cg_du": 36.8434143, "cg_dv": 35.6935425, "cg_dw": 64.3064575, "cg_id_a": 1.09591055, "cg_id_raw_a": -13.5927114, "cg_iq_a": 296.225983, "cg_iq_raw_a": 289.962555, "cg_iu_a": -0.717632055, "cg_iv_a": 256.254181, "cg_iw_a": -255.53656, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 7822313, "cg_sample_valid": 1, "cg_theta_rad": 4.47441292, "cg_vd_req_v": 7.74802828, "cg_vd_v": 7.74802828, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0508194, "cg_vq_v": -27.0508194, "cg_vu_v": 149.563477, "cg_vv_v": 100.735397, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.1511154, "dclink_p_w": 11456.4219, "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": 61.9158936, "temp_inv2_c": 59.8950195, "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": 0.123067066, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1160.950562, "values": {"Elec_RPM": -12991.8418, "EncoderCos": 29232, "EncoderSin": 11508, "GapTicks": 37282, "Mech_RPM": -2598.36841, "cg_du": 53.7042618, "cg_dv": 33.893177, "cg_dw": 66.1068268, "cg_id_a": -5.1028285, "cg_id_raw_a": -3.81114817, "cg_iq_a": 294.229767, "cg_iq_raw_a": 290.763245, "cg_iu_a": -188.714401, "cg_iv_a": 285.539215, "cg_iw_a": -96.8248138, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 7827412, "cg_sample_valid": 1, "cg_theta_rad": 4.58558035, "cg_vd_req_v": 7.90578508, "cg_vd_v": 7.90578508, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0100937, "cg_vq_v": -27.0100937, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 48.3881836, "control_outputs_enabled": 1, "dclink_i_a": 76.290657, "dclink_p_w": 11510.9746, "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": 61.9613037, "temp_inv2_c": 60.034729, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119240098, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1161.967896, "values": {"Elec_RPM": -12993.0098, "EncoderCos": 14568, "EncoderSin": 21253, "GapTicks": 37247, "Mech_RPM": -2598.60205, "cg_du": 66.1388626, "cg_dv": 52.1321449, "cg_dw": 33.8611374, "cg_id_a": -5.08616972, "cg_id_raw_a": 2.75622296, "cg_iq_a": 294.8573, "cg_iq_raw_a": 296.171143, "cg_iu_a": -131.050461, "cg_iv_a": -163.884323, "cg_iw_a": 294.934784, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 7832413, "cg_sample_valid": 1, "cg_theta_rad": 3.74924183, "cg_vd_req_v": 7.89173126, "cg_vd_v": 7.89173126, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9871655, "cg_vq_v": -26.9871655, "cg_vu_v": 110.852921, "cg_vv_v": 120.970459, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 76.738266, "dclink_p_w": 11544.7539, "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": 61.9158936, "temp_inv2_c": 60.034729, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124829479, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1162.985474, "values": {"Elec_RPM": -12994.8975, "EncoderCos": 32142, "EncoderSin": 11257, "GapTicks": 37569, "Mech_RPM": -2598.97949, "cg_du": 65.8462219, "cg_dv": 34.1537781, "cg_dw": 56.4356575, "cg_id_a": -7.33271551, "cg_id_raw_a": -17.7048378, "cg_iq_a": 295.85437, "cg_iq_raw_a": 289.668762, "cg_iu_a": -298.388245, "cg_iv_a": 206.45517, "cg_iw_a": 91.933075, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 7837612, "cg_sample_valid": 1, "cg_theta_rad": 4.73914623, "cg_vd_req_v": 7.9246192, "cg_vd_v": 7.9246192, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0548019, "cg_vq_v": -27.0548019, "cg_vu_v": 76.9812012, "cg_vv_v": 38.2706528, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.8810959, "dclink_p_w": 11449.1787, "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": 61.9613037, "temp_inv2_c": 59.9567566, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123318836, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1164.002808, "values": {"Elec_RPM": -12999.2734, "EncoderCos": 32448, "EncoderSin": 11295, "GapTicks": 37387, "Mech_RPM": -2599.85474, "cg_du": 66.0116272, "cg_dv": 33.988369, "cg_dw": 54.55513, "cg_id_a": -0.905132413, "cg_id_raw_a": 1.93077445, "cg_iq_a": 297.41217, "cg_iq_raw_a": 296.731598, "cg_iu_a": -290.342102, "cg_iv_a": 180.468338, "cg_iw_a": 109.873764, "cg_sample_age_us": 24.1436367, "cg_sample_seq": 7842713, "cg_sample_valid": 1, "cg_theta_rad": 4.75234604, "cg_vd_req_v": 7.81669092, "cg_vd_v": 7.81669092, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0821056, "cg_vq_v": -27.0821056, "cg_vu_v": 73.462059, "cg_vv_v": 33.4318352, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.7871933, "dclink_p_w": 11552.1152, "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": 62.0067444, "temp_inv2_c": 60.0724182, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.11823301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1165.020142, "values": {"Elec_RPM": -13015.5039, "EncoderCos": 35101, "EncoderSin": 11428, "GapTicks": 39000, "Mech_RPM": -2603.10083, "cg_du": 64.5450897, "cg_dv": 35.4549141, "cg_dw": 37.4237976, "cg_id_a": -5.05753422, "cg_id_raw_a": -0.637378335, "cg_iq_a": 299.283508, "cg_iq_raw_a": 306.085327, "cg_iu_a": -272.256439, "cg_iv_a": 21.4666443, "cg_iw_a": 250.789795, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 7847812, "cg_sample_valid": 1, "cg_theta_rad": 4.87491465, "cg_vd_req_v": 7.90884781, "cg_vd_v": 7.90884781, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1105576, "cg_vq_v": -27.1105576, "cg_vu_v": 42.2296829, "cg_vv_v": 23.3143044, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.8053131, "dclink_p_w": 11554.8408, "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": 61.9613037, "temp_inv2_c": 60.034729, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123067066, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1166.037598, "values": {"Elec_RPM": -12994.9854, "EncoderCos": 35407, "EncoderSin": 11461, "GapTicks": 39424, "Mech_RPM": -2598.99707, "cg_du": 64.1596146, "cg_dv": 36.1165924, "cg_dw": 35.8403893, "cg_id_a": -1.37803531, "cg_id_raw_a": -12.744977, "cg_iq_a": 301.4953, "cg_iq_raw_a": 294.60965, "cg_iu_a": -263.557922, "cg_iv_a": 6.57043457, "cg_iw_a": 256.987488, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 7852913, "cg_sample_valid": 1, "cg_theta_rad": 4.88879442, "cg_vd_req_v": 7.81451893, "cg_vd_v": 7.81451893, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1637058, "cg_vq_v": -27.1637058, "cg_vu_v": 129.328415, "cg_vv_v": 120.530563, "cg_vw_v": 105.574219, "control_outputs_enabled": 1, "dclink_i_a": 75.8249207, "dclink_p_w": 11407.3477, "enc_isr_hz": 5001, "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": 61.9613037, "temp_inv2_c": 60.0320129, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.118333712, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1167.054932, "values": {"Elec_RPM": -12991.5518, "EncoderCos": 19494, "EncoderSin": 15844, "GapTicks": 37980, "Mech_RPM": -2598.3103, "cg_du": 34.5280418, "cg_dv": 65.4719543, "cg_dw": 41.8186188, "cg_id_a": -4.74463701, "cg_id_raw_a": -12.4244976, "cg_iq_a": 294.196198, "cg_iq_raw_a": 290.056152, "cg_iu_a": 284.557556, "cg_iv_a": -222.055664, "cg_iw_a": -62.5018921, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 7857913, "cg_sample_valid": 1, "cg_theta_rad": 4.08656502, "cg_vd_req_v": 7.91626549, "cg_vd_v": 7.91626549, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9640293, "cg_vq_v": -26.9640293, "cg_vu_v": 110.413033, "cg_vv_v": 147.803909, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 76.1148682, "dclink_p_w": 11417.4873, "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": 61.9613037, "temp_inv2_c": 59.9648132, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117830165, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1168.091553, "values": {"Elec_RPM": -13002.668, "EncoderCos": 50128, "EncoderSin": 44804, "GapTicks": 37698, "Mech_RPM": -2600.53369, "cg_du": 34.2717934, "cg_dv": 42.605999, "cg_dw": 65.7282104, "cg_id_a": 6.85479832, "cg_id_raw_a": 13.4869328, "cg_iq_a": 308.29068, "cg_iq_raw_a": 317.131165, "cg_iu_a": 97.7931137, "cg_iv_a": 208.122375, "cg_iw_a": -305.915497, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 7862962, "cg_sample_valid": 1, "cg_theta_rad": 0.646896601, "cg_vd_req_v": 7.73654795, "cg_vd_v": 7.73654795, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2334843, "cg_vq_v": -27.2334843, "cg_vu_v": 149.123581, "cg_vv_v": 107.773682, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.734642, "dclink_p_w": 11544.209, "enc_isr_hz": 5002, "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": 62.0067444, "temp_inv2_c": 60.0078125, "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": 0.124074154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1169.066406, "values": {"Elec_RPM": -12985.5625, "EncoderCos": 11947, "EncoderSin": 27728, "GapTicks": 39510, "Mech_RPM": -2597.11255, "cg_du": 64.0814667, "cg_dv": 35.9185371, "cg_dw": 63.7994728, "cg_id_a": -7.23999548, "cg_id_raw_a": -15.0977268, "cg_iq_a": 289.958801, "cg_iq_raw_a": 285.230255, "cg_iu_a": -253.373398, "cg_iv_a": 253.173462, "cg_iw_a": 0.199935913, "cg_sample_age_us": 23.7000008, "cg_sample_seq": 7868012, "cg_sample_valid": 1, "cg_theta_rad": 3.41509676, "cg_vd_req_v": 7.97926617, "cg_vd_v": 7.97926617, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.863636, "cg_vq_v": -26.863636, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 76.5117416, "dclink_p_w": 11510.6748, "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": 62.0067444, "temp_inv2_c": 59.9594421, "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": 0.125131607, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1169.927856, "values": {"Elec_RPM": -13001.7539, "EncoderCos": 48124, "EncoderSin": 18031, "GapTicks": 37641, "Mech_RPM": -2600.35083, "cg_du": 34.2195396, "cg_dv": 56.552372, "cg_dw": 65.7804642, "cg_id_a": -1.66018355, "cg_id_raw_a": -12.4983978, "cg_iq_a": 301.085236, "cg_iq_raw_a": 297.316498, "cg_iu_a": 216.600388, "cg_iv_a": 86.3430939, "cg_iw_a": -260.32074, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 7872262, "cg_sample_valid": 1, "cg_theta_rad": 5.55947399, "cg_vd_req_v": 7.84608126, "cg_vd_v": 7.84608126, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1619473, "cg_vq_v": -27.1619473, "cg_vu_v": 38.2706528, "cg_vv_v": 37.3908691, "cg_vw_v": 84.4593658, "control_outputs_enabled": 1, "dclink_i_a": 76.2834091, "dclink_p_w": 11476.3242, "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": 62.0067444, "temp_inv2_c": 60.0320129, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119290456, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1170.945313, "values": {"Elec_RPM": -12993.7744, "EncoderCos": 48308, "EncoderSin": 18307, "GapTicks": 37332, "Mech_RPM": -2598.75488, "cg_du": 33.9387741, "cg_dv": 54.5770226, "cg_dw": 66.0612259, "cg_id_a": 3.19185615, "cg_id_raw_a": 4.63116693, "cg_iq_a": 303.160858, "cg_iq_raw_a": 300.005524, "cg_iu_a": 183.654755, "cg_iv_a": 111.242615, "cg_iw_a": -294.897369, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 7877363, "cg_sample_valid": 1, "cg_theta_rad": 5.57932186, "cg_vd_req_v": 7.72856903, "cg_vd_v": 7.72856903, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1994839, "cg_vq_v": -27.1994839, "cg_vu_v": 114.811958, "cg_vv_v": 96.3364716, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.5208054, "dclink_p_w": 11478.3789, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 62.0522766, "temp_inv2_c": 60.1398315, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121858545, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1171.962646, "values": {"Elec_RPM": -12984.4648, "EncoderCos": 11950, "EncoderSin": 37724, "GapTicks": 37726, "Mech_RPM": -2596.89307, "cg_du": 34.2964172, "cg_dv": 65.7035828, "cg_dw": 57.2284164, "cg_id_a": -4.94019318, "cg_id_raw_a": 4.04596233, "cg_iq_a": 298.188873, "cg_iq_raw_a": 302.184326, "cg_iu_a": 289.740448, "cg_iv_a": -86.6487122, "cg_iw_a": -203.091736, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 7882513, "cg_sample_valid": 1, "cg_theta_rad": 2.95361352, "cg_vd_req_v": 7.9494524, "cg_vd_v": 7.9494524, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9981384, "cg_vq_v": -26.9981384, "cg_vu_v": 73.0221634, "cg_vv_v": 75.2216263, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 76.0242615, "dclink_p_w": 11403.8955, "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": 62.0067444, "temp_inv2_c": 59.9702148, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119089037, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1172.980103, "values": {"Elec_RPM": -12985.7695, "EncoderCos": 20763, "EncoderSin": 50427, "GapTicks": 38020, "Mech_RPM": -2597.15381, "cg_du": 65.4354935, "cg_dv": 34.5645065, "cg_dw": 58.4448395, "cg_id_a": -5.76085567, "cg_id_raw_a": -13.8603163, "cg_iq_a": 292.262939, "cg_iq_raw_a": 288.164734, "cg_iu_a": -285.159241, "cg_iv_a": 218.778076, "cg_iw_a": 66.3811722, "cg_sample_age_us": 23.6381817, "cg_sample_seq": 7887512, "cg_sample_valid": 1, "cg_theta_rad": 2.1935792, "cg_vd_req_v": 7.99930573, "cg_vd_v": 7.99930573, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8723869, "cg_vq_v": -26.8723869, "cg_vu_v": 42.2296829, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.1438675, "dclink_p_w": 11455.3311, "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": 62.0522766, "temp_inv2_c": 60.0751343, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.115967043, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1173.997559, "values": {"Elec_RPM": -12989.332, "EncoderCos": 11398, "EncoderSin": 33692, "GapTicks": 37455, "Mech_RPM": -2597.86646, "cg_du": 34.0503235, "cg_dv": 45.3042526, "cg_dw": 65.9496765, "cg_id_a": -4.37688541, "cg_id_raw_a": 0.188227236, "cg_iq_a": 296.551971, "cg_iq_raw_a": 304.172821, "cg_iu_a": 165.78653, "cg_iv_a": 123.348053, "cg_iw_a": -289.134583, "cg_sample_age_us": 23.823637, "cg_sample_seq": 7892712, "cg_sample_valid": 1, "cg_theta_rad": 3.08933401, "cg_vd_req_v": 7.94615793, "cg_vd_v": 7.94615793, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9579754, "cg_vq_v": -26.9579754, "cg_vu_v": 107.773682, "cg_vv_v": 73.0221634, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 76.4609985, "dclink_p_w": 11469.4072, "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": 61.9158936, "temp_inv2_c": 60.0427856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122160681, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1175.014893, "values": {"Elec_RPM": -12998.0918, "EncoderCos": 52096, "EncoderSin": 24268, "GapTicks": 38855, "Mech_RPM": -2599.61841, "cg_du": 62.2523804, "cg_dv": 35.3233757, "cg_dw": 64.6766205, "cg_id_a": 10.2036896, "cg_id_raw_a": -1.55873799, "cg_iq_a": 307.615112, "cg_iq_raw_a": 301.048492, "cg_iu_a": -248.770432, "cg_iv_a": 283.618286, "cg_iw_a": -34.8478546, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 7897762, "cg_sample_valid": 1, "cg_theta_rad": 5.9080987, "cg_vd_req_v": 7.59024429, "cg_vd_v": 7.59024429, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2659531, "cg_vq_v": -27.2659531, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 75.6020203, "dclink_p_w": 11340.5576, "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": 4998, "hz_vsense": 2602, "pwm_moe": 1, "temp_inv1_c": 62.0067444, "temp_inv2_c": 60.034729, "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": 0.126591891, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1176.032349, "values": {"Elec_RPM": -12994.8867, "EncoderCos": 52601, "EncoderSin": 25627, "GapTicks": 37632, "Mech_RPM": -2598.97729, "cg_du": 65.7882233, "cg_dv": 34.2117767, "cg_dw": 57.0103874, "cg_id_a": 4.59052801, "cg_id_raw_a": -5.48792124, "cg_iq_a": 307.295319, "cg_iq_raw_a": 301.575531, "cg_iu_a": -303.824829, "cg_iv_a": 224.214661, "cg_iw_a": 79.6101685, "cg_sample_age_us": 24.136364, "cg_sample_seq": 7902862, "cg_sample_valid": 1, "cg_theta_rad": 5.98070431, "cg_vd_req_v": 7.73996162, "cg_vd_v": 7.73996162, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2352619, "cg_vq_v": -27.2352619, "cg_vu_v": 48.3881836, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.9499664, "dclink_p_w": 11325.9307, "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": 62.0978394, "temp_inv2_c": 60.0778198, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124275573, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1177.049683, "values": {"Elec_RPM": -13001.4395, "EncoderCos": 11712, "EncoderSin": 29318, "GapTicks": 37414, "Mech_RPM": -2600.28784, "cg_du": 54.2636337, "cg_dv": 34.0136108, "cg_dw": 65.9863892, "cg_id_a": -4.2253933, "cg_id_raw_a": -2.94223619, "cg_iq_a": 294.71167, "cg_iq_raw_a": 290.536224, "cg_iu_a": -189.656738, "cg_iv_a": 286.264099, "cg_iw_a": -96.6073456, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7908012, "cg_sample_valid": 1, "cg_theta_rad": 3.34221387, "cg_vd_req_v": 7.96107435, "cg_vd_v": 7.96107435, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.94697, "cg_vq_v": -26.94697, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 51.0275345, "control_outputs_enabled": 1, "dclink_i_a": 76.4827499, "dclink_p_w": 11506.3135, "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": 62.0067444, "temp_inv2_c": 60.0939941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119240098, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1178.086304, "values": {"Elec_RPM": -12967.7344, "EncoderCos": 11998, "EncoderSin": 27912, "GapTicks": 39306, "Mech_RPM": -2593.54688, "cg_du": 63.2625961, "cg_dv": 35.7335892, "cg_dw": 64.2664108, "cg_id_a": -7.1626749, "cg_id_raw_a": -14.7457571, "cg_iq_a": 291.579865, "cg_iq_raw_a": 287.681763, "cg_iu_a": -249.277847, "cg_iv_a": 257.812683, "cg_iw_a": -8.53483582, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 7913112, "cg_sample_valid": 1, "cg_theta_rad": 3.39910364, "cg_vd_req_v": 7.97475576, "cg_vd_v": 7.97475576, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8872948, "cg_vq_v": -26.8872948, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 77.042717, "dclink_p_w": 11556.667, "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": 62.0522766, "temp_inv2_c": 60.1560059, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125181958, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1179.061279, "values": {"Elec_RPM": -13000.748, "EncoderCos": 44095, "EncoderSin": 14804, "GapTicks": 38324, "Mech_RPM": -2600.14966, "cg_du": 40.0555801, "cg_dv": 65.1598053, "cg_dw": 34.8401947, "cg_id_a": 0.940314889, "cg_id_raw_a": 4.41184378, "cg_iq_a": 296.572144, "cg_iq_raw_a": 299.272369, "cg_iu_a": 228.887054, "cg_iv_a": -277.146301, "cg_iw_a": 48.2592545, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 7918063, "cg_sample_valid": 1, "cg_theta_rad": 5.27980852, "cg_vd_req_v": 7.77274704, "cg_vd_v": 7.77274704, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0666046, "cg_vq_v": -27.0666046, "cg_vu_v": 81.380127, "cg_vv_v": 122.290138, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 76.4320068, "dclink_p_w": 11498.6797, "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": 62.0522766, "temp_inv2_c": 60.0778198, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12261387, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1179.922607, "values": {"Elec_RPM": -13006.6465, "EncoderCos": 16668, "EncoderSin": 18685, "GapTicks": 37563, "Mech_RPM": -2601.32935, "cg_du": 55.3397102, "cg_dv": 65.8514404, "cg_dw": 34.1485558, "cg_id_a": -3.92763591, "cg_id_raw_a": -6.36591768, "cg_iq_a": 291.519287, "cg_iq_raw_a": 292.285034, "cg_iu_a": 95.1473083, "cg_iv_a": -258.118286, "cg_iw_a": 240.387817, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 7922262, "cg_sample_valid": 1, "cg_theta_rad": 3.88826966, "cg_vd_req_v": 7.89823675, "cg_vd_v": 7.89823675, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9177551, "cg_vq_v": -26.9177551, "cg_vu_v": 18.9153805, "cg_vv_v": 78.3008804, "cg_vw_v": 46.1887207, "control_outputs_enabled": 1, "dclink_i_a": 76.2091064, "dclink_p_w": 11465.1455, "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": 62.0067444, "temp_inv2_c": 60.0993958, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1180.940063, "values": {"Elec_RPM": -12985.499, "EncoderCos": 52380, "EncoderSin": 40202, "GapTicks": 37171, "Mech_RPM": -2597.09985, "cg_du": 33.7922287, "cg_dv": 66.2077713, "cg_dw": 53.1194077, "cg_id_a": -0.029889822, "cg_id_raw_a": -2.56215358, "cg_iq_a": 307.512268, "cg_iq_raw_a": 301.127197, "cg_iu_a": 303.259399, "cg_iv_a": -205.021088, "cg_iw_a": -100.630409, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 7927312, "cg_sample_valid": 1, "cg_theta_rad": 0.388736635, "cg_vd_req_v": 7.87367153, "cg_vd_v": 7.87367153, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2127476, "cg_vq_v": -27.2127476, "cg_vu_v": 13.6366701, "cg_vv_v": 41.7897949, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 77.4450226, "dclink_p_w": 11617.0146, "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": 62.0522766, "temp_inv2_c": 60.0939941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12251316, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1181.957397, "values": {"Elec_RPM": -12990.0791, "EncoderCos": 52286, "EncoderSin": 40468, "GapTicks": 37356, "Mech_RPM": -2598.01587, "cg_du": 33.9603958, "cg_dv": 66.0396042, "cg_dw": 54.8624649, "cg_id_a": 3.56240129, "cg_id_raw_a": 14.4433002, "cg_iq_a": 306.563019, "cg_iq_raw_a": 309.431915, "cg_iu_a": 306.630066, "cg_iv_a": -118.688263, "cg_iw_a": -187.941803, "cg_sample_age_us": 23.5254555, "cg_sample_seq": 7932413, "cg_sample_valid": 1, "cg_theta_rad": 0.406165242, "cg_vd_req_v": 7.76184845, "cg_vd_v": 7.76184845, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2013245, "cg_vq_v": -27.2013245, "cg_vu_v": 85.3391571, "cg_vv_v": 142.085297, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 76.0949402, "dclink_p_w": 11447.9707, "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": 62.0978394, "temp_inv2_c": 60.0966797, "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": 0.121959254, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1182.974854, "values": {"Elec_RPM": -12993.9297, "EncoderCos": 51696, "EncoderSin": 41818, "GapTicks": 39451, "Mech_RPM": -2598.78589, "cg_du": 35.8647842, "cg_dv": 64.1352158, "cg_dw": 64.1305542, "cg_id_a": 3.14607096, "cg_id_raw_a": 13.9997931, "cg_iq_a": 306.566772, "cg_iq_raw_a": 311.470551, "cg_iu_a": 267.921661, "cg_iv_a": -10.1742249, "cg_iw_a": -257.747437, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 7937513, "cg_sample_valid": 1, "cg_theta_rad": 0.488418251, "cg_vd_req_v": 7.82869101, "cg_vd_v": 7.82869101, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1630821, "cg_vq_v": -27.1630821, "cg_vu_v": 108.653458, "cg_vv_v": 116.571533, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 77.3199768, "dclink_p_w": 11632.2686, "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": 62.0067444, "temp_inv2_c": 60.1533203, "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": 0.124527358, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1183.99231, "values": {"Elec_RPM": -12998.0137, "EncoderCos": 11684, "EncoderSin": 29937, "GapTicks": 37141, "Mech_RPM": -2599.60278, "cg_du": 50.2615891, "cg_dv": 33.7649651, "cg_dw": 66.2350311, "cg_id_a": -5.05856419, "cg_id_raw_a": 4.14403009, "cg_iq_a": 291.941864, "cg_iq_raw_a": 292.885193, "cg_iu_a": -157.544708, "cg_iv_a": 285.829163, "cg_iw_a": -128.284454, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 7942562, "cg_sample_valid": 1, "cg_theta_rad": 3.31299472, "cg_vd_req_v": 7.98374557, "cg_vd_v": 7.98374557, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8786411, "cg_vq_v": -26.8786411, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 62.0248489, "control_outputs_enabled": 1, "dclink_i_a": 75.9608383, "dclink_p_w": 11427.7959, "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": 62.0522766, "temp_inv2_c": 60.18573, "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": 0.126440838, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1185.009766, "values": {"Elec_RPM": -12996.6914, "EncoderCos": 22336, "EncoderSin": 14111, "GapTicks": 39280, "Mech_RPM": -2599.33838, "cg_du": 35.7096252, "cg_dv": 64.2903748, "cg_dw": 63.0668373, "cg_id_a": -2.08079529, "cg_id_raw_a": -13.8050919, "cg_iq_a": 293.689972, "cg_iq_raw_a": 291.30896, "cg_iu_a": 262.521332, "cg_iv_a": -13.9073486, "cg_iw_a": -248.613983, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 7947762, "cg_sample_valid": 1, "cg_theta_rad": 4.24674606, "cg_vd_req_v": 7.88101339, "cg_vd_v": 7.88101339, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9427681, "cg_vq_v": -26.9427681, "cg_vu_v": 25.5137672, "cg_vv_v": 33.871727, "cg_vw_v": 54.1067848, "control_outputs_enabled": 1, "dclink_i_a": 76.9104233, "dclink_p_w": 11570.6543, "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": 62.1434631, "temp_inv2_c": 60.2614746, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.1223621, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1186.0271, "values": {"Elec_RPM": -12996.4531, "EncoderCos": 49456, "EncoderSin": 45515, "GapTicks": 39167, "Mech_RPM": -2599.29053, "cg_du": 35.6072655, "cg_dv": 36.6966591, "cg_dw": 64.3927307, "cg_id_a": 13.4033699, "cg_id_raw_a": -0.496546388, "cg_iq_a": 309.111206, "cg_iq_raw_a": 304.093323, "cg_iu_a": 28.9660683, "cg_iv_a": 249.694061, "cg_iw_a": -309.141174, "cg_sample_age_us": 23.5036373, "cg_sample_seq": 7952813, "cg_sample_valid": 1, "cg_theta_rad": 0.679332912, "cg_vd_req_v": 7.63361073, "cg_vd_v": 7.63361073, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2065277, "cg_vq_v": -27.2065277, "cg_vu_v": 148.683685, "cg_vv_v": 108.653458, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 76.3613281, "dclink_p_w": 11488.0469, "enc_isr_hz": 5002, "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": 62.0522766, "temp_inv2_c": 60.1641541, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124476999, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1187.044556, "values": {"Elec_RPM": -12991.5127, "EncoderCos": 24963, "EncoderSin": 12902, "GapTicks": 37364, "Mech_RPM": -2598.30249, "cg_du": 33.968132, "cg_dv": 46.6683235, "cg_dw": 66.031868, "cg_id_a": -0.537195206, "cg_id_raw_a": 4.53848457, "cg_iq_a": 296.206116, "cg_iq_raw_a": 302.37326, "cg_iu_a": 127.078125, "cg_iv_a": 173.11084, "cg_iw_a": -300.188965, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 7957962, "cg_sample_valid": 1, "cg_theta_rad": 4.37889719, "cg_vd_req_v": 7.81791735, "cg_vd_v": 7.81791735, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0236931, "cg_vq_v": -27.0236931, "cg_vu_v": 0.43989256, "cg_vv_v": 0, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 76.1692352, "dclink_p_w": 11425.6426, "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": 62.0522766, "temp_inv2_c": 60.1641541, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119240098, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1188.076538, "values": {"Elec_RPM": -12980.6035, "EncoderCos": 12800, "EncoderSin": 25459, "GapTicks": 37226, "Mech_RPM": -2596.12061, "cg_du": 66.1572876, "cg_dv": 33.8427124, "cg_dw": 48.3185425, "cg_id_a": -14.5056152, "cg_id_raw_a": -12.0679512, "cg_iq_a": 293.638733, "cg_iq_raw_a": 286.871735, "cg_iu_a": -288.85611, "cg_iv_a": 118.853821, "cg_iw_a": 170.002289, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 7962963, "cg_sample_valid": 1, "cg_theta_rad": 3.53414893, "cg_vd_req_v": 8.13390446, "cg_vd_v": 8.13390446, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9164047, "cg_vq_v": -26.9164047, "cg_vu_v": 151.762939, "cg_vv_v": 147.803909, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": 76.6005402, "dclink_p_w": 11524.0342, "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": 62.0522766, "temp_inv2_c": 60.1344604, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120247193, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1189.05603, "values": {"Elec_RPM": -12996.6289, "EncoderCos": 46969, "EncoderSin": 17181, "GapTicks": 39083, "Mech_RPM": -2599.32568, "cg_du": 35.5305328, "cg_dv": 64.4694672, "cg_dw": 62.8848953, "cg_id_a": 1.9560858, "cg_id_raw_a": -14.6549873, "cg_iq_a": 302.755646, "cg_iq_raw_a": 299.016296, "cg_iu_a": 298.330231, "cg_iv_a": -101.907379, "cg_iw_a": -196.422852, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 7967912, "cg_sample_valid": 1, "cg_theta_rad": 5.45895338, "cg_vd_req_v": 7.76861238, "cg_vd_v": 7.76861238, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1747284, "cg_vq_v": -27.1747284, "cg_vu_v": 73.462059, "cg_vv_v": 76.1014175, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.3247528, "dclink_p_w": 11332.1006, "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": 62.0978394, "temp_inv2_c": 60.1533203, "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": 0.124023803, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1190.073364, "values": {"Elec_RPM": -12986.5869, "EncoderCos": 12615, "EncoderSin": 39412, "GapTicks": 37415, "Mech_RPM": -2597.31738, "cg_du": 34.0139847, "cg_dv": 65.9860153, "cg_dw": 45.2862015, "cg_id_a": -0.347619295, "cg_id_raw_a": -3.38619661, "cg_iq_a": 301.737213, "cg_iq_raw_a": 299.795868, "cg_iu_a": 296.409302, "cg_iv_a": -180.302765, "cg_iw_a": -116.106537, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 7973062, "cg_sample_valid": 1, "cg_theta_rad": 2.86446834, "cg_vd_req_v": 7.87228012, "cg_vd_v": 7.87228012, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0476322, "cg_vq_v": -27.0476322, "cg_vu_v": 9.23774433, "cg_vv_v": 47.9482918, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 76.5969162, "dclink_p_w": 11523.4893, "enc_isr_hz": 5001, "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": 62.0978394, "temp_inv2_c": 60.1344604, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127045095, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1190.934814, "values": {"Elec_RPM": -12995.0449, "EncoderCos": 19138, "EncoderSin": 49028, "GapTicks": 37548, "Mech_RPM": -2599.00903, "cg_du": 65.8654556, "cg_dv": 34.1345444, "cg_dw": 44.3481483, "cg_id_a": -13.2511539, "cg_id_raw_a": -8.72102165, "cg_iq_a": 296.900452, "cg_iq_raw_a": 299.538147, "cg_iu_a": -293.277863, "cg_iv_a": 154.11908, "cg_iw_a": 139.158783, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 7977362, "cg_sample_valid": 1, "cg_theta_rad": 2.26067829, "cg_vd_req_v": 8.15376568, "cg_vd_v": 8.15376568, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.930582, "cg_vq_v": -26.930582, "cg_vu_v": 76.9812012, "cg_vv_v": 52.3472176, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 76.4410629, "dclink_p_w": 11500.042, "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": 62.0067444, "temp_inv2_c": 60.0993958, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125786215, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1191.952148, "values": {"Elec_RPM": -12976.8643, "EncoderCos": 34760, "EncoderSin": 53772, "GapTicks": 38696, "Mech_RPM": -2595.3728, "cg_du": 38.5853081, "cg_dv": 64.8216858, "cg_dw": 35.1783142, "cg_id_a": -4.58930111, "cg_id_raw_a": 8.13126469, "cg_iq_a": 297.434601, "cg_iq_raw_a": 304.458496, "cg_iu_a": 237.80304, "cg_iv_a": -275.007935, "cg_iw_a": 37.2049026, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 7982362, "cg_sample_valid": 1, "cg_theta_rad": 1.50324094, "cg_vd_req_v": 7.99881744, "cg_vd_v": 7.99881744, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9331856, "cg_vq_v": -26.9331856, "cg_vu_v": 0, "cg_vv_v": 41.7897949, "cg_vw_v": 20.6749516, "control_outputs_enabled": 1, "dclink_i_a": 76.6132278, "dclink_p_w": 11525.9434, "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": 62.0978394, "temp_inv2_c": 60.2858582, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123923093, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1192.969727, "values": {"Elec_RPM": -12991.3164, "EncoderCos": 17070, "EncoderSin": 46998, "GapTicks": 37455, "Mech_RPM": -2598.26318, "cg_du": 65.9495316, "cg_dv": 45.3686829, "cg_dw": 34.0504684, "cg_id_a": -3.75503683, "cg_id_raw_a": -5.25997734, "cg_iq_a": 300.271149, "cg_iq_raw_a": 302.051392, "cg_iu_a": -249.930237, "cg_iv_a": -19.7788391, "cg_iw_a": 269.709076, "cg_sample_age_us": 24.0272732, "cg_sample_seq": 7987562, "cg_sample_valid": 1, "cg_theta_rad": 2.39701653, "cg_vd_req_v": 7.96150684, "cg_vd_v": 7.96150684, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0276241, "cg_vq_v": -27.0276241, "cg_vu_v": 113.492287, "cg_vv_v": 112.172607, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 75.4932938, "dclink_p_w": 11324.249, "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": 62.0978394, "temp_inv2_c": 60.2046509, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00241702911, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128958568, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1193.987061, "values": {"Elec_RPM": -12991.1309, "EncoderCos": 16891, "EncoderSin": 46788, "GapTicks": 37193, "Mech_RPM": -2598.22607, "cg_du": 66.1879349, "cg_dv": 47.1881447, "cg_dw": 33.8120651, "cg_id_a": -4.44294596, "cg_id_raw_a": -3.79498768, "cg_iq_a": 301.465576, "cg_iq_raw_a": 298.893066, "cg_iu_a": -182.118027, "cg_iv_a": -120.935379, "cg_iw_a": 303.053406, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 7992663, "cg_sample_valid": 1, "cg_theta_rad": 2.46101809, "cg_vd_req_v": 7.98534727, "cg_vd_v": 7.98534727, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0245113, "cg_vq_v": -27.0245113, "cg_vu_v": 113.052383, "cg_vv_v": 130.648087, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 76.0351334, "dclink_p_w": 11405.5264, "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": 62.0978394, "temp_inv2_c": 60.1182556, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121858545, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1195.004517, "values": {"Elec_RPM": -12986.6514, "EncoderCos": 42366, "EncoderSin": 13968, "GapTicks": 37496, "Mech_RPM": -2597.33032, "cg_du": 44.7439842, "cg_dv": 65.9120865, "cg_dw": 34.0879135, "cg_id_a": 3.9656744, "cg_id_raw_a": 3.66462421, "cg_iq_a": 297.803528, "cg_iq_raw_a": 293.032104, "cg_iu_a": 193.875519, "cg_iv_a": -287.222107, "cg_iw_a": 93.3465805, "cg_sample_age_us": 23.863636, "cg_sample_seq": 7997713, "cg_sample_valid": 1, "cg_theta_rad": 5.24084711, "cg_vd_req_v": 7.73640776, "cg_vd_v": 7.73640776, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0558033, "cg_vq_v": -27.0558033, "cg_vu_v": 25.953661, "cg_vv_v": 69.5030289, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 76.5697327, "dclink_p_w": 11519.3994, "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": 62.1434631, "temp_inv2_c": 60.1209412, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1196.021851, "values": {"Elec_RPM": -12981.3887, "EncoderCos": 14579, "EncoderSin": 43450, "GapTicks": 37500, "Mech_RPM": -2596.27783, "cg_du": 55.1713371, "cg_dv": 65.9090118, "cg_dw": 34.0909843, "cg_id_a": 0.586797476, "cg_id_raw_a": -4.1874404, "cg_iq_a": 295.211609, "cg_iq_raw_a": 296.847321, "cg_iu_a": 94.3137054, "cg_iv_a": -293.166077, "cg_iw_a": 198.852371, "cg_sample_age_us": 23.863636, "cg_sample_seq": 8002862, "cg_sample_valid": 1, "cg_theta_rad": 2.64792466, "cg_vd_req_v": 7.86705971, "cg_vd_v": 7.86705971, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.910553, "cg_vq_v": -26.910553, "cg_vu_v": 35.1914063, "cg_vv_v": 79.1806641, "cg_vw_v": 55.4264603, "control_outputs_enabled": 1, "dclink_i_a": 76.2054825, "dclink_p_w": 11464.6006, "enc_isr_hz": 4998, "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": 62.1434631, "temp_inv2_c": 60.1398315, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120650038, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1197.039429, "values": {"Elec_RPM": -12988.9629, "EncoderCos": 27614, "EncoderSin": 53217, "GapTicks": 37166, "Mech_RPM": -2597.79248, "cg_du": 33.7881546, "cg_dv": 49.1475105, "cg_dw": 66.2118454, "cg_id_a": -1.79221141, "cg_id_raw_a": 3.78428602, "cg_iq_a": 298.962097, "cg_iq_raw_a": 305.75351, "cg_iu_a": 151.723938, "cg_iv_a": 154.553986, "cg_iw_a": -306.277924, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 8007862, "cg_sample_valid": 1, "cg_theta_rad": 1.85287333, "cg_vd_req_v": 7.94987011, "cg_vd_v": 7.94987011, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9450073, "cg_vq_v": -26.9450073, "cg_vu_v": 43.9892578, "cg_vv_v": 36.9509773, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 76.0786285, "dclink_p_w": 11445.5166, "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": 62.0067444, "temp_inv2_c": 60.161438, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.117225915, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1198.071289, "values": {"Elec_RPM": -12981.1465, "EncoderCos": 26221, "EncoderSin": 52836, "GapTicks": 38358, "Mech_RPM": -2596.22925, "cg_du": 34.8716049, "cg_dv": 39.6989136, "cg_dw": 65.1283951, "cg_id_a": -3.89715385, "cg_id_raw_a": -0.357759535, "cg_iq_a": 300.53421, "cg_iq_raw_a": 309.35968, "cg_iu_a": 55.4240646, "cg_iv_a": 229.941162, "cg_iw_a": -285.365234, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 8012962, "cg_sample_valid": 1, "cg_theta_rad": 1.92320776, "cg_vd_req_v": 7.98954153, "cg_vd_v": 7.98954153, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9985256, "cg_vq_v": -26.9985256, "cg_vu_v": 16.2760258, "cg_vv_v": 0, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": 75.9680862, "dclink_p_w": 11395.4688, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2593, "hz_tim_isr": 5002, "hz_vsense": 2593, "pwm_moe": 1, "temp_inv1_c": 62.1434631, "temp_inv2_c": 60.1641541, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121455714, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1199.050781, "values": {"Elec_RPM": -12972.2207, "EncoderCos": 30265, "EncoderSin": 11715, "GapTicks": 38396, "Mech_RPM": -2594.44409, "cg_du": 60.1347809, "cg_dv": 34.9062653, "cg_dw": 65.0937347, "cg_id_a": -7.75581408, "cg_id_raw_a": -3.36905694, "cg_iq_a": 294.037781, "cg_iq_raw_a": 298.311432, "cg_iu_a": -229.814911, "cg_iv_a": 279.305267, "cg_iw_a": -49.4903564, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 8018013, "cg_sample_valid": 1, "cg_theta_rad": 4.64418697, "cg_vd_req_v": 7.96607447, "cg_vd_v": 7.96607447, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.96982, "cg_vq_v": -26.96982, "cg_vu_v": 151.762939, "cg_vv_v": 107.773682, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": 75.4606705, "dclink_p_w": 11352.5488, "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": 62.1891479, "temp_inv2_c": 60.1992493, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121052869, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1200.068237, "values": {"Elec_RPM": -12993.2402, "EncoderCos": 17635, "EncoderSin": 17970, "GapTicks": 37552, "Mech_RPM": -2598.64795, "cg_du": 55.2001648, "cg_dv": 65.8615417, "cg_dw": 34.1384583, "cg_id_a": -3.08029199, "cg_id_raw_a": -2.28006458, "cg_iq_a": 292.609863, "cg_iq_raw_a": 289.765686, "cg_iu_a": 176.007294, "cg_iv_a": -288.381897, "cg_iw_a": 112.374588, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 8023012, "cg_sample_valid": 1, "cg_theta_rad": 3.95973277, "cg_vd_req_v": 7.91896534, "cg_vd_v": 7.91896534, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9021358, "cg_vq_v": -26.9021358, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 100.295509, "control_outputs_enabled": 1, "dclink_i_a": 76.2743454, "dclink_p_w": 11474.9609, "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": 62.1434631, "temp_inv2_c": 60.1533203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119491868, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1200.929688, "values": {"Elec_RPM": -12993.6777, "EncoderCos": 11922, "EncoderSin": 29330, "GapTicks": 37408, "Mech_RPM": -2598.7356, "cg_du": 54.4558372, "cg_dv": 34.0076599, "cg_dw": 65.9923401, "cg_id_a": -5.91281462, "cg_id_raw_a": -4.80989838, "cg_iq_a": 293.50238, "cg_iq_raw_a": 288.853943, "cg_iu_a": -193.788544, "cg_iv_a": 283.18338, "cg_iw_a": -89.3948288, "cg_sample_age_us": 23.812727, "cg_sample_seq": 8027312, "cg_sample_valid": 1, "cg_theta_rad": 3.33757734, "cg_vd_req_v": 7.98459148, "cg_vd_v": 7.98459148, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8961163, "cg_vq_v": -26.8961163, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 76.2453461, "dclink_p_w": 11470.5977, "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": 62.1434631, "temp_inv2_c": 60.1641541, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12628977, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1201.947021, "values": {"Elec_RPM": -13005.6016, "EncoderCos": 12193, "EncoderSin": 27907, "GapTicks": 39513, "Mech_RPM": -2601.12036, "cg_du": 63.5250168, "cg_dv": 35.9211082, "cg_dw": 64.0788879, "cg_id_a": -6.56327534, "cg_id_raw_a": -14.9284992, "cg_iq_a": 289.769989, "cg_iq_raw_a": 285.947235, "cg_iu_a": -198.790192, "cg_iv_a": 284.089447, "cg_iw_a": -85.299263, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 8032412, "cg_sample_valid": 1, "cg_theta_rad": 3.36469769, "cg_vd_req_v": 8.03965378, "cg_vd_v": 8.03965378, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7868958, "cg_vq_v": -26.7868958, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 76.1601791, "dclink_p_w": 11424.2842, "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": 62.1434631, "temp_inv2_c": 60.0670471, "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": 0.122664221, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1202.964478, "values": {"Elec_RPM": -13001.376, "EncoderCos": 53224, "EncoderSin": 28832, "GapTicks": 39391, "Mech_RPM": -2600.27515, "cg_du": 64.1893234, "cg_dv": 35.8106766, "cg_dw": 36.029686, "cg_id_a": 8.60935593, "cg_id_raw_a": -1.78635001, "cg_iq_a": 311.098938, "cg_iq_raw_a": 305.792999, "cg_iu_a": -276.134521, "cg_iv_a": 19.364502, "cg_iw_a": 256.77002, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 8037463, "cg_sample_valid": 1, "cg_theta_rad": 6.1453743, "cg_vd_req_v": 7.69627142, "cg_vd_v": 7.69627142, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2887897, "cg_vq_v": -27.2887897, "cg_vu_v": 36.9509773, "cg_vv_v": 60.7051735, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 77.421463, "dclink_p_w": 11613.4805, "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": 62.1434631, "temp_inv2_c": 60.1533203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122311741, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1203.981812, "values": {"Elec_RPM": -13009.2422, "EncoderCos": 53552, "EncoderSin": 31398, "GapTicks": 37131, "Mech_RPM": -2601.84839, "cg_du": 66.2439346, "cg_dv": 52.5095978, "cg_dw": 33.7560654, "cg_id_a": 1.5092777, "cg_id_raw_a": -0.476647764, "cg_iq_a": 309.676819, "cg_iq_raw_a": 309.070404, "cg_iu_a": -125.650124, "cg_iv_a": -179.759125, "cg_iw_a": 305.409241, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 8042562, "cg_sample_valid": 1, "cg_theta_rad": 6.25705814, "cg_vd_req_v": 7.83380985, "cg_vd_v": 7.83380985, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.225872, "cg_vq_v": -27.225872, "cg_vu_v": 31.6722641, "cg_vv_v": 47.9482918, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.9390869, "dclink_p_w": 11424.5234, "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": 62.1891479, "temp_inv2_c": 60.1209412, "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": 0.128001824, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1204.999268, "values": {"Elec_RPM": -12992.6768, "EncoderCos": 53534, "EncoderSin": 31679, "GapTicks": 37281, "Mech_RPM": -2598.5354, "cg_du": 66.1077957, "cg_dv": 54.3175812, "cg_dw": 33.8922043, "cg_id_a": 5.35850334, "cg_id_raw_a": 12.4697638, "cg_iq_a": 309.279022, "cg_iq_raw_a": 310.288361, "cg_iu_a": -124.671539, "cg_iv_a": -182.622406, "cg_iw_a": 307.293945, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 8047663, "cg_sample_valid": 1, "cg_theta_rad": 6.27092314, "cg_vd_req_v": 7.75777388, "cg_vd_v": 7.75777388, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2315807, "cg_vq_v": -27.2315807, "cg_vu_v": 115.69175, "cg_vv_v": 151.762939, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 75.8267365, "dclink_p_w": 11374.2666, "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": 62.1434631, "temp_inv2_c": 60.161438, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123923093, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1206.016724, "values": {"Elec_RPM": -13007.8828, "EncoderCos": 14272, "EncoderSin": 22608, "GapTicks": 37707, "Mech_RPM": -2601.57666, "cg_du": 65.7207413, "cg_dv": 43.5054893, "cg_dw": 34.2792587, "cg_id_a": -2.7477951, "cg_id_raw_a": -6.99496841, "cg_iq_a": 295.343628, "cg_iq_raw_a": 299.487885, "cg_iu_a": -194.042252, "cg_iv_a": -93.3175812, "cg_iw_a": 287.359833, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 8052812, "cg_sample_valid": 1, "cg_theta_rad": 3.69001961, "cg_vd_req_v": 7.90678787, "cg_vd_v": 7.90678787, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9392662, "cg_vq_v": -26.9392662, "cg_vu_v": 151.323044, "cg_vv_v": 151.762939, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 76.4446945, "dclink_p_w": 11466.9619, "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": 62.1891479, "temp_inv2_c": 60.1965637, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127196148, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1207.03418, "values": {"Elec_RPM": -12999.502, "EncoderCos": 53332, "EncoderSin": 35704, "GapTicks": 37200, "Mech_RPM": -2599.90039, "cg_du": 48.2591248, "cg_dv": 66.1812592, "cg_dw": 33.8187408, "cg_id_a": 10.5934944, "cg_id_raw_a": 22.9006214, "cg_iq_a": 303.928436, "cg_iq_raw_a": 309.624359, "cg_iu_a": 158.718994, "cg_iv_a": -306.54007, "cg_iw_a": 147.821075, "cg_sample_age_us": 23.48909, "cg_sample_seq": 8057862, "cg_sample_valid": 1, "cg_theta_rad": 0.178580508, "cg_vd_req_v": 7.66353703, "cg_vd_v": 7.66353703, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1010571, "cg_vq_v": -27.1010571, "cg_vu_v": 0, "cg_vv_v": 43.9892578, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 76.6857147, "dclink_p_w": 11503.1162, "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": 62.2807007, "temp_inv2_c": 60.2669067, "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": 0.126491189, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1208.061523, "values": {"Elec_RPM": -12987.3711, "EncoderCos": 33651, "EncoderSin": 11728, "GapTicks": 37282, "Mech_RPM": -2597.47412, "cg_du": 66.1066742, "cg_dv": 33.8933258, "cg_dw": 46.4369278, "cg_id_a": -3.38480234, "cg_id_raw_a": -0.103468195, "cg_iq_a": 299.308838, "cg_iq_raw_a": 301.145203, "cg_iu_a": -304.187256, "cg_iv_a": 123.275574, "cg_iw_a": 180.911682, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 8062762, "cg_sample_valid": 1, "cg_theta_rad": 4.80003786, "cg_vd_req_v": 7.8859911, "cg_vd_v": 7.8859911, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0825233, "cg_vq_v": -27.0825233, "cg_vu_v": 44.4291458, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.4537506, "dclink_p_w": 11468.3203, "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": 62.1891479, "temp_inv2_c": 60.2696228, "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": 0.125232309, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1209.045532, "values": {"Elec_RPM": -12980.6162, "EncoderCos": 21665, "EncoderSin": 50592, "GapTicks": 39441, "Mech_RPM": -2596.12329, "cg_du": 64.1445313, "cg_dv": 35.8554688, "cg_dw": 63.5725136, "cg_id_a": -5.49867201, "cg_id_raw_a": -13.1468935, "cg_iq_a": 293.442871, "cg_iq_raw_a": 289.499268, "cg_iu_a": -256.309143, "cg_iv_a": 254.369507, "cg_iw_a": 1.93964386, "cg_sample_age_us": 23.5618191, "cg_sample_seq": 8067912, "cg_sample_valid": 1, "cg_theta_rad": 2.16374373, "cg_vd_req_v": 8.01643562, "cg_vd_v": 8.01643562, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8363285, "cg_vq_v": -26.8363285, "cg_vu_v": 43.1094704, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 76.2163544, "dclink_p_w": 11432.71, "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": 62.1434631, "temp_inv2_c": 60.18573, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122815281, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1210.062988, "values": {"Elec_RPM": -12993.582, "EncoderCos": 21383, "EncoderSin": 50472, "GapTicks": 38856, "Mech_RPM": -2598.71631, "cg_du": 64.6761398, "cg_dv": 35.3238602, "cg_dw": 61.6590309, "cg_id_a": -9.17063236, "cg_id_raw_a": 1.18660223, "cg_iq_a": 289.221344, "cg_iq_raw_a": 293.806, "cg_iu_a": -263.412933, "cg_iv_a": 233.456818, "cg_iw_a": 29.9561157, "cg_sample_age_us": 23.5799999, "cg_sample_seq": 8073013, "cg_sample_valid": 1, "cg_theta_rad": 2.17138076, "cg_vd_req_v": 8.10782051, "cg_vd_v": 8.10782051, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.765625, "cg_vq_v": -26.765625, "cg_vu_v": 151.762939, "cg_vv_v": 110.413033, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 76.7128983, "dclink_p_w": 11507.1934, "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": 62.1434631, "temp_inv2_c": 60.18573, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124023803, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1210.924316, "values": {"Elec_RPM": -12984.9277, "EncoderCos": 21006, "EncoderSin": 15279, "GapTicks": 37241, "Mech_RPM": -2596.9856, "cg_du": 33.855587, "cg_dv": 66.1444092, "cg_dw": 52.128849, "cg_id_a": -8.05067348, "cg_id_raw_a": -10.6421719, "cg_iq_a": 295.330505, "cg_iq_raw_a": 290.541901, "cg_iu_a": 180.175339, "cg_iv_a": 108.560562, "cg_iw_a": -288.735901, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 8077266, "cg_sample_valid": 1, "cg_theta_rad": 4.33091784, "cg_vd_req_v": 8.01456833, "cg_vd_v": 8.01456833, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9607086, "cg_vq_v": -26.9607086, "cg_vu_v": 132.847549, "cg_vv_v": 108.21357, "cg_vw_v": 150.443253, "control_outputs_enabled": 1, "dclink_i_a": 77.2166824, "dclink_p_w": 11616.7285, "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": 62.2348938, "temp_inv2_c": 60.2046509, "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": 0.124678418, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1211.941772, "values": {"Elec_RPM": -12978.5859, "EncoderCos": 26306, "EncoderSin": 12615, "GapTicks": 38915, "Mech_RPM": -2595.71729, "cg_du": 35.3778801, "cg_dv": 37.9412041, "cg_dw": 64.6221161, "cg_id_a": -0.526743293, "cg_id_raw_a": 3.32174349, "cg_iq_a": 297.527863, "cg_iq_raw_a": 306.902557, "cg_iu_a": 32.2280121, "cg_iv_a": 239.980728, "cg_iw_a": -272.20874, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 8082362, "cg_sample_valid": 1, "cg_theta_rad": 4.45766258, "cg_vd_req_v": 7.84378719, "cg_vd_v": 7.84378719, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0178776, "cg_vq_v": -27.0178776, "cg_vu_v": 118.770996, "cg_vv_v": 83.5795898, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.6603394, "dclink_p_w": 11533.0313, "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": 62.1891479, "temp_inv2_c": 60.1749268, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124829479, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1212.959106, "values": {"Elec_RPM": -12988.9609, "EncoderCos": 27725, "EncoderSin": 12276, "GapTicks": 37858, "Mech_RPM": -2597.79224, "cg_du": 42.8630714, "cg_dv": 34.4169235, "cg_dw": 65.5830765, "cg_id_a": 6.20249557, "cg_id_raw_a": 10.0868149, "cg_iq_a": 292.948456, "cg_iq_raw_a": 300.282501, "cg_iu_a": -78.8955765, "cg_iv_a": 277.094391, "cg_iw_a": -198.198822, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 8087462, "cg_sample_valid": 1, "cg_theta_rad": 4.52466202, "cg_vd_req_v": 7.71117735, "cg_vd_v": 7.71117735, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9180889, "cg_vq_v": -26.9180889, "cg_vu_v": 139.885834, "cg_vv_v": 90.6178665, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": 76.0079498, "dclink_p_w": 11401.4492, "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": 62.1891479, "temp_inv2_c": 60.2073669, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120650038, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1213.97644, "values": {"Elec_RPM": -12991.5195, "EncoderCos": 45297, "EncoderSin": 49397, "GapTicks": 37696, "Mech_RPM": -2598.30396, "cg_du": 65.7305374, "cg_dv": 34.2694626, "cg_dw": 56.7698631, "cg_id_a": 7.30594969, "cg_id_raw_a": 8.85140228, "cg_iq_a": 303.704163, "cg_iq_raw_a": 306.292328, "cg_iu_a": -289.870941, "cg_iv_a": 206.310196, "cg_iw_a": 83.5607452, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8092513, "cg_sample_valid": 1, "cg_theta_rad": 0.952572346, "cg_vd_req_v": 7.78221607, "cg_vd_v": 7.78221607, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0607224, "cg_vq_v": -27.0607224, "cg_vu_v": 113.932175, "cg_vv_v": 73.9019547, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 76.3776398, "dclink_p_w": 11456.9033, "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": 62.1891479, "temp_inv2_c": 60.2506714, "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": 0.121707484, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1214.994019, "values": {"Elec_RPM": -12992.5957, "EncoderCos": 29364, "EncoderSin": 11976, "GapTicks": 37456, "Mech_RPM": -2598.51904, "cg_du": 54.0709915, "cg_dv": 34.0509605, "cg_dw": 65.9490433, "cg_id_a": -3.00754261, "cg_id_raw_a": 4.526896, "cg_iq_a": 294.52063, "cg_iq_raw_a": 297.768463, "cg_iu_a": -237.534851, "cg_iv_a": 273.107574, "cg_iw_a": -35.572731, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 8097663, "cg_sample_valid": 1, "cg_theta_rad": 4.65038109, "cg_vd_req_v": 7.91136503, "cg_vd_v": 7.91136503, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9500866, "cg_vq_v": -26.9500866, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 75.7687454, "dclink_p_w": 11432.2266, "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": 4998, "hz_vsense": 2595, "pwm_moe": 1, "temp_inv1_c": 62.1891479, "temp_inv2_c": 60.2073669, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12211033, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1216.011353, "values": {"Elec_RPM": -12987.4424, "EncoderCos": 31920, "EncoderSin": 11767, "GapTicks": 37969, "Mech_RPM": -2597.48853, "cg_du": 65.4825745, "cg_dv": 34.5174294, "cg_dw": 57.9140244, "cg_id_a": -2.51400638, "cg_id_raw_a": -13.4291925, "cg_iq_a": 296.592438, "cg_iq_raw_a": 291.016144, "cg_iu_a": -291.393188, "cg_iv_a": 220.445282, "cg_iw_a": 70.9479065, "cg_sample_age_us": 23.6854553, "cg_sample_seq": 8102762, "cg_sample_valid": 1, "cg_theta_rad": 4.71164227, "cg_vd_req_v": 7.87479305, "cg_vd_v": 7.87479305, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9996681, "cg_vq_v": -26.9996681, "cg_vu_v": 40.4701157, "cg_vv_v": 3.95903301, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 76.0985641, "dclink_p_w": 11481.9912, "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": 62.1434631, "temp_inv2_c": 60.2587891, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127951473, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1217.028931, "values": {"Elec_RPM": -13008.5693, "EncoderCos": 32196, "EncoderSin": 11750, "GapTicks": 37633, "Mech_RPM": -2601.71387, "cg_du": 65.7880249, "cg_dv": 34.2119751, "cg_dw": 56.2292633, "cg_id_a": 1.68521512, "cg_id_raw_a": 0.325566947, "cg_iq_a": 298.292114, "cg_iq_raw_a": 297.646393, "cg_iu_a": -287.950012, "cg_iv_a": 198.0466, "cg_iw_a": 89.9034119, "cg_sample_age_us": 24.1509094, "cg_sample_seq": 8107863, "cg_sample_valid": 1, "cg_theta_rad": 4.73196793, "cg_vd_req_v": 7.80409431, "cg_vd_v": 7.80409431, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0248127, "cg_vq_v": -27.0248127, "cg_vu_v": 152.202835, "cg_vv_v": 118.770996, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 76.3395844, "dclink_p_w": 11484.7754, "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": 62.0978394, "temp_inv2_c": 60.2046509, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123520248, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1218.051636, "values": {"Elec_RPM": -13000.7275, "EncoderCos": 52332, "EncoderSin": 39412, "GapTicks": 37159, "Mech_RPM": -2600.14551, "cg_du": 33.7814636, "cg_dv": 66.2185364, "cg_dw": 48.1698456, "cg_id_a": 7.12029696, "cg_id_raw_a": 15.4578476, "cg_iq_a": 306.310608, "cg_iq_raw_a": 306.976166, "cg_iu_a": 310.29071, "cg_iv_a": -186.138062, "cg_iw_a": -124.152657, "cg_sample_age_us": 23.5, "cg_sample_seq": 8112813, "cg_sample_valid": 1, "cg_theta_rad": 0.366775095, "cg_vd_req_v": 7.77222776, "cg_vd_v": 7.77222776, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1432343, "cg_vq_v": -27.1432343, "cg_vu_v": 99.8556061, "cg_vv_v": 150.443253, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 76.1529312, "dclink_p_w": 11423.1963, "enc_isr_hz": 5000, "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": 62.2348938, "temp_inv2_c": 60.2669067, "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": 0.129159987, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1219.040283, "values": {"Elec_RPM": -12977.167, "EncoderCos": 11813, "EncoderSin": 32474, "GapTicks": 39045, "Mech_RPM": -2595.43335, "cg_du": 35.4963264, "cg_dv": 37.5625534, "cg_dw": 64.5036697, "cg_id_a": -7.27053261, "cg_id_raw_a": -3.44201469, "cg_iq_a": 294.101807, "cg_iq_raw_a": 305.015167, "cg_iu_a": 20.3762779, "cg_iv_a": 243.713806, "cg_iw_a": -264.090088, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 8117862, "cg_sample_valid": 1, "cg_theta_rad": 3.19833183, "cg_vd_req_v": 8.04153919, "cg_vd_v": 8.04153919, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.853838, "cg_vq_v": -26.853838, "cg_vu_v": 73.0221634, "cg_vv_v": 36.9509773, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 77.0717087, "dclink_p_w": 11561.0166, "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": 62.1891479, "temp_inv2_c": 60.3075562, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1220.057739, "values": {"Elec_RPM": -12975.2715, "EncoderCos": 11858, "EncoderSin": 32124, "GapTicks": 39486, "Mech_RPM": -2595.0542, "cg_du": 36.2295227, "cg_dv": 35.8966408, "cg_dw": 64.103363, "cg_id_a": 3.92699862, "cg_id_raw_a": -9.53373241, "cg_iq_a": 296.908569, "cg_iq_raw_a": 292.400482, "cg_iu_a": 9.5393734, "cg_iv_a": 249.476593, "cg_iw_a": -259.015961, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 8122963, "cg_sample_valid": 1, "cg_theta_rad": 3.20084977, "cg_vd_req_v": 7.77496195, "cg_vd_v": 7.77496195, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9430084, "cg_vq_v": -26.9430084, "cg_vu_v": 149.563477, "cg_vv_v": 84.8992691, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 75.7614975, "dclink_p_w": 11431.1328, "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": 62.2807007, "temp_inv2_c": 60.2236023, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123721682, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1221.075073, "values": {"Elec_RPM": -12969.5879, "EncoderCos": 50563, "EncoderSin": 43273, "GapTicks": 37089, "Mech_RPM": -2593.91748, "cg_du": 33.7178993, "cg_dv": 52.7357292, "cg_dw": 66.2821045, "cg_id_a": 10.172576, "cg_id_raw_a": 12.79603, "cg_iq_a": 313.260315, "cg_iq_raw_a": 308.925079, "cg_iu_a": 180.392792, "cg_iv_a": 124.181671, "cg_iw_a": -304.574463, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 8128113, "cg_sample_valid": 1, "cg_theta_rad": 0.575442255, "cg_vd_req_v": 7.70045328, "cg_vd_v": 7.70045328, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2680016, "cg_vq_v": -27.2680016, "cg_vu_v": 105.574219, "cg_vv_v": 72.5822754, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.2544098, "dclink_p_w": 11471.9619, "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": 62.1891479, "temp_inv2_c": 60.4379272, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122311741, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1221.936523, "values": {"Elec_RPM": -12978.7148, "EncoderCos": 43801, "EncoderSin": 15104, "GapTicks": 38851, "Mech_RPM": -2595.74292, "cg_du": 35.319252, "cg_dv": 64.680748, "cg_dw": 38.5132828, "cg_id_a": 2.82719469, "cg_id_raw_a": -5.36652184, "cg_iq_a": 295.119873, "cg_iq_raw_a": 291.401764, "cg_iu_a": 275.315399, "cg_iv_a": -39.5679779, "cg_iw_a": -235.747421, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 8132315, "cg_sample_valid": 1, "cg_theta_rad": 5.48510838, "cg_vd_req_v": 7.76289415, "cg_vd_v": 7.76289415, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9712715, "cg_vq_v": -26.9712715, "cg_vu_v": 32.1121559, "cg_vv_v": 39.1504402, "cg_vw_v": 81.380127, "control_outputs_enabled": 1, "dclink_i_a": 76.2453537, "dclink_p_w": 11437.0605, "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": 62.1891479, "temp_inv2_c": 60.3156738, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124476999, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1222.953857, "values": {"Elec_RPM": -12982.667, "EncoderCos": 46682, "EncoderSin": 17315, "GapTicks": 38950, "Mech_RPM": -2596.53345, "cg_du": 35.4092789, "cg_dv": 64.5907211, "cg_dw": 62.2573471, "cg_id_a": -2.8222158, "cg_id_raw_a": 7.1378665, "cg_iq_a": 299.123901, "cg_iq_raw_a": 302.967712, "cg_iu_a": 272.307159, "cg_iv_a": -29.8908691, "cg_iw_a": -242.41629, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8137413, "cg_sample_valid": 1, "cg_theta_rad": 5.4998827, "cg_vd_req_v": 7.87658501, "cg_vd_v": 7.87658501, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0469723, "cg_vq_v": -27.0469723, "cg_vu_v": 95.4566803, "cg_vv_v": 113.492287, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.7708817, "dclink_p_w": 11515.8916, "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": 62.2348938, "temp_inv2_c": 60.3102722, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119844362, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1223.971313, "values": {"Elec_RPM": -12992.0059, "EncoderCos": 12597, "EncoderSin": 38349, "GapTicks": 37212, "Mech_RPM": -2598.40112, "cg_du": 33.8299789, "cg_dv": 66.1700211, "cg_dw": 52.2716789, "cg_id_a": -5.74611712, "cg_id_raw_a": -2.77393603, "cg_iq_a": 297.838074, "cg_iq_raw_a": 294.073578, "cg_iu_a": 291.661377, "cg_iv_a": -112.309357, "cg_iw_a": -179.35202, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 8142562, "cg_sample_valid": 1, "cg_theta_rad": 2.91075516, "cg_vd_req_v": 8.03511047, "cg_vd_v": 8.03511047, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9265957, "cg_vq_v": -26.9265957, "cg_vu_v": 11.877099, "cg_vv_v": 41.3499031, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 76.1638031, "dclink_p_w": 11424.8271, "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": 62.2348938, "temp_inv2_c": 60.3781128, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125886932, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1224.98877, "values": {"Elec_RPM": -13012.6641, "EncoderCos": 23662, "EncoderSin": 51539, "GapTicks": 37240, "Mech_RPM": -2602.53271, "cg_du": 50.2335739, "cg_dv": 33.8545532, "cg_dw": 66.1454468, "cg_id_a": 1.17858887, "cg_id_raw_a": 9.77877045, "cg_iq_a": 293.597046, "cg_iq_raw_a": 298.545593, "cg_iu_a": -145.548004, "cg_iv_a": 295.759979, "cg_iw_a": -150.211975, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 8147563, "cg_sample_valid": 1, "cg_theta_rad": 2.06078005, "cg_vd_req_v": 7.92495584, "cg_vd_v": 7.92495584, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.819973, "cg_vq_v": -26.819973, "cg_vu_v": 151.323044, "cg_vv_v": 87.098732, "cg_vw_v": 142.085297, "control_outputs_enabled": 1, "dclink_i_a": 75.8521042, "dclink_p_w": 11378.0713, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 62.1891479, "temp_inv2_c": 60.2182007, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123016708, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1226.006104, "values": {"Elec_RPM": -13020.6553, "EncoderCos": 49445, "EncoderSin": 20452, "GapTicks": 38555, "Mech_RPM": -2604.1311, "cg_du": 35.0504379, "cg_dv": 38.9776306, "cg_dw": 64.9495621, "cg_id_a": 5.07575893, "cg_id_raw_a": -6.73004484, "cg_iq_a": 307.552429, "cg_iq_raw_a": 298.345032, "cg_iu_a": 45.0583267, "cg_iv_a": 238.639709, "cg_iw_a": -283.698029, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 8152713, "cg_sample_valid": 1, "cg_theta_rad": 5.69395113, "cg_vd_req_v": 7.76827288, "cg_vd_v": 7.76827288, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2207241, "cg_vq_v": -27.2207241, "cg_vu_v": 112.172607, "cg_vv_v": 73.0221634, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.7201462, "dclink_p_w": 11508.2803, "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": 62.2348938, "temp_inv2_c": 60.3808289, "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": 0.13434653, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1227.02356, "values": {"Elec_RPM": -12994.2852, "EncoderCos": 50192, "EncoderSin": 21699, "GapTicks": 37932, "Mech_RPM": -2598.85693, "cg_du": 41.6492844, "cg_dv": 34.4842072, "cg_dw": 65.5157928, "cg_id_a": 12.5099945, "cg_id_raw_a": -0.0705637634, "cg_iq_a": 305.554382, "cg_iq_raw_a": 301.082977, "cg_iu_a": -55.5907974, "cg_iv_a": 250.201462, "cg_iw_a": -279.240021, "cg_sample_age_us": 23.823637, "cg_sample_seq": 8157813, "cg_sample_valid": 1, "cg_theta_rad": 5.75650883, "cg_vd_req_v": 7.57844305, "cg_vd_v": 7.57844305, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1883888, "cg_vq_v": -27.1883888, "cg_vu_v": 151.323044, "cg_vv_v": 85.3391571, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 77.0445251, "dclink_p_w": 11556.9385, "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": 62.2348938, "temp_inv2_c": 60.4842529, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.119491868, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1228.051025, "values": {"Elec_RPM": -12988.0518, "EncoderCos": 50918, "EncoderSin": 22900, "GapTicks": 37189, "Mech_RPM": -2597.61035, "cg_du": 51.0875664, "cg_dv": 33.8085251, "cg_dw": 66.1914749, "cg_id_a": 10.8094511, "cg_id_raw_a": 23.4432449, "cg_iq_a": 302.650391, "cg_iq_raw_a": 307.963043, "cg_iu_a": -153.449158, "cg_iv_a": 306.560638, "cg_iw_a": -153.111481, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8162913, "cg_sample_valid": 1, "cg_theta_rad": 5.83649302, "cg_vd_req_v": 7.62653685, "cg_vd_v": 7.62653685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0956116, "cg_vq_v": -27.0956116, "cg_vu_v": 151.762939, "cg_vv_v": 99.4157181, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 75.9191513, "dclink_p_w": 11388.1289, "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": 62.1891479, "temp_inv2_c": 60.3916931, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123469897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1229.035156, "values": {"Elec_RPM": -12994.918, "EncoderCos": 39495, "EncoderSin": 13063, "GapTicks": 39535, "Mech_RPM": -2598.98364, "cg_du": 64.0589905, "cg_dv": 63.9843025, "cg_dw": 35.9410095, "cg_id_a": 2.65730381, "cg_id_raw_a": -9.28162384, "cg_iq_a": 300.739166, "cg_iq_raw_a": 299.14328, "cg_iu_a": -17.3535519, "cg_iv_a": -252.391785, "cg_iw_a": 269.745331, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 8167912, "cg_sample_valid": 1, "cg_theta_rad": 5.09590006, "cg_vd_req_v": 7.81584215, "cg_vd_v": 7.81584215, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.057457, "cg_vq_v": -27.057457, "cg_vu_v": 105.574219, "cg_vv_v": 152.202835, "cg_vw_v": 125.809273, "control_outputs_enabled": 1, "dclink_i_a": 75.9173431, "dclink_p_w": 11454.6475, "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": 62.2348938, "temp_inv2_c": 60.2912903, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121304654, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1230.05249, "values": {"Elec_RPM": -13010.1836, "EncoderCos": 22363, "EncoderSin": 14557, "GapTicks": 38989, "Mech_RPM": -2602.03662, "cg_du": 35.445118, "cg_dv": 64.5548859, "cg_dw": 61.9263611, "cg_id_a": -5.83897877, "cg_id_raw_a": 0.935249746, "cg_iq_a": 297.676971, "cg_iq_raw_a": 302.562531, "cg_iu_a": 271.00238, "cg_iv_a": -30.941925, "cg_iw_a": -240.060455, "cg_sample_age_us": 23.9400005, "cg_sample_seq": 8172913, "cg_sample_valid": 1, "cg_theta_rad": 4.24269772, "cg_vd_req_v": 7.97094107, "cg_vd_v": 7.97094107, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9817886, "cg_vq_v": -26.9817886, "cg_vu_v": 109.533249, "cg_vv_v": 123.169922, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.1489716, "dclink_p_w": 11272.5996, "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": 62.3265686, "temp_inv2_c": 60.2425232, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126088351, "tim_isr_running": 1, "vdc_v": 151.323044}}
{"type": "telemetry", "t": 1231.069824, "values": {"Elec_RPM": -12999.8809, "EncoderCos": 42013, "EncoderSin": 14172, "GapTicks": 37400, "Mech_RPM": -2599.97607, "cg_du": 46.2202263, "cg_dv": 65.9992065, "cg_dw": 34.0007935, "cg_id_a": 4.42419434, "cg_id_raw_a": 9.08873463, "cg_iq_a": 299.1698, "cg_iq_raw_a": 302.740326, "cg_iu_a": 177.167099, "cg_iv_a": -302.516998, "cg_iw_a": 125.349899, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 8178112, "cg_sample_valid": 1, "cg_theta_rad": 5.22603559, "cg_vd_req_v": 7.74284363, "cg_vd_v": 7.74284363, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.046196, "cg_vq_v": -27.046196, "cg_vu_v": 0, "cg_vv_v": 63.7844238, "cg_vw_v": 19.3552723, "control_outputs_enabled": 1, "dclink_i_a": 75.6455154, "dclink_p_w": 11380.3574, "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": 62.2348938, "temp_inv2_c": 60.2669067, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127850771, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1231.931274, "values": {"Elec_RPM": -13003.3438, "EncoderCos": 13547, "EncoderSin": 24624, "GapTicks": 38040, "Mech_RPM": -2600.6687, "cg_du": 65.4180222, "cg_dv": 34.5819778, "cg_dw": 41.3053398, "cg_id_a": -16.8655109, "cg_id_raw_a": -13.508317, "cg_iq_a": 292.624451, "cg_iq_raw_a": 296.449249, "cg_iu_a": -52.6912918, "cg_iv_a": -224.918945, "cg_iw_a": 277.610229, "cg_sample_age_us": 24.0745449, "cg_sample_seq": 8182316, "cg_sample_valid": 1, "cg_theta_rad": 3.79300308, "cg_vd_req_v": 8.24860382, "cg_vd_v": 8.24860382, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.84659, "cg_vq_v": -26.84659, "cg_vu_v": 0.87978512, "cg_vv_v": 60.2652817, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0224533, "dclink_p_w": 11437.0654, "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": 62.2348938, "temp_inv2_c": 60.3319702, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121455714, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1232.948608, "values": {"Elec_RPM": -13003.2539, "EncoderCos": 53336, "EncoderSin": 33544, "GapTicks": 38668, "Mech_RPM": -2600.65088, "cg_du": 61.8847008, "cg_dv": 64.8468475, "cg_dw": 35.1531563, "cg_id_a": 11.2119522, "cg_id_raw_a": -4.64559412, "cg_iq_a": 305.646851, "cg_iq_raw_a": 299.906647, "cg_iu_a": 229.104523, "cg_iv_a": -284.141388, "cg_iw_a": 55.0368576, "cg_sample_age_us": 23.3945446, "cg_sample_seq": 8187366, "cg_sample_valid": 1, "cg_theta_rad": 0.247221857, "cg_vd_req_v": 7.69032764, "cg_vd_v": 7.69032764, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0931854, "cg_vq_v": -27.0931854, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": 76.4084473, "dclink_p_w": 11461.5244, "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": 62.3265686, "temp_inv2_c": 60.323822, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123721682, "tim_isr_running": 1, "vdc_v": 149.123581}}
{"type": "telemetry", "t": 1233.966187, "values": {"Elec_RPM": -12989.0352, "EncoderCos": 17557, "EncoderSin": 18523, "GapTicks": 37289, "Mech_RPM": -2597.80713, "cg_du": 50.5614967, "cg_dv": 66.1001968, "cg_dw": 33.8998032, "cg_id_a": 0.264761955, "cg_id_raw_a": 10.3046427, "cg_iq_a": 292.022949, "cg_iq_raw_a": 296.070313, "cg_iu_a": 66.2247314, "cg_iv_a": -275.769043, "cg_iw_a": 209.544296, "cg_sample_age_us": 23.863636, "cg_sample_seq": 8192512, "cg_sample_valid": 1, "cg_theta_rad": 3.89005542, "cg_vd_req_v": 7.87634516, "cg_vd_v": 7.87634516, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8427238, "cg_vq_v": -26.8427238, "cg_vu_v": 73.9019547, "cg_vv_v": 113.492287, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 75.4951019, "dclink_p_w": 11357.7285, "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": 62.2807007, "temp_inv2_c": 60.4760437, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120398253, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1234.983521, "values": {"Elec_RPM": -12974.6328, "EncoderCos": 51701, "EncoderSin": 40610, "GapTicks": 37744, "Mech_RPM": -2594.92651, "cg_du": 34.3131943, "cg_dv": 65.6868057, "cg_dw": 57.2689552, "cg_id_a": 2.22633171, "cg_id_raw_a": -4.01304531, "cg_iq_a": 305.109344, "cg_iq_raw_a": 301.030212, "cg_iu_a": 290.936493, "cg_iv_a": -72.404892, "cg_iw_a": -218.531601, "cg_sample_age_us": 23.4527264, "cg_sample_seq": 8197562, "cg_sample_valid": 1, "cg_theta_rad": 0.438065857, "cg_vd_req_v": 7.85001135, "cg_vd_v": 7.85001135, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0947418, "cg_vq_v": -27.0947418, "cg_vu_v": 109.093361, "cg_vv_v": 116.571533, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.808609, "dclink_p_w": 11371.5469, "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": 62.2807007, "temp_inv2_c": 60.3048401, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123369187, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1236.000977, "values": {"Elec_RPM": -12983.4072, "EncoderCos": 11982, "EncoderSin": 33299, "GapTicks": 37738, "Mech_RPM": -2596.6814, "cg_du": 34.3077621, "cg_dv": 42.8337288, "cg_dw": 65.6922379, "cg_id_a": -3.39520121, "cg_id_raw_a": -6.3876276, "cg_iq_a": 299.454132, "cg_iq_raw_a": 292.189117, "cg_iu_a": 76.626709, "cg_iv_a": 206.273926, "cg_iw_a": -282.900635, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 8202613, "cg_sample_valid": 1, "cg_theta_rad": 3.15866923, "cg_vd_req_v": 7.98334932, "cg_vd_v": 7.98334932, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9517384, "cg_vq_v": -26.9517384, "cg_vu_v": 111.732712, "cg_vv_v": 73.9019547, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 76.3142166, "dclink_p_w": 11480.959, "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": 62.2807007, "temp_inv2_c": 60.3156738, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1237.018311, "values": {"Elec_RPM": -12987.5781, "EncoderCos": 20638, "EncoderSin": 15750, "GapTicks": 37257, "Mech_RPM": -2597.51563, "cg_du": 33.8708801, "cg_dv": 66.1291199, "cg_dw": 48.2004585, "cg_id_a": -2.16981602, "cg_id_raw_a": -1.14726317, "cg_iq_a": 296.050323, "cg_iq_raw_a": 294.897125, "cg_iu_a": 292.531219, "cg_iv_a": -152.648743, "cg_iw_a": -139.882477, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 8207812, "cg_sample_valid": 1, "cg_theta_rad": 4.1348815, "cg_vd_req_v": 7.91241932, "cg_vd_v": 7.91241932, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9391174, "cg_vq_v": -26.9391174, "cg_vu_v": 12.7568836, "cg_vv_v": 38.7105446, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 76.3287125, "dclink_p_w": 11483.1396, "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": 62.1891479, "temp_inv2_c": 60.4025879, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126491189, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1238.041138, "values": {"Elec_RPM": -12995.3555, "EncoderCos": 16874, "EncoderSin": 46169, "GapTicks": 37152, "Mech_RPM": -2599.07104, "cg_du": 66.2251587, "cg_dv": 50.5436897, "cg_dw": 33.7748451, "cg_id_a": -8.45497704, "cg_id_raw_a": -9.94501114, "cg_iq_a": 298.515594, "cg_iq_raw_a": 296.584198, "cg_iu_a": -131.630371, "cg_iv_a": -164.138031, "cg_iw_a": 295.768402, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 8212712, "cg_sample_valid": 1, "cg_theta_rad": 2.47682691, "cg_vd_req_v": 8.11605453, "cg_vd_v": 8.11605453, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9114799, "cg_vq_v": -26.9114799, "cg_vu_v": 41.3499031, "cg_vv_v": 77.8609848, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.5023499, "dclink_p_w": 11325.6074, "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": 62.2807007, "temp_inv2_c": 60.4678955, "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": 0.124376282, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1239.029907, "values": {"Elec_RPM": -12983.832, "EncoderCos": 16053, "EncoderSin": 45097, "GapTicks": 38261, "Mech_RPM": -2596.76636, "cg_du": 65.2171936, "cg_dv": 59.3525238, "cg_dw": 34.7828064, "cg_id_a": -2.75731468, "cg_id_raw_a": -15.7237844, "cg_iq_a": 297.449371, "cg_iq_raw_a": 294.952606, "cg_iu_a": -53.5248947, "cg_iv_a": -225.462585, "cg_iw_a": 278.987488, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 8217812, "cg_sample_valid": 1, "cg_theta_rad": 2.54683685, "cg_vd_req_v": 7.97269917, "cg_vd_v": 7.97269917, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8928242, "cg_vq_v": -26.8928242, "cg_vu_v": 19.795166, "cg_vv_v": 42.6695786, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.8212967, "dclink_p_w": 11406.8027, "enc_isr_hz": 5000, "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": 62.2348938, "temp_inv2_c": 60.4624634, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129764244, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1240.047241, "values": {"Elec_RPM": -12981.6484, "EncoderCos": 53072, "EncoderSin": 29880, "GapTicks": 37844, "Mech_RPM": -2596.32959, "cg_du": 65.5958786, "cg_dv": 42.000679, "cg_dw": 34.4041214, "cg_id_a": 10.3427906, "cg_id_raw_a": 7.46220016, "cg_iq_a": 309.049133, "cg_iq_raw_a": 315.372162, "cg_iu_a": -222.74736, "cg_iv_a": -72.5136261, "cg_iw_a": 295.260986, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 8222962, "cg_sample_valid": 1, "cg_theta_rad": 6.18822098, "cg_vd_req_v": 7.67298174, "cg_vd_v": 7.67298174, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1938629, "cg_vq_v": -27.1938629, "cg_vu_v": 72.5822754, "cg_vv_v": 64.2243118, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0804367, "dclink_p_w": 11412.3223, "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": 62.2807007, "temp_inv2_c": 60.3482666, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1241.064697, "values": {"Elec_RPM": -12982.7939, "EncoderCos": 44847, "EncoderSin": 16018, "GapTicks": 37293, "Mech_RPM": -2596.55884, "cg_du": 33.9027786, "cg_dv": 66.0972214, "cg_dw": 47.4380569, "cg_id_a": 2.12382579, "cg_id_raw_a": 4.99143887, "cg_iq_a": 300.120392, "cg_iq_raw_a": 296.648895, "cg_iu_a": 297.677856, "cg_iv_a": -167.798676, "cg_iw_a": -129.879181, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 8227962, "cg_sample_valid": 1, "cg_theta_rad": 5.38560486, "cg_vd_req_v": 7.79692793, "cg_vd_v": 7.79692793, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0627308, "cg_vq_v": -27.0627308, "cg_vu_v": 13.1967773, "cg_vv_v": 47.9482918, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 75.6636353, "dclink_p_w": 11349.8008, "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": 62.2807007, "temp_inv2_c": 60.3156738, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12628977, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1242.082153, "values": {"Elec_RPM": -12995.5557, "EncoderCos": 53253, "EncoderSin": 32662, "GapTicks": 38462, "Mech_RPM": -2599.11108, "cg_du": 65.0342484, "cg_dv": 60.4964371, "cg_dw": 34.9657516, "cg_id_a": 11.8903837, "cg_id_raw_a": 2.54311752, "cg_iq_a": 309.558014, "cg_iq_raw_a": 307.800659, "cg_iu_a": -141.307465, "cg_iv_a": -169.900787, "cg_iw_a": 311.208252, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 8233162, "cg_sample_valid": 1, "cg_theta_rad": 6.277843, "cg_vd_req_v": 7.66115046, "cg_vd_v": 7.66115046, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1822968, "cg_vq_v": -27.1822968, "cg_vu_v": 105.574219, "cg_vv_v": 113.932175, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 75.0094376, "dclink_p_w": 11251.6689, "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": 4999, "hz_vsense": 2608, "pwm_moe": 1, "temp_inv1_c": 62.3265686, "temp_inv2_c": 60.3998413, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1242.943481, "values": {"Elec_RPM": -12997.4697, "EncoderCos": 49993, "EncoderSin": 21618, "GapTicks": 38186, "Mech_RPM": -2599.4939, "cg_du": 40.5662766, "cg_dv": 34.7147751, "cg_dw": 65.2852249, "cg_id_a": 12.6336117, "cg_id_raw_a": 10.5149727, "cg_iq_a": 305.118805, "cg_iq_raw_a": 311.365997, "cg_iu_a": -48.9581757, "cg_iv_a": 282.422241, "cg_iw_a": -233.464066, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 8237462, "cg_sample_valid": 1, "cg_theta_rad": 5.76739597, "cg_vd_req_v": 7.60243988, "cg_vd_v": 7.60243988, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1438313, "cg_vq_v": -27.1438313, "cg_vu_v": 151.762939, "cg_vv_v": 98.9758301, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 76.314209, "dclink_p_w": 11447.3887, "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": 62.2807007, "temp_inv2_c": 60.3048401, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123872742, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1243.960938, "values": {"Elec_RPM": -12996.8271, "EncoderCos": 36868, "EncoderSin": 12482, "GapTicks": 38543, "Mech_RPM": -2599.36548, "cg_du": 66.0929565, "cg_dv": 46.2634354, "cg_dw": 33.9070435, "cg_id_a": 5.10477734, "cg_id_raw_a": 5.01003742, "cg_iq_a": 304.474396, "cg_iq_raw_a": 307.674927, "cg_iu_a": -250.292679, "cg_iv_a": -25.2878876, "cg_iw_a": 275.580566, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 8242462, "cg_sample_valid": 1, "cg_theta_rad": 4.91522646, "cg_vd_req_v": 7.71973991, "cg_vd_v": 7.71973991, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1292953, "cg_vq_v": -27.1292953, "cg_vu_v": 37.830761, "cg_vv_v": 43.9892578, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.2163544, "dclink_p_w": 11466.2363, "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": 62.2807007, "temp_inv2_c": 60.3373718, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123268478, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1244.978394, "values": {"Elec_RPM": -12976.957, "EncoderCos": 35829, "EncoderSin": 53187, "GapTicks": 37357, "Mech_RPM": -2595.39136, "cg_du": 45.9905052, "cg_dv": 66.0389175, "cg_dw": 33.9610825, "cg_id_a": 2.82902837, "cg_id_raw_a": 11.3289423, "cg_iq_a": 301.252625, "cg_iq_raw_a": 306.269287, "cg_iu_a": 177.819489, "cg_iv_a": -302.951904, "cg_iw_a": 125.132431, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 8247512, "cg_sample_valid": 1, "cg_theta_rad": 1.45225954, "cg_vd_req_v": 7.90631962, "cg_vd_v": 7.90631962, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9321766, "cg_vq_v": -26.9321766, "cg_vu_v": 11.877099, "cg_vv_v": 62.0248489, "cg_vw_v": 23.7541981, "control_outputs_enabled": 1, "dclink_i_a": 76.2181702, "dclink_p_w": 11432.9824, "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": 62.3265686, "temp_inv2_c": 60.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122462802, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1245.99585, "values": {"Elec_RPM": -12998.1641, "EncoderCos": 39465, "EncoderSin": 13212, "GapTicks": 39606, "Mech_RPM": -2599.63281, "cg_du": 63.9940224, "cg_dv": 63.9661751, "cg_dw": 36.0059776, "cg_id_a": 8.49316025, "cg_id_raw_a": -6.42116833, "cg_iq_a": 298.262909, "cg_iq_raw_a": 296.097473, "cg_iu_a": -91.4359436, "cg_iv_a": -201.324219, "cg_iw_a": 292.760162, "cg_sample_age_us": 23.863636, "cg_sample_seq": 8252662, "cg_sample_valid": 1, "cg_theta_rad": 5.0477252, "cg_vd_req_v": 7.68791294, "cg_vd_v": 7.68791294, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9829559, "cg_vq_v": -26.9829559, "cg_vu_v": 120.090675, "cg_vv_v": 150.883148, "cg_vw_v": 104.694435, "control_outputs_enabled": 1, "dclink_i_a": 75.4715424, "dclink_p_w": 11354.1846, "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": 62.2807007, "temp_inv2_c": 60.5223999, "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": 0.126088351, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1247.013184, "values": {"Elec_RPM": -12974.6592, "EncoderCos": 33147, "EncoderSin": 53389, "GapTicks": 37766, "Mech_RPM": -2594.93188, "cg_du": 34.3330383, "cg_dv": 65.6669617, "cg_dw": 43.0636101, "cg_id_a": 1.89343286, "cg_id_raw_a": 3.86772323, "cg_iq_a": 298.500183, "cg_iq_raw_a": 300.46405, "cg_iu_a": 254.692657, "cg_iv_a": -263.699829, "cg_iw_a": 9.00718689, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 8257712, "cg_sample_valid": 1, "cg_theta_rad": 1.54326653, "cg_vd_req_v": 7.93714523, "cg_vd_v": 7.93714523, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8609676, "cg_vq_v": -26.8609676, "cg_vu_v": 29.0329094, "cg_vv_v": 63.7844238, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 75.0384293, "dclink_p_w": 11289.0254, "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": 62.3265686, "temp_inv2_c": 60.4243469, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124829479, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1248.031494, "values": {"Elec_RPM": -12980.7959, "EncoderCos": 35139, "EncoderSin": 53288, "GapTicks": 37942, "Mech_RPM": -2596.15918, "cg_du": 42.0029297, "cg_dv": 65.5065231, "cg_dw": 34.4934769, "cg_id_a": -0.287823915, "cg_id_raw_a": -5.89288759, "cg_iq_a": 298.028137, "cg_iq_raw_a": 293.836517, "cg_iu_a": 297.496643, "cg_iv_a": -203.535095, "cg_iw_a": -93.9615479, "cg_sample_age_us": 26.7690907, "cg_sample_seq": 8262815, "cg_sample_valid": 1, "cg_theta_rad": 1.59420788, "cg_vd_req_v": 7.95341825, "cg_vd_v": 7.95341825, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8717003, "cg_vq_v": -26.8717003, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 76.5624847, "dclink_p_w": 11484.6309, "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": 62.3265686, "temp_inv2_c": 60.3726807, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125685513, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1249.02478, "values": {"Elec_RPM": -12985.4746, "EncoderCos": 47562, "EncoderSin": 46978, "GapTicks": 37156, "Mech_RPM": -2597.09497, "cg_du": 50.2968979, "cg_dv": 33.7785988, "cg_dw": 66.221405, "cg_id_a": 9.24629402, "cg_id_raw_a": 19.8413296, "cg_iq_a": 304.223541, "cg_iq_raw_a": 307.330139, "cg_iu_a": -146.852768, "cg_iv_a": 308.227844, "cg_iw_a": -161.375076, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 8267813, "cg_sample_valid": 1, "cg_theta_rad": 0.793098748, "cg_vd_req_v": 7.79264164, "cg_vd_v": 7.79264164, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9962978, "cg_vq_v": -26.9962978, "cg_vu_v": 135.486908, "cg_vv_v": 72.5822754, "cg_vw_v": 87.53862, "control_outputs_enabled": 1, "dclink_i_a": 75.241394, "dclink_p_w": 11286.4629, "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": 62.2807007, "temp_inv2_c": 60.2641907, "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": 0.125383392, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1250.042114, "values": {"Elec_RPM": -12989.2383, "EncoderCos": 45709, "EncoderSin": 48651, "GapTicks": 38799, "Mech_RPM": -2597.84766, "cg_du": 64.7274323, "cg_dv": 35.2725677, "cg_dw": 61.6210632, "cg_id_a": 3.4898262, "cg_id_raw_a": -6.28901052, "cg_iq_a": 303.203278, "cg_iq_raw_a": 298.396393, "cg_iu_a": -274.467316, "cg_iv_a": 255.674286, "cg_iw_a": 18.7930222, "cg_sample_age_us": 23.5727272, "cg_sample_seq": 8272912, "cg_sample_valid": 1, "cg_theta_rad": 0.919040382, "cg_vd_req_v": 7.91015482, "cg_vd_v": 7.91015482, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.978157, "cg_vq_v": -26.978157, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 74.5165176, "dclink_p_w": 11210.5068, "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": 62.3265686, "temp_inv2_c": 60.3292542, "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": 0.124527358, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1251.05957, "values": {"Elec_RPM": -12986.3086, "EncoderCos": 45556, "EncoderSin": 48786, "GapTicks": 38430, "Mech_RPM": -2597.26172, "cg_du": 65.0636215, "cg_dv": 34.9363785, "cg_dw": 60.4166794, "cg_id_a": 5.56940413, "cg_id_raw_a": 13.8226347, "cg_iq_a": 302.905487, "cg_iq_raw_a": 306.798248, "cg_iu_a": -277.620544, "cg_iv_a": 237.117462, "cg_iw_a": 40.5030823, "cg_sample_age_us": 23.4563637, "cg_sample_seq": 8278013, "cg_sample_valid": 1, "cg_theta_rad": 0.923133433, "cg_vd_req_v": 7.85389662, "cg_vd_v": 7.85389662, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9740086, "cg_vq_v": -26.9740086, "cg_vu_v": 127.12896, "cg_vv_v": 87.098732, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 75.8249207, "dclink_p_w": 11407.3477, "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": 62.3265686, "temp_inv2_c": 60.3346863, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123671323, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1252.076904, "values": {"Elec_RPM": -12987.5732, "EncoderCos": 52950, "EncoderSin": 35756, "GapTicks": 37255, "Mech_RPM": -2597.51465, "cg_du": 47.4760208, "cg_dv": 66.1309662, "cg_dw": 33.8690376, "cg_id_a": 11.3981094, "cg_id_raw_a": 22.9089661, "cg_iq_a": 305.280731, "cg_iq_raw_a": 311.855011, "cg_iu_a": 164.409271, "cg_iv_a": -307.228699, "cg_iw_a": 142.819427, "cg_sample_age_us": 23.3909092, "cg_sample_seq": 8283012, "cg_sample_valid": 1, "cg_theta_rad": 0.193227232, "cg_vd_req_v": 7.71173096, "cg_vd_v": 7.71173096, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0588551, "cg_vq_v": -27.0588551, "cg_vu_v": 0, "cg_vv_v": 62.0248489, "cg_vw_v": 5.27871037, "control_outputs_enabled": 1, "dclink_i_a": 75.3791199, "dclink_p_w": 11340.2803, "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": 62.3265686, "temp_inv2_c": 60.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122059971, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1252.938354, "values": {"Elec_RPM": -12982.8457, "EncoderCos": 12551, "EncoderSin": 36788, "GapTicks": 38984, "Mech_RPM": -2596.56909, "cg_du": 35.4408875, "cg_dv": 64.5591125, "cg_dw": 62.2007141, "cg_id_a": -5.58765125, "cg_id_raw_a": -18.0896931, "cg_iq_a": 300.16153, "cg_iq_raw_a": 296.492126, "cg_iu_a": 19.433939, "cg_iv_a": 245.344803, "cg_iw_a": -283.335571, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 8287366, "cg_sample_valid": 1, "cg_theta_rad": 3.18612838, "cg_vd_req_v": 8.04319859, "cg_vd_v": 8.04319859, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9204903, "cg_vq_v": -26.9204903, "cg_vu_v": 75.2216263, "cg_vv_v": 37.3908691, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 75.3356323, "dclink_p_w": 11333.7373, "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": 62.2807007, "temp_inv2_c": 60.3319702, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1253.955688, "values": {"Elec_RPM": -12990.918, "EncoderCos": 12261, "EncoderSin": 31018, "GapTicks": 37758, "Mech_RPM": -2598.18359, "cg_du": 43.4752655, "cg_dv": 34.326252, "cg_dw": 65.6737518, "cg_id_a": 2.64099503, "cg_id_raw_a": 4.80324364, "cg_iq_a": 293.538574, "cg_iq_raw_a": 300.540771, "cg_iu_a": -84.2596588, "cg_iv_a": 279.01532, "cg_iw_a": -194.755646, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8292462, "cg_sample_valid": 1, "cg_theta_rad": 3.2594769, "cg_vd_req_v": 7.88288164, "cg_vd_v": 7.88288164, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7855663, "cg_vq_v": -26.7855663, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 34.3116188, "control_outputs_enabled": 1, "dclink_i_a": 75.8974075, "dclink_p_w": 11418.2529, "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": 62.2348938, "temp_inv2_c": 60.4678955, "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": 0.128505379, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1254.973022, "values": {"Elec_RPM": -13004.2363, "EncoderCos": 12279, "EncoderSin": 30775, "GapTicks": 37615, "Mech_RPM": -2600.84717, "cg_du": 45.2431831, "cg_dv": 34.195713, "cg_dw": 65.8042831, "cg_id_a": -3.06893611, "cg_id_raw_a": -3.84732413, "cg_iq_a": 288.691132, "cg_iq_raw_a": 288.915497, "cg_iu_a": -96.1113968, "cg_iv_a": 286.626526, "cg_iw_a": -190.515121, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 8297563, "cg_sample_valid": 1, "cg_theta_rad": 3.27949929, "cg_vd_req_v": 7.99938345, "cg_vd_v": 7.99938345, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.693306, "cg_vq_v": -26.693306, "cg_vu_v": 126.689056, "cg_vv_v": 72.5822754, "cg_vw_v": 101.175293, "control_outputs_enabled": 1, "dclink_i_a": 75.5404053, "dclink_p_w": 11364.5439, "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": 62.3265686, "temp_inv2_c": 60.3971252, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124476999, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1255.990601, "values": {"Elec_RPM": -13003.4512, "EncoderCos": 52598, "EncoderSin": 28311, "GapTicks": 38308, "Mech_RPM": -2600.69019, "cg_du": 65.1736679, "cg_dv": 34.8263321, "cg_dw": 39.6998291, "cg_id_a": -0.19177413, "cg_id_raw_a": 5.122437, "cg_iq_a": 310.511139, "cg_iq_raw_a": 315.827728, "cg_iu_a": -297.11969, "cg_iv_a": 57.4929962, "cg_iw_a": 181.056671, "cg_sample_age_us": 24.1399994, "cg_sample_seq": 8302612, "cg_sample_valid": 1, "cg_theta_rad": 6.09717417, "cg_vd_req_v": 7.94003153, "cg_vd_v": 7.94003153, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1751022, "cg_vq_v": -27.1751022, "cg_vu_v": 44.8690414, "cg_vv_v": 7.47817326, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.8068008, "dclink_p_w": 11371.2754, "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": 62.2807007, "temp_inv2_c": 60.4678955, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125685513, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1257.007935, "values": {"Elec_RPM": -13000.7715, "EncoderCos": 52869, "EncoderSin": 29686, "GapTicks": 38113, "Mech_RPM": -2600.1543, "cg_du": 65.3513641, "cg_dv": 40.5810509, "cg_dw": 34.6486397, "cg_id_a": 9.66749382, "cg_id_raw_a": 9.87873268, "cg_iq_a": 312.18988, "cg_iq_raw_a": 317.890594, "cg_iu_a": -238.730896, "cg_iv_a": -52.2532959, "cg_iw_a": 290.984192, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 8307712, "cg_sample_valid": 1, "cg_theta_rad": 6.17907572, "cg_vd_req_v": 7.72226334, "cg_vd_v": 7.72226334, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2173786, "cg_vq_v": -27.2173786, "cg_vu_v": 38.7105446, "cg_vv_v": 52.7871094, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.727066, "dclink_p_w": 11392.626, "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": 62.3265686, "temp_inv2_c": 60.3753967, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124678418, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1258.026123, "values": {"Elec_RPM": -12979.3145, "EncoderCos": 44497, "EncoderSin": 15968, "GapTicks": 37461, "Mech_RPM": -2595.86279, "cg_du": 34.055481, "cg_dv": 65.944519, "cg_dw": 45.3527985, "cg_id_a": 2.67211485, "cg_id_raw_a": 0.682790875, "cg_iq_a": 299.621521, "cg_iq_raw_a": 297.891907, "cg_iu_a": 294.77832, "cg_iv_a": -181.680023, "cg_iw_a": -113.098289, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 8312712, "cg_sample_valid": 1, "cg_theta_rad": 5.37116623, "cg_vd_req_v": 7.80025673, "cg_vd_v": 7.80025673, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9829102, "cg_vq_v": -26.9829102, "cg_vu_v": 0, "cg_vv_v": 30.3525867, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 75.5585327, "dclink_p_w": 11400.5098, "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": 62.3724976, "temp_inv2_c": 60.5006104, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127901122, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1259.019409, "values": {"Elec_RPM": -12984.9404, "EncoderCos": 44718, "EncoderSin": 16136, "GapTicks": 37287, "Mech_RPM": -2596.98804, "cg_du": 33.8979912, "cg_dv": 66.102005, "cg_dw": 47.2183571, "cg_id_a": 2.80907154, "cg_id_raw_a": 9.15028, "cg_iq_a": 299.380463, "cg_iq_raw_a": 298.641632, "cg_iu_a": 303.476868, "cg_iv_a": -185.811859, "cg_iw_a": -117.665009, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 8317813, "cg_sample_valid": 1, "cg_theta_rad": 5.39319897, "cg_vd_req_v": 7.79847002, "cg_vd_v": 7.79847002, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0073185, "cg_vq_v": -27.0073185, "cg_vu_v": 87.098732, "cg_vv_v": 113.052383, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 75.85392, "dclink_p_w": 11445.0781, "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": 62.3724976, "temp_inv2_c": 60.3808289, "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": 0.123923093, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1260.036865, "values": {"Elec_RPM": -12993.6738, "EncoderCos": 26170, "EncoderSin": 52234, "GapTicks": 37412, "Mech_RPM": -2598.73486, "cg_du": 34.0112152, "cg_dv": 45.2625275, "cg_dw": 65.9887848, "cg_id_a": -5.0414114, "cg_id_raw_a": -1.69498074, "cg_iq_a": 300.547119, "cg_iq_raw_a": 309.197876, "cg_iu_a": 94.9298477, "cg_iv_a": 194.712189, "cg_iw_a": -289.642029, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 8322862, "cg_sample_valid": 1, "cg_theta_rad": 1.88618791, "cg_vd_req_v": 8.06471443, "cg_vd_v": 8.06450462, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9139938, "cg_vq_v": -26.8796959, "cg_vu_v": 111.292824, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 75.870224, "dclink_p_w": 11380.7891, "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": 62.3724976, "temp_inv2_c": 60.527832, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.120700389, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1261.054321, "values": {"Elec_RPM": -12988.1035, "EncoderCos": 47523, "EncoderSin": 18640, "GapTicks": 37578, "Mech_RPM": -2597.62061, "cg_du": 34.161911, "cg_dv": 56.2124176, "cg_dw": 65.838089, "cg_id_a": -5.64832354, "cg_id_raw_a": -16.8290768, "cg_iq_a": 302.087891, "cg_iq_raw_a": 297.985809, "cg_iu_a": 252.66301, "cg_iv_a": 10.3035431, "cg_iw_a": -262.966553, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 8328012, "cg_sample_valid": 1, "cg_theta_rad": 5.52855444, "cg_vd_req_v": 7.97005844, "cg_vd_v": 7.97005844, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0608559, "cg_vq_v": -27.0608559, "cg_vu_v": 37.3908691, "cg_vv_v": 25.0738773, "cg_vw_v": 79.1806641, "control_outputs_enabled": 1, "dclink_i_a": 76.2888412, "dclink_p_w": 11477.1416, "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": 62.3724976, "temp_inv2_c": 60.4161682, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126440838, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1262.071655, "values": {"Elec_RPM": -12999.1387, "EncoderCos": 48407, "EncoderSin": 19710, "GapTicks": 37241, "Mech_RPM": -2599.82764, "cg_du": 33.8561974, "cg_dv": 46.8766479, "cg_dw": 66.1437988, "cg_id_a": 0.712512255, "cg_id_raw_a": 5.08292675, "cg_iq_a": 304.599915, "cg_iq_raw_a": 308.412262, "cg_iu_a": 137.951263, "cg_iv_a": 174.089417, "cg_iw_a": -312.04068, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 8333112, "cg_sample_valid": 1, "cg_theta_rad": 5.6299448, "cg_vd_req_v": 7.85411787, "cg_vd_v": 7.85411787, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1038857, "cg_vq_v": -27.1038857, "cg_vu_v": 46.1887207, "cg_vv_v": 36.9509773, "cg_vw_v": 82.6998062, "control_outputs_enabled": 1, "dclink_i_a": 76.7328262, "dclink_p_w": 11543.9355, "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": 62.4645081, "temp_inv2_c": 60.5769653, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126843661, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1262.912842, "values": {"Elec_RPM": -12992.6426, "EncoderCos": 22047, "EncoderSin": 15129, "GapTicks": 38086, "Mech_RPM": -2598.52856, "cg_du": 34.6243782, "cg_dv": 65.3756256, "cg_dw": 58.4289284, "cg_id_a": -2.54634547, "cg_id_raw_a": -9.83975124, "cg_iq_a": 294.59079, "cg_iq_raw_a": 291.161621, "cg_iu_a": 276.438965, "cg_iv_a": -55.1165771, "cg_iw_a": -221.322388, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 8337312, "cg_sample_valid": 1, "cg_theta_rad": 4.21489239, "cg_vd_req_v": 7.94219208, "cg_vd_v": 7.94219208, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8666325, "cg_vq_v": -26.8666325, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 76.4465027, "dclink_p_w": 11467.2334, "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": 62.3724976, "temp_inv2_c": 60.4896851, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128505379, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1263.93042, "values": {"Elec_RPM": -12988.4131, "EncoderCos": 49933, "EncoderSin": 43557, "GapTicks": 37129, "Mech_RPM": -2597.68262, "cg_du": 33.7541504, "cg_dv": 48.7020645, "cg_dw": 66.2458496, "cg_id_a": 6.98875809, "cg_id_raw_a": 13.6058626, "cg_iq_a": 307.681519, "cg_iq_raw_a": 311.576721, "cg_iu_a": 70.9364319, "cg_iv_a": 221.496368, "cg_iw_a": -292.4328, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 8342364, "cg_sample_valid": 1, "cg_theta_rad": 0.645347953, "cg_vd_req_v": 7.80444384, "cg_vd_v": 7.80444384, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0664692, "cg_vq_v": -27.0664692, "cg_vu_v": 130.648087, "cg_vv_v": 106.014107, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.8448563, "dclink_p_w": 11376.9844, "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": 62.418457, "temp_inv2_c": 60.6261902, "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": 0.124124512, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1264.968018, "values": {"Elec_RPM": -12985.499, "EncoderCos": 24433, "EncoderSin": 13917, "GapTicks": 37333, "Mech_RPM": -2597.09985, "cg_du": 33.9393005, "cg_dv": 52.4727859, "cg_dw": 66.0606995, "cg_id_a": 0.25439626, "cg_id_raw_a": 1.39252448, "cg_iq_a": 295.239258, "cg_iq_raw_a": 297.297089, "cg_iu_a": 179.233002, "cg_iv_a": 124.725311, "cg_iw_a": -303.958313, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 8347512, "cg_sample_valid": 1, "cg_theta_rad": 4.34542227, "cg_vd_req_v": 7.84809017, "cg_vd_v": 7.84809017, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8882236, "cg_vq_v": -26.8882236, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 62.0248489, "control_outputs_enabled": 1, "dclink_i_a": 75.1326675, "dclink_p_w": 11336.2529, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 62.4645081, "temp_inv2_c": 60.4216003, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123016708, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1265.985352, "values": {"Elec_RPM": -12984.1777, "EncoderCos": 24651, "EncoderSin": 13839, "GapTicks": 37216, "Mech_RPM": -2596.83545, "cg_du": 33.8333702, "cg_dv": 50.8208389, "cg_dw": 66.166626, "cg_id_a": -3.99915695, "cg_id_raw_a": 0.298867464, "cg_iq_a": 297.861023, "cg_iq_raw_a": 292.82959, "cg_iu_a": 145.272522, "cg_iv_a": 146.362915, "cg_iw_a": -291.635437, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 8352613, "cg_sample_valid": 1, "cg_theta_rad": 4.3528285, "cg_vd_req_v": 7.94450569, "cg_vd_v": 7.94450569, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9496422, "cg_vq_v": -26.9496422, "cg_vu_v": 118.3311, "cg_vv_v": 95.8965836, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.7488098, "dclink_p_w": 11395.8975, "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": 62.3724976, "temp_inv2_c": 60.4678955, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127095446, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1267.002686, "values": {"Elec_RPM": -12975.3506, "EncoderCos": 26952, "EncoderSin": 13047, "GapTicks": 39281, "Mech_RPM": -2595.07007, "cg_du": 37.1547241, "cg_dv": 35.7100449, "cg_dw": 64.2899551, "cg_id_a": -3.31746221, "cg_id_raw_a": 0.887280047, "cg_iq_a": 292.143036, "cg_iq_raw_a": 300.172241, "cg_iu_a": -7.96639919, "cg_iv_a": 256.000488, "cg_iw_a": -248.034088, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 8357712, "cg_sample_valid": 1, "cg_theta_rad": 4.47394991, "cg_vd_req_v": 7.91317797, "cg_vd_v": 7.91317797, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8252411, "cg_vq_v": -26.8252411, "cg_vu_v": 36.9509773, "cg_vv_v": 0, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": 76.178299, "dclink_p_w": 11460.5107, "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": 62.3724976, "temp_inv2_c": 60.5742493, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121455714, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1268.011719, "values": {"Elec_RPM": -12961.209, "EncoderCos": 53011, "EncoderSin": 32882, "GapTicks": 38767, "Mech_RPM": -2592.2417, "cg_du": 64.7565308, "cg_dv": 62.0749893, "cg_dw": 35.2434731, "cg_id_a": 7.47555065, "cg_id_raw_a": 11.125617, "cg_iq_a": 311.823669, "cg_iq_raw_a": 315.963226, "cg_iu_a": -45.9136925, "cg_iv_a": -243.765747, "cg_iw_a": 289.679443, "cg_sample_age_us": 24.2672729, "cg_sample_seq": 8362663, "cg_sample_valid": 1, "cg_theta_rad": 0.0411251076, "cg_vd_req_v": 7.7608161, "cg_vd_v": 7.7608161, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1822777, "cg_vq_v": -27.1822777, "cg_vu_v": 82.6998062, "cg_vv_v": 113.932175, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 75.549469, "dclink_p_w": 11332.6748, "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": 62.4645081, "temp_inv2_c": 60.5551453, "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": 0.123268478, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1269.01416, "values": {"Elec_RPM": -12977.2217, "EncoderCos": 13599, "EncoderSin": 39898, "GapTicks": 38303, "Mech_RPM": -2595.44434, "cg_du": 34.8211517, "cg_dv": 65.1788483, "cg_dw": 40.3030624, "cg_id_a": -0.798728466, "cg_id_raw_a": -9.70855045, "cg_iq_a": 298.425354, "cg_iq_raw_a": 293.542542, "cg_iu_a": 279.990845, "cg_iv_a": -238.872803, "cg_iw_a": -41.1180496, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 8367713, "cg_sample_valid": 1, "cg_theta_rad": 2.81345463, "cg_vd_req_v": 7.9558835, "cg_vd_v": 7.9558835, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8693581, "cg_vq_v": -26.8693581, "cg_vu_v": 73.9019547, "cg_vv_v": 112.612495, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 76.4193192, "dclink_p_w": 11463.1553, "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": 62.3724976, "temp_inv2_c": 60.3726807, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125333026, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1270.031494, "values": {"Elec_RPM": -12975.9854, "EncoderCos": 52788, "EncoderSin": 35559, "GapTicks": 37231, "Mech_RPM": -2595.19702, "cg_du": 48.6152382, "cg_dv": 66.1528091, "cg_dw": 33.8471909, "cg_id_a": 8.61117363, "cg_id_raw_a": 13.4831533, "cg_iq_a": 303.430328, "cg_iq_raw_a": 301.782776, "cg_iu_a": 163.901855, "cg_iv_a": -297.261658, "cg_iw_a": 133.359787, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 8372863, "cg_sample_valid": 1, "cg_theta_rad": 0.172886655, "cg_vd_req_v": 7.7150054, "cg_vd_v": 7.7150054, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0144482, "cg_vq_v": -27.0144482, "cg_vu_v": 83.5795898, "cg_vv_v": 151.762939, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": 76.0695648, "dclink_p_w": 11410.6914, "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": 62.3724976, "temp_inv2_c": 60.5114746, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125937283, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1271.049072, "values": {"Elec_RPM": -12978.0576, "EncoderCos": 52322, "EncoderSin": 37921, "GapTicks": 38682, "Mech_RPM": -2595.61157, "cg_du": 35.1662979, "cg_dv": 64.8337021, "cg_dw": 38.9454079, "cg_id_a": 7.39553452, "cg_id_raw_a": 14.0291853, "cg_iq_a": 300.25116, "cg_iq_raw_a": 305.648773, "cg_iu_a": 273.793152, "cg_iv_a": -238.075455, "cg_iw_a": -35.7176971, "cg_sample_age_us": 23.4527264, "cg_sample_seq": 8377962, "cg_sample_valid": 1, "cg_theta_rad": 0.293905199, "cg_vd_req_v": 7.78633022, "cg_vd_v": 7.78633022, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9503956, "cg_vq_v": -26.9503956, "cg_vu_v": 0, "cg_vv_v": 46.6286087, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 75.7451859, "dclink_p_w": 11395.3525, "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": 62.3724976, "temp_inv2_c": 60.5006104, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122865647, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1272.066406, "values": {"Elec_RPM": -12990.7344, "EncoderCos": 51856, "EncoderSin": 39236, "GapTicks": 37202, "Mech_RPM": -2598.14697, "cg_du": 33.8200684, "cg_dv": 66.1799316, "cg_dw": 48.1464539, "cg_id_a": 6.96813393, "cg_id_raw_a": 12.4062319, "cg_iq_a": 306.502136, "cg_iq_raw_a": 304.930542, "cg_iu_a": 302.64325, "cg_iv_a": -165.696518, "cg_iw_a": -136.946732, "cg_sample_age_us": 23.4418182, "cg_sample_seq": 8383062, "cg_sample_valid": 1, "cg_theta_rad": 0.371141583, "cg_vd_req_v": 7.81127453, "cg_vd_v": 7.81127453, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0639801, "cg_vq_v": -27.0639801, "cg_vu_v": 105.134323, "cg_vv_v": 148.683685, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.2652817, "dclink_p_w": 11440.0498, "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": 62.5105896, "temp_inv2_c": 60.4433899, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125282675, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1273.083862, "values": {"Elec_RPM": -12986.1152, "EncoderCos": 51817, "EncoderSin": 39415, "GapTicks": 37176, "Mech_RPM": -2597.22314, "cg_du": 33.7963867, "cg_dv": 66.2036133, "cg_dw": 49.3912048, "cg_id_a": 6.66401243, "cg_id_raw_a": 15.217639, "cg_iq_a": 306.08905, "cg_iq_raw_a": 306.700531, "cg_iu_a": 310.471924, "cg_iv_a": -221.801987, "cg_iw_a": -68.3009186, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 8388163, "cg_sample_valid": 1, "cg_theta_rad": 0.36437875, "cg_vd_req_v": 7.79485464, "cg_vd_v": 7.79485464, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0545082, "cg_vq_v": -27.0545082, "cg_vu_v": 106.893898, "cg_vv_v": 151.323044, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.8919754, "dclink_p_w": 11384.0518, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 62.3724976, "temp_inv2_c": 60.5769653, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12503089, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1273.94519, "values": {"Elec_RPM": -12990.6357, "EncoderCos": 17985, "EncoderSin": 46942, "GapTicks": 37954, "Mech_RPM": -2598.1272, "cg_du": 65.4963226, "cg_dv": 41.7146149, "cg_dw": 34.5036774, "cg_id_a": -9.40278244, "cg_id_raw_a": -17.6417503, "cg_iq_a": 299.926483, "cg_iq_raw_a": 291.677216, "cg_iu_a": -95.9664307, "cg_iv_a": -200.200653, "cg_iw_a": 296.167084, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 8392415, "cg_sample_valid": 1, "cg_theta_rad": 2.50880814, "cg_vd_req_v": 8.15845776, "cg_vd_v": 8.15845776, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8799305, "cg_vq_v": -26.8799305, "cg_vu_v": 133.727341, "cg_vv_v": 151.323044, "cg_vw_v": 87.9785156, "control_outputs_enabled": 1, "dclink_i_a": 76.1638031, "dclink_p_w": 11491.834, "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": 62.3265686, "temp_inv2_c": 60.546936, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122412451, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1274.962646, "values": {"Elec_RPM": -12969.6445, "EncoderCos": 15241, "EncoderSin": 43227, "GapTicks": 37679, "Mech_RPM": -2593.92896, "cg_du": 55.9658775, "cg_dv": 65.7462311, "cg_dw": 34.2537727, "cg_id_a": -2.75183964, "cg_id_raw_a": -7.52714252, "cg_iq_a": 293.757507, "cg_iq_raw_a": 294.648224, "cg_iu_a": 84.4916229, "cg_iv_a": -290.629028, "cg_iw_a": 206.13739, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 8397512, "cg_sample_valid": 1, "cg_theta_rad": 2.62910318, "cg_vd_req_v": 7.99895191, "cg_vd_v": 7.99895191, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7483559, "cg_vq_v": -26.7483559, "cg_vu_v": 13.6366701, "cg_vv_v": 77.4210892, "cg_vw_v": 42.6695786, "control_outputs_enabled": 1, "dclink_i_a": 75.7904892, "dclink_p_w": 11402.168, "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": 62.3724976, "temp_inv2_c": 60.5715332, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123117417, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1275.97998, "values": {"Elec_RPM": -12969.5156, "EncoderCos": 15150, "EncoderSin": 42987, "GapTicks": 37443, "Mech_RPM": -2593.90308, "cg_du": 54.4143944, "cg_dv": 65.9606247, "cg_dw": 34.0393715, "cg_id_a": 2.46975803, "cg_id_raw_a": 5.11811924, "cg_iq_a": 298.883179, "cg_iq_raw_a": 300.481567, "cg_iu_a": 109.209915, "cg_iv_a": -289.432983, "cg_iw_a": 180.223053, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 8402613, "cg_sample_valid": 1, "cg_theta_rad": 2.64263725, "cg_vd_req_v": 7.88243103, "cg_vd_v": 7.88243103, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8628788, "cg_vq_v": -26.8628788, "cg_vu_v": 73.9019547, "cg_vv_v": 116.571533, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 76.1764832, "dclink_p_w": 11426.7295, "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": 62.418457, "temp_inv2_c": 60.6070557, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125685513, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1276.997314, "values": {"Elec_RPM": -12975.9688, "EncoderCos": 46086, "EncoderSin": 17452, "GapTicks": 38338, "Mech_RPM": -2595.19385, "cg_du": 34.8530807, "cg_dv": 65.1469193, "cg_dw": 60.0581589, "cg_id_a": 0.560183406, "cg_id_raw_a": -12.9114132, "cg_iq_a": 303.014893, "cg_iq_raw_a": 298.206329, "cg_iu_a": 282.491699, "cg_iv_a": -44.2796783, "cg_iw_a": -238.212021, "cg_sample_age_us": 23.954546, "cg_sample_seq": 8407662, "cg_sample_valid": 1, "cg_theta_rad": 5.47500372, "cg_vd_req_v": 7.87109613, "cg_vd_v": 7.87109613, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0586834, "cg_vq_v": -27.0586834, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 51.9073219, "control_outputs_enabled": 1, "dclink_i_a": 76.0750046, "dclink_p_w": 11444.9707, "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": 62.418457, "temp_inv2_c": 60.5496826, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126390472, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1278.011108, "values": {"Elec_RPM": -12975.4473, "EncoderCos": 13683, "EncoderSin": 25516, "GapTicks": 37395, "Mech_RPM": -2595.08936, "cg_du": 66.0039368, "cg_dv": 33.9960632, "cg_dw": 46.5879021, "cg_id_a": -11.7802544, "cg_id_raw_a": -14.9212112, "cg_iq_a": 293.825195, "cg_iq_raw_a": 286.860382, "cg_iu_a": -111.587509, "cg_iv_a": -184.144608, "cg_iw_a": 295.732117, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 8412567, "cg_sample_valid": 1, "cg_theta_rad": 3.76847219, "cg_vd_req_v": 8.12769508, "cg_vd_v": 8.12769508, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8063011, "cg_vq_v": -26.8063011, "cg_vu_v": 99.4157181, "cg_vv_v": 113.492287, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 76.232666, "dclink_p_w": 11468.6904, "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": 62.3724976, "temp_inv2_c": 60.6125183, "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": 0.130771339, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1279.008911, "values": {"Elec_RPM": -12968.0996, "EncoderCos": 32497, "EncoderSin": 12323, "GapTicks": 37450, "Mech_RPM": -2593.61987, "cg_du": 65.9536591, "cg_dv": 34.0463409, "cg_dw": 54.0301056, "cg_id_a": -4.31833839, "cg_id_raw_a": -3.51771784, "cg_iq_a": 292.89386, "cg_iq_raw_a": 290.377441, "cg_iu_a": -299.982971, "cg_iv_a": 188.333252, "cg_iw_a": 111.649727, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 8417762, "cg_sample_valid": 1, "cg_theta_rad": 4.75220823, "cg_vd_req_v": 7.94443464, "cg_vd_v": 7.94443464, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8570442, "cg_vq_v": -26.8570442, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.2526016, "dclink_p_w": 11471.6895, "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": 62.418457, "temp_inv2_c": 60.6097717, "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": 0.125282675, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1280.026245, "values": {"Elec_RPM": -12982.6025, "EncoderCos": 17274, "EncoderSin": 19405, "GapTicks": 37753, "Mech_RPM": -2596.52051, "cg_du": 56.2767029, "cg_dv": 65.6788788, "cg_dw": 34.3211212, "cg_id_a": 2.31472397, "cg_id_raw_a": 2.75514078, "cg_iq_a": 293.909821, "cg_iq_raw_a": 294.241608, "cg_iu_a": 86.5212784, "cg_iv_a": -280.951904, "cg_iw_a": 194.430634, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 8422763, "cg_sample_valid": 1, "cg_theta_rad": 3.89221454, "cg_vd_req_v": 7.83962488, "cg_vd_v": 7.83962488, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8331375, "cg_vq_v": -26.8331375, "cg_vu_v": 108.21357, "cg_vv_v": 151.762939, "cg_vw_v": 122.290138, "control_outputs_enabled": 1, "dclink_i_a": 75.241394, "dclink_p_w": 11286.4629, "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": 62.4645081, "temp_inv2_c": 60.6207275, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124275573, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1281.043701, "values": {"Elec_RPM": -12978.9141, "EncoderCos": 39774, "EncoderSin": 51798, "GapTicks": 37421, "Mech_RPM": -2595.78271, "cg_du": 65.9807739, "cg_dv": 54.75354, "cg_dw": 34.0192261, "cg_id_a": 5.24141741, "cg_id_raw_a": 12.1544228, "cg_iq_a": 308.686066, "cg_iq_raw_a": 311.349365, "cg_iu_a": -123.185547, "cg_iv_a": -182.586121, "cg_iw_a": 305.771667, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 8427913, "cg_sample_valid": 1, "cg_theta_rad": 1.24286449, "cg_vd_req_v": 7.8768177, "cg_vd_v": 7.8768177, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0439644, "cg_vq_v": -27.0439644, "cg_vu_v": 108.21357, "cg_vv_v": 117.891212, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 75.9064713, "dclink_p_w": 11419.6162, "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": 62.418457, "temp_inv2_c": 60.5006104, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122311741, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1282.061157, "values": {"Elec_RPM": -12977.6309, "EncoderCos": 35316, "EncoderSin": 12569, "GapTicks": 39353, "Mech_RPM": -2595.52612, "cg_du": 64.2244415, "cg_dv": 36.5966988, "cg_dw": 35.7755623, "cg_id_a": -0.122532964, "cg_id_raw_a": -12.2490053, "cg_iq_a": 301.686523, "cg_iq_raw_a": 295.986603, "cg_iu_a": -260.549683, "cg_iv_a": 0.408996582, "cg_iw_a": 260.140686, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 8433063, "cg_sample_valid": 1, "cg_theta_rad": 4.88101625, "cg_vd_req_v": 7.85246754, "cg_vd_v": 7.85246754, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.011982, "cg_vq_v": -27.011982, "cg_vu_v": 128.008743, "cg_vv_v": 112.172607, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 75.665451, "dclink_p_w": 11416.6416, "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": 62.418457, "temp_inv2_c": 60.5496826, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123067066, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1283.078613, "values": {"Elec_RPM": -12991.8154, "EncoderCos": 37649, "EncoderSin": 13084, "GapTicks": 37287, "Mech_RPM": -2598.36304, "cg_du": 66.102211, "cg_dv": 52.5937347, "cg_dw": 33.897789, "cg_id_a": -0.320866823, "cg_id_raw_a": -4.69501543, "cg_iq_a": 303.317688, "cg_iq_raw_a": 301.773651, "cg_iu_a": -202.305847, "cg_iv_a": -97.0506897, "cg_iw_a": 299.356537, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 8438162, "cg_sample_valid": 1, "cg_theta_rad": 4.96062708, "cg_vd_req_v": 7.86777067, "cg_vd_v": 7.86777067, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0542984, "cg_vq_v": -27.0542984, "cg_vu_v": 113.492287, "cg_vv_v": 117.011421, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 76.8180008, "dclink_p_w": 11522.959, "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": 62.418457, "temp_inv2_c": 60.6426086, "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": 0.123872742, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1283.939941, "values": {"Elec_RPM": -12988.5049, "EncoderCos": 12625, "EncoderSin": 30144, "GapTicks": 37353, "Mech_RPM": -2597.70093, "cg_du": 49.8118744, "cg_dv": 33.9580383, "cg_dw": 66.0419617, "cg_id_a": -3.63864708, "cg_id_raw_a": 8.37022972, "cg_iq_a": 285.406555, "cg_iq_raw_a": 289.195099, "cg_iu_a": -288.493683, "cg_iv_a": 124.399124, "cg_iw_a": 164.094559, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 8442367, "cg_sample_valid": 1, "cg_theta_rad": 3.51336813, "cg_vd_req_v": 8.01827335, "cg_vd_v": 8.01827335, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6047173, "cg_vq_v": -26.6047173, "cg_vu_v": 142.525192, "cg_vv_v": 111.732712, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 76.3305206, "dclink_p_w": 11483.4121, "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": 4998, "hz_vsense": 2593, "pwm_moe": 1, "temp_inv1_c": 62.418457, "temp_inv2_c": 60.4651794, "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": 0.12780042, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1284.957397, "values": {"Elec_RPM": -12992.6074, "EncoderCos": 14535, "EncoderSin": 23683, "GapTicks": 38815, "Mech_RPM": -2598.52148, "cg_du": 64.7131805, "cg_dv": 38.4395256, "cg_dw": 35.2868195, "cg_id_a": -10.7142582, "cg_id_raw_a": -10.9867544, "cg_iq_a": 292.712708, "cg_iq_raw_a": 297.415466, "cg_iu_a": -270.480499, "cg_iv_a": 44.8076782, "cg_iw_a": 225.672821, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 8447462, "cg_sample_valid": 1, "cg_theta_rad": 3.59918165, "cg_vd_req_v": 8.12265968, "cg_vd_v": 8.12265968, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7793808, "cg_vq_v": -26.7793808, "cg_vu_v": 39.1504402, "cg_vv_v": 39.1504402, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.6763229, "dclink_p_w": 11351.7041, "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": 62.4645081, "temp_inv2_c": 60.5524292, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121052869, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1285.974854, "values": {"Elec_RPM": -13002.3037, "EncoderCos": 14645, "EncoderSin": 23519, "GapTicks": 38543, "Mech_RPM": -2600.46069, "cg_du": 64.960495, "cg_dv": 39.5744705, "cg_dw": 35.039505, "cg_id_a": -4.67094135, "cg_id_raw_a": -17.7333164, "cg_iq_a": 295.870911, "cg_iq_raw_a": 289.580475, "cg_iu_a": -238.368454, "cg_iv_a": -35.3274384, "cg_iw_a": 273.695892, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 8452563, "cg_sample_valid": 1, "cg_theta_rad": 3.65227962, "cg_vd_req_v": 8.00510406, "cg_vd_v": 8.00510406, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8454189, "cg_vq_v": -26.8454189, "cg_vu_v": 151.762939, "cg_vv_v": 150.883148, "cg_vw_v": 90.6178665, "control_outputs_enabled": 1, "dclink_i_a": 75.611084, "dclink_p_w": 11375.1777, "enc_isr_hz": 4999, "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": 62.418457, "temp_inv2_c": 60.6645203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12049897, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1286.99231, "values": {"Elec_RPM": -12988.7119, "EncoderCos": 15296, "EncoderSin": 22395, "GapTicks": 37315, "Mech_RPM": -2597.74243, "cg_du": 66.0763702, "cg_dv": 48.3685722, "cg_dw": 33.9236298, "cg_id_a": -8.53242111, "cg_id_raw_a": -4.75097847, "cg_iq_a": 292.150085, "cg_iq_raw_a": 289.454498, "cg_iu_a": -163.271225, "cg_iv_a": -133.729446, "cg_iw_a": 297.000671, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 8457663, "cg_sample_valid": 1, "cg_theta_rad": 3.72527099, "cg_vd_req_v": 8.05486012, "cg_vd_v": 8.05486012, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7905674, "cg_vq_v": -26.7905674, "cg_vu_v": 0.87978512, "cg_vv_v": 62.0248489, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0605087, "dclink_p_w": 11442.79, "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": 62.418457, "temp_inv2_c": 60.446106, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12276493, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1288.005859, "values": {"Elec_RPM": -12985.1973, "EncoderCos": 28044, "EncoderSin": 52525, "GapTicks": 37152, "Mech_RPM": -2597.03955, "cg_du": 33.7754364, "cg_dv": 50.8074379, "cg_dw": 66.2245636, "cg_id_a": -2.57335567, "cg_id_raw_a": -2.9631629, "cg_iq_a": 305.03363, "cg_iq_raw_a": 300.313995, "cg_iu_a": -146.417847, "cg_iv_a": 277.31189, "cg_iw_a": -199.431122, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 8462567, "cg_sample_valid": 1, "cg_theta_rad": 2.04611754, "cg_vd_req_v": 8.04955101, "cg_vd_v": 8.04955101, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9369965, "cg_vq_v": -26.9369965, "cg_vu_v": 139.445938, "cg_vv_v": 91.0577545, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": 76.0460129, "dclink_p_w": 11440.6094, "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": 62.418457, "temp_inv2_c": 60.5305786, "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": 0.125181958, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1289.003662, "values": {"Elec_RPM": -12981.2803, "EncoderCos": 48969, "EncoderSin": 20805, "GapTicks": 38593, "Mech_RPM": -2596.2561, "cg_du": 35.085022, "cg_dv": 38.9455147, "cg_dw": 64.914978, "cg_id_a": 7.40724611, "cg_id_raw_a": -5.94934464, "cg_iq_a": 309.797791, "cg_iq_raw_a": 301.133423, "cg_iu_a": 48.0665665, "cg_iv_a": 238.204773, "cg_iw_a": -286.271332, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8467713, "cg_sample_valid": 1, "cg_theta_rad": 5.69470119, "cg_vd_req_v": 7.73596621, "cg_vd_v": 7.73596621, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1854935, "cg_vq_v": -27.1854935, "cg_vu_v": 112.172607, "cg_vv_v": 72.5822754, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 76.2526016, "dclink_p_w": 11471.6895, "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": 62.418457, "temp_inv2_c": 60.6289368, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122916006, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1290.02124, "values": {"Elec_RPM": -12990.3213, "EncoderCos": 49660, "EncoderSin": 21945, "GapTicks": 38035, "Mech_RPM": -2598.06421, "cg_du": 41.2929764, "cg_dv": 34.5781174, "cg_dw": 65.4218826, "cg_id_a": 10.2982502, "cg_id_raw_a": -2.07910061, "cg_iq_a": 306.89856, "cg_iq_raw_a": 300.631409, "cg_iu_a": -49.5743179, "cg_iv_a": 290.214661, "cg_iw_a": -240.64035, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 8472813, "cg_sample_valid": 1, "cg_theta_rad": 5.76474571, "cg_vd_req_v": 7.68043852, "cg_vd_v": 7.68043852, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.110857, "cg_vq_v": -27.110857, "cg_vu_v": 132.407669, "cg_vv_v": 73.0221634, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 74.5817566, "dclink_p_w": 11220.3223, "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": 62.418457, "temp_inv2_c": 60.486969, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127397567, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1291.038574, "values": {"Elec_RPM": -12996.2734, "EncoderCos": 37866, "EncoderSin": 13191, "GapTicks": 37403, "Mech_RPM": -2599.25464, "cg_du": 65.9969864, "cg_dv": 54.2917824, "cg_dw": 34.0030136, "cg_id_a": 0.174318194, "cg_id_raw_a": -2.9944427, "cg_iq_a": 300.365967, "cg_iq_raw_a": 298.554993, "cg_iu_a": -101.982903, "cg_iv_a": -190.523529, "cg_iw_a": 292.506439, "cg_sample_age_us": 24.005455, "cg_sample_seq": 8477812, "cg_sample_valid": 1, "cg_theta_rad": 5.01635885, "cg_vd_req_v": 7.91239977, "cg_vd_v": 7.91239977, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9847546, "cg_vq_v": -26.9847546, "cg_vu_v": 29.0329094, "cg_vv_v": 46.6286087, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.7071304, "dclink_p_w": 11422.9307, "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": 62.418457, "temp_inv2_c": 60.6343994, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122009605, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1292.055908, "values": {"Elec_RPM": -12991.7959, "EncoderCos": 51355, "EncoderSin": 25269, "GapTicks": 38860, "Mech_RPM": -2598.35913, "cg_du": 64.6726761, "cg_dv": 35.3273239, "cg_dw": 61.7791443, "cg_id_a": 6.42748499, "cg_id_raw_a": -5.16500282, "cg_iq_a": 305.038879, "cg_iq_raw_a": 298.903687, "cg_iu_a": -276.714417, "cg_iv_a": 260.49472, "cg_iw_a": 16.219696, "cg_sample_age_us": 23.772728, "cg_sample_seq": 8483012, "cg_sample_valid": 1, "cg_theta_rad": 5.95302153, "cg_vd_req_v": 7.78812647, "cg_vd_v": 7.78812647, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0780735, "cg_vq_v": -27.0780735, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 75.5603409, "dclink_p_w": 11334.3057, "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": 62.418457, "temp_inv2_c": 60.4243469, "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": 0.129210338, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1293.073486, "values": {"Elec_RPM": -12976.5723, "EncoderCos": 17822, "EncoderSin": 46459, "GapTicks": 37562, "Mech_RPM": -2595.31445, "cg_du": 65.8523026, "cg_dv": 44.7299767, "cg_dw": 34.1477013, "cg_id_a": -3.26362038, "cg_id_raw_a": -9.66851044, "cg_iq_a": 299.897369, "cg_iq_raw_a": 302.537842, "cg_iu_a": -187.337128, "cg_iv_a": -104.480682, "cg_iw_a": 291.81781, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 8488062, "cg_sample_valid": 1, "cg_theta_rad": 2.44131923, "cg_vd_req_v": 8.02864456, "cg_vd_v": 8.02864456, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8668308, "cg_vq_v": -26.8668308, "cg_vu_v": 18.9153805, "cg_vv_v": 41.7897949, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 75.8575439, "dclink_p_w": 11412.2559, "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": 62.418457, "temp_inv2_c": 60.6125183, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12251316, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1293.914673, "values": {"Elec_RPM": -12988.7949, "EncoderCos": 29251, "EncoderSin": 12789, "GapTicks": 37387, "Mech_RPM": -2597.75903, "cg_du": 52.4907799, "cg_dv": 33.9887085, "cg_dw": 66.0112915, "cg_id_a": -2.94222522, "cg_id_raw_a": 1.94780505, "cg_iq_a": 294.487335, "cg_iq_raw_a": 291.980591, "cg_iu_a": -174.506821, "cg_iv_a": 287.750061, "cg_iw_a": -199.322388, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 8492312, "cg_sample_valid": 1, "cg_theta_rad": 4.57242203, "cg_vd_req_v": 7.94810867, "cg_vd_v": 7.94810867, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8565102, "cg_vq_v": -26.8565102, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 75.7470016, "dclink_p_w": 11362.3057, "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": 62.418457, "temp_inv2_c": 60.5551453, "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": 0.122412451, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1294.952148, "values": {"Elec_RPM": -12984.627, "EncoderCos": 26251, "EncoderSin": 13541, "GapTicks": 38453, "Mech_RPM": -2596.92529, "cg_du": 34.9577522, "cg_dv": 39.9541969, "cg_dw": 65.0422516, "cg_id_a": -4.03846836, "cg_id_raw_a": 0.0250028037, "cg_iq_a": 294.279114, "cg_iq_raw_a": 302.302429, "cg_iu_a": -233.874207, "cg_iv_a": 272.092743, "cg_iw_a": -38.218544, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 8497416, "cg_sample_valid": 1, "cg_theta_rad": 4.64783669, "cg_vd_req_v": 7.95915937, "cg_vd_v": 7.95915937, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.851305, "cg_vq_v": -26.851305, "cg_vu_v": 73.9019547, "cg_vv_v": 3.51914048, "cg_vw_v": 30.3525867, "control_outputs_enabled": 1, "dclink_i_a": 75.2939453, "dclink_p_w": 11327.4658, "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": 62.4645081, "temp_inv2_c": 60.5988464, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126239419, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1295.969604, "values": {"Elec_RPM": -12982.1533, "EncoderCos": 30710, "EncoderSin": 12597, "GapTicks": 39058, "Mech_RPM": -2596.43066, "cg_du": 62.324337, "cg_dv": 35.5080795, "cg_dw": 64.4919205, "cg_id_a": -4.52541113, "cg_id_raw_a": 4.88431311, "cg_iq_a": 295.643707, "cg_iq_raw_a": 301.705261, "cg_iu_a": -243.116394, "cg_iv_a": 268.250916, "cg_iw_a": -25.1345062, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 8502513, "cg_sample_valid": 1, "cg_theta_rad": 4.65482187, "cg_vd_req_v": 7.98190022, "cg_vd_v": 7.98190022, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8859406, "cg_vq_v": -26.8859406, "cg_vu_v": 152.202835, "cg_vv_v": 86.2189407, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 76.0170135, "dclink_p_w": 11436.2471, "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": 62.5105896, "temp_inv2_c": 60.5333252, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128505379, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1296.987061, "values": {"Elec_RPM": -12977.042, "EncoderCos": 32039, "EncoderSin": 12517, "GapTicks": 37884, "Mech_RPM": -2595.40845, "cg_du": 65.5591202, "cg_dv": 34.4408836, "cg_dw": 57.2933769, "cg_id_a": 3.37395406, "cg_id_raw_a": 5.97068739, "cg_iq_a": 295.941986, "cg_iq_raw_a": 296.735107, "cg_iu_a": -281.534851, "cg_iv_a": 205.331589, "cg_iw_a": 76.2032623, "cg_sample_age_us": 24.0818176, "cg_sample_seq": 8507613, "cg_sample_valid": 1, "cg_theta_rad": 4.72807741, "cg_vd_req_v": 7.80834341, "cg_vd_v": 7.80834341, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8904247, "cg_vq_v": -26.8904247, "cg_vu_v": 152.202835, "cg_vv_v": 111.292824, "cg_vw_v": 104.694435, "control_outputs_enabled": 1, "dclink_i_a": 75.8412323, "dclink_p_w": 11376.4404, "enc_isr_hz": 4999, "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": 62.4645081, "temp_inv2_c": 60.5660706, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129864946, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1297.966797, "values": {"Elec_RPM": -12949.7773, "EncoderCos": 50302, "EncoderSin": 23074, "GapTicks": 37169, "Mech_RPM": -2589.95557, "cg_du": 50.2269249, "cg_dv": 33.790451, "cg_dw": 66.209549, "cg_id_a": 10.3567066, "cg_id_raw_a": 15.306263, "cg_iq_a": 306.456848, "cg_iq_raw_a": 307.574127, "cg_iu_a": -156.058716, "cg_iv_a": 300.47168, "cg_iw_a": -144.412964, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 8512462, "cg_sample_valid": 1, "cg_theta_rad": 5.84051895, "cg_vd_req_v": 7.67979383, "cg_vd_v": 7.67979383, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0921841, "cg_vq_v": -27.0921841, "cg_vu_v": 152.202835, "cg_vv_v": 91.4976578, "cg_vw_v": 135.047012, "control_outputs_enabled": 1, "dclink_i_a": 76.4664383, "dclink_p_w": 11503.8594, "enc_isr_hz": 5001, "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": 62.5105896, "temp_inv2_c": 60.5960999, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123167776, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1298.998413, "values": {"Elec_RPM": -12969.3594, "EncoderCos": 12992, "EncoderSin": 37053, "GapTicks": 38386, "Mech_RPM": -2593.87183, "cg_du": 34.8968964, "cg_dv": 65.1031036, "cg_dw": 60.0369911, "cg_id_a": -5.16923714, "cg_id_raw_a": -14.5099564, "cg_iq_a": 298.026215, "cg_iq_raw_a": 293.363953, "cg_iu_a": 47.6678848, "cg_iv_a": 229.216309, "cg_iw_a": -276.884186, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 8517616, "cg_sample_valid": 1, "cg_theta_rad": 3.17821479, "cg_vd_req_v": 8.06340885, "cg_vd_v": 8.06340885, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8341045, "cg_vq_v": -26.8341045, "cg_vu_v": 68.6232376, "cg_vv_v": 36.9509773, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 76.355896, "dclink_p_w": 11453.6416, "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": 62.5105896, "temp_inv2_c": 60.5333252, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123721682, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1300.015991, "values": {"Elec_RPM": -12982.8525, "EncoderCos": 12583, "EncoderSin": 32549, "GapTicks": 38941, "Mech_RPM": -2596.57056, "cg_du": 35.401371, "cg_dv": 38.1768417, "cg_dw": 64.5986328, "cg_id_a": 3.33116913, "cg_id_raw_a": -8.10731792, "cg_iq_a": 295.774048, "cg_iq_raw_a": 291.061371, "cg_iu_a": 35.2362518, "cg_iv_a": 232.043289, "cg_iw_a": -267.279541, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 8522713, "cg_sample_valid": 1, "cg_theta_rad": 3.18119454, "cg_vd_req_v": 7.85695314, "cg_vd_v": 7.85695314, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.785265, "cg_vq_v": -26.785265, "cg_vu_v": 149.123581, "cg_vv_v": 86.6588287, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.48423, "dclink_p_w": 11356.0928, "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": 62.4645081, "temp_inv2_c": 60.5551453, "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": 0.129008919, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1301.033325, "values": {"Elec_RPM": -12982.9189, "EncoderCos": 50176, "EncoderSin": 42520, "GapTicks": 37521, "Mech_RPM": -2596.58374, "cg_du": 34.1101532, "cg_dv": 55.6462479, "cg_dw": 65.8898468, "cg_id_a": 6.42660952, "cg_id_raw_a": 6.44263697, "cg_iq_a": 308.160919, "cg_iq_raw_a": 306.365112, "cg_iu_a": 201.885406, "cg_iv_a": 92.540802, "cg_iw_a": -294.426208, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 8527863, "cg_sample_valid": 1, "cg_theta_rad": 0.541190028, "cg_vd_req_v": 7.84518909, "cg_vd_v": 7.84518909, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0641212, "cg_vq_v": -27.0641212, "cg_vu_v": 101.615181, "cg_vv_v": 72.5822754, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 76.1184998, "dclink_p_w": 11451.5146, "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": 62.3724976, "temp_inv2_c": 60.6207275, "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": 0.126037985, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1302.050659, "values": {"Elec_RPM": -12993.3096, "EncoderCos": 50077, "EncoderSin": 42678, "GapTicks": 37361, "Mech_RPM": -2598.66187, "cg_du": 33.9646988, "cg_dv": 54.2657166, "cg_dw": 66.0353012, "cg_id_a": 0.93451339, "cg_id_raw_a": -3.08531857, "cg_iq_a": 307.382233, "cg_iq_raw_a": 306.124268, "cg_iu_a": 119.829361, "cg_iv_a": 107.473236, "cg_iw_a": -315.157654, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 8532964, "cg_sample_valid": 1, "cg_theta_rad": 0.601218224, "cg_vd_req_v": 7.95463657, "cg_vd_v": 7.95463657, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0367527, "cg_vq_v": -27.0367527, "cg_vu_v": 136.366699, "cg_vv_v": 85.7790527, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.4769821, "dclink_p_w": 11355.0029, "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": 62.418457, "temp_inv2_c": 60.6426086, "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": 0.131174177, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1303.068115, "values": {"Elec_RPM": -12991.0996, "EncoderCos": 48128, "EncoderSin": 45552, "GapTicks": 38212, "Mech_RPM": -2598.21997, "cg_du": 40.4519806, "cg_dv": 34.7385025, "cg_dw": 65.2614975, "cg_id_a": 13.161644, "cg_id_raw_a": 14.170248, "cg_iq_a": 307.932556, "cg_iq_raw_a": 315.408203, "cg_iu_a": -123.294273, "cg_iv_a": 282.132294, "cg_iw_a": -236.834747, "cg_sample_age_us": 23.5145454, "cg_sample_seq": 8538062, "cg_sample_valid": 1, "cg_theta_rad": 0.772256196, "cg_vd_req_v": 7.68559313, "cg_vd_v": 7.68559313, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0346394, "cg_vq_v": -27.0346394, "cg_vu_v": 128.448624, "cg_vv_v": 72.1423798, "cg_vw_v": 89.7380829, "control_outputs_enabled": 1, "dclink_i_a": 76.1638031, "dclink_p_w": 11424.8271, "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": 62.4645081, "temp_inv2_c": 60.6426086, "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": 0.123973452, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1303.929565, "values": {"Elec_RPM": -12984.8096, "EncoderCos": 52706, "EncoderSin": 32037, "GapTicks": 37626, "Mech_RPM": -2596.96191, "cg_du": 65.7942123, "cg_dv": 56.5103493, "cg_dw": 34.2057877, "cg_id_a": 9.11453724, "cg_id_raw_a": 15.3878431, "cg_iq_a": 309.85434, "cg_iq_raw_a": 313.413849, "cg_iu_a": 141.321945, "cg_iv_a": -307.699829, "cg_iw_a": 166.377899, "cg_sample_age_us": 24.1109085, "cg_sample_seq": 8542365, "cg_sample_valid": 1, "cg_theta_rad": 0.170445934, "cg_vd_req_v": 7.75542593, "cg_vd_v": 7.75542593, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1162205, "cg_vq_v": -27.1162205, "cg_vu_v": 0, "cg_vv_v": 50.1477547, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 76.1275558, "dclink_p_w": 11452.877, "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": 62.418457, "temp_inv2_c": 60.6426086, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.1223621, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1304.927002, "values": {"Elec_RPM": -12983.5645, "EncoderCos": 48285, "EncoderSin": 20148, "GapTicks": 37479, "Mech_RPM": -2596.71289, "cg_du": 34.0724144, "cg_dv": 45.218502, "cg_dw": 65.9275818, "cg_id_a": 8.38743401, "cg_id_raw_a": 10.8387527, "cg_iq_a": 306.163574, "cg_iq_raw_a": 312.277039, "cg_iu_a": 121.822769, "cg_iv_a": 188.007065, "cg_iw_a": -309.829834, "cg_sample_age_us": 23.823637, "cg_sample_seq": 8547362, "cg_sample_valid": 1, "cg_theta_rad": 5.65992689, "cg_vd_req_v": 7.70183849, "cg_vd_v": 7.70183849, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0899696, "cg_vq_v": -27.0899696, "cg_vu_v": 113.052383, "cg_vv_v": 80.5003433, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 75.0710526, "dclink_p_w": 11293.9336, "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": 62.5105896, "temp_inv2_c": 60.4896851, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126088351, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1305.964355, "values": {"Elec_RPM": -12989.0801, "EncoderCos": 52027, "EncoderSin": 37812, "GapTicks": 38698, "Mech_RPM": -2597.81592, "cg_du": 35.1807213, "cg_dv": 64.8192749, "cg_dw": 38.7889862, "cg_id_a": 5.56601715, "cg_id_raw_a": 10.9403152, "cg_iq_a": 303.064575, "cg_iq_raw_a": 306.759186, "cg_iu_a": 275.78656, "cg_iv_a": -244.164429, "cg_iw_a": -31.622139, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 8552562, "cg_sample_valid": 1, "cg_theta_rad": 0.288928449, "cg_vd_req_v": 7.85804319, "cg_vd_v": 7.85804319, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9706211, "cg_vq_v": -26.9706211, "cg_vu_v": 0, "cg_vv_v": 45.3089333, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 75.8466644, "dclink_p_w": 11410.6191, "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": 62.6029968, "temp_inv2_c": 60.637146, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127498284, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1306.981812, "values": {"Elec_RPM": -12991.0947, "EncoderCos": 49742, "EncoderSin": 22279, "GapTicks": 37672, "Mech_RPM": -2598.21899, "cg_du": 43.4959831, "cg_dv": 34.2475357, "cg_dw": 65.7524643, "cg_id_a": 12.407196, "cg_id_raw_a": 13.0739899, "cg_iq_a": 306.082428, "cg_iq_raw_a": 312.307129, "cg_iu_a": -84.6583481, "cg_iv_a": 291.44696, "cg_iw_a": -206.788605, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 8557562, "cg_sample_valid": 1, "cg_theta_rad": 5.78954744, "cg_vd_req_v": 7.66341782, "cg_vd_v": 7.66341782, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0675278, "cg_vq_v": -27.0675278, "cg_vu_v": 151.762939, "cg_vv_v": 80.5003433, "cg_vw_v": 146.484222, "control_outputs_enabled": 1, "dclink_i_a": 75.8412323, "dclink_p_w": 11409.8018, "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": 62.5567627, "temp_inv2_c": 60.5769653, "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": 0.123671323, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1307.966187, "values": {"Elec_RPM": -12981.1426, "EncoderCos": 19796, "EncoderSin": 17243, "GapTicks": 39038, "Mech_RPM": -2596.22852, "cg_du": 35.489357, "cg_dv": 64.510643, "cg_dw": 37.9159508, "cg_id_a": -1.89344323, "cg_id_raw_a": -13.3612261, "cg_iq_a": 294.374634, "cg_iq_raw_a": 289.652252, "cg_iu_a": 263.391174, "cg_iv_a": -280.480713, "cg_iw_a": 60.7271194, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 8562463, "cg_sample_valid": 1, "cg_theta_rad": 4.04747391, "cg_vd_req_v": 7.94700098, "cg_vd_v": 7.94700098, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8169498, "cg_vq_v": -26.8169498, "cg_vu_v": 101.175293, "cg_vv_v": 151.762939, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 76.3196487, "dclink_p_w": 11448.2051, "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": 62.5567627, "temp_inv2_c": 60.7056274, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124980539, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1308.993164, "values": {"Elec_RPM": -12995.0986, "EncoderCos": 37247, "EncoderSin": 13183, "GapTicks": 37266, "Mech_RPM": -2599.01978, "cg_du": 66.1214447, "cg_dv": 50.0040016, "cg_dw": 33.8785591, "cg_id_a": 4.34878635, "cg_id_raw_a": 9.90434265, "cg_iq_a": 301.920349, "cg_iq_raw_a": 301.605133, "cg_iu_a": -160.625427, "cg_iv_a": -143.152832, "cg_iw_a": 303.778259, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 8567663, "cg_sample_valid": 1, "cg_theta_rad": 4.99576139, "cg_vd_req_v": 7.81561899, "cg_vd_v": 7.81561899, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9782715, "cg_vq_v": -26.9782715, "cg_vu_v": 111.292824, "cg_vv_v": 113.932175, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": 76.1819229, "dclink_p_w": 11461.0566, "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": 62.5105896, "temp_inv2_c": 60.6207275, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127598986, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1310.010742, "values": {"Elec_RPM": -12988.166, "EncoderCos": 35260, "EncoderSin": 52679, "GapTicks": 37862, "Mech_RPM": -2597.6333, "cg_du": 42.6092033, "cg_dv": 65.5792389, "cg_dw": 34.4207573, "cg_id_a": -0.0422959328, "cg_id_raw_a": -1.53769767, "cg_iq_a": 299.566376, "cg_iq_raw_a": 295.435822, "cg_iu_a": 258.606995, "cg_iv_a": -257.103455, "cg_iw_a": -1.50352478, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 8572713, "cg_sample_valid": 1, "cg_theta_rad": 1.53222144, "cg_vd_req_v": 7.98870754, "cg_vd_v": 7.98870754, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8137665, "cg_vq_v": -26.8137665, "cg_vu_v": 0, "cg_vv_v": 43.9892578, "cg_vw_v": 28.1531239, "control_outputs_enabled": 1, "dclink_i_a": 76.0441971, "dclink_p_w": 11406.8857, "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": 62.4645081, "temp_inv2_c": 60.7275391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121355005, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1311.028076, "values": {"Elec_RPM": -12979.2637, "EncoderCos": 33972, "EncoderSin": 52808, "GapTicks": 39066, "Mech_RPM": -2595.85278, "cg_du": 35.5151634, "cg_dv": 64.4848328, "cg_dw": 37.6300278, "cg_id_a": 2.65184021, "cg_id_raw_a": -5.68088531, "cg_iq_a": 300.244171, "cg_iq_raw_a": 296.604156, "cg_iu_a": 263.427429, "cg_iv_a": -260.582886, "cg_iw_a": -2.84454346, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 8577813, "cg_sample_valid": 1, "cg_theta_rad": 1.54369748, "cg_vd_req_v": 7.96573257, "cg_vd_v": 7.96573257, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8147316, "cg_vq_v": -26.8147316, "cg_vu_v": 73.9019547, "cg_vv_v": 113.052383, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": 75.2685776, "dclink_p_w": 11323.6494, "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": 62.5105896, "temp_inv2_c": 60.6590271, "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": 0.129311055, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1312.045532, "values": {"Elec_RPM": -12991.416, "EncoderCos": 32737, "EncoderSin": 52846, "GapTicks": 37420, "Mech_RPM": -2598.2832, "cg_du": 34.0183716, "cg_dv": 65.9816284, "cg_dw": 45.8374901, "cg_id_a": 0.274386108, "cg_id_raw_a": -0.144521981, "cg_iq_a": 299.69693, "cg_iq_raw_a": 299.092194, "cg_iu_a": 301.33847, "cg_iv_a": -196.43129, "cg_iw_a": -32.3470306, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 8582913, "cg_sample_valid": 1, "cg_theta_rad": 1.59776485, "cg_vd_req_v": 8.01438904, "cg_vd_v": 8.01438904, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8210526, "cg_vq_v": -26.8210526, "cg_vu_v": 109.973145, "cg_vv_v": 141.645401, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 75.672699, "dclink_p_w": 11384.4473, "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": 62.5105896, "temp_inv2_c": 60.5988464, "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": 0.130116731, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1313.062866, "values": {"Elec_RPM": -12995.2285, "EncoderCos": 30359, "EncoderSin": 52700, "GapTicks": 38936, "Mech_RPM": -2599.04565, "cg_du": 35.3965683, "cg_dv": 64.6034317, "cg_dw": 62.0744553, "cg_id_a": -0.740952134, "cg_id_raw_a": -13.2978287, "cg_iq_a": 302.087677, "cg_iq_raw_a": 298.096375, "cg_iu_a": 276.94635, "cg_iv_a": -29.492157, "cg_iw_a": -247.454193, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 8588012, "cg_sample_valid": 1, "cg_theta_rad": 1.7271148, "cg_vd_req_v": 8.03851891, "cg_vd_v": 8.03851891, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8512669, "cg_vq_v": -26.8512669, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 64.6642075, "control_outputs_enabled": 1, "dclink_i_a": 75.4443588, "dclink_p_w": 11350.0947, "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": 62.5105896, "temp_inv2_c": 60.6754761, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1314.080322, "values": {"Elec_RPM": -12993.2373, "EncoderCos": 29115, "EncoderSin": 52530, "GapTicks": 37924, "Mech_RPM": -2598.64746, "cg_du": 34.4767265, "cg_dv": 57.9749908, "cg_dw": 65.5232773, "cg_id_a": -1.60784256, "cg_id_raw_a": -15.180397, "cg_iq_a": 302.346191, "cg_iq_raw_a": 300.250824, "cg_iu_a": 228.597107, "cg_iv_a": 67.7137451, "cg_iw_a": -296.310852, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 8593112, "cg_sample_valid": 1, "cg_theta_rad": 1.78121758, "cg_vd_req_v": 8.06031704, "cg_vd_v": 8.06031704, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8623009, "cg_vq_v": -26.8623009, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 75.788681, "dclink_p_w": 11368.5576, "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": 62.5567627, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127498284, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1314.921631, "values": {"Elec_RPM": -13010.6338, "EncoderCos": 17263, "EncoderSin": 19852, "GapTicks": 38132, "Mech_RPM": -2602.12671, "cg_du": 58.5899353, "cg_dv": 65.3341217, "cg_dw": 34.6658783, "cg_id_a": 2.23789358, "cg_id_raw_a": 2.10738921, "cg_iq_a": 293.734894, "cg_iq_raw_a": 296.762695, "cg_iu_a": 137.987518, "cg_iv_a": -296.536743, "cg_iw_a": 158.54924, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 8597363, "cg_sample_valid": 1, "cg_theta_rad": 3.93634796, "cg_vd_req_v": 7.86715221, "cg_vd_v": 7.86715221, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7831211, "cg_vq_v": -26.7831211, "cg_vu_v": 10.1175289, "cg_vv_v": 77.4210892, "cg_vw_v": 51.0275345, "control_outputs_enabled": 1, "dclink_i_a": 76.1239319, "dclink_p_w": 11418.8467, "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": 62.4645081, "temp_inv2_c": 60.6426086, "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": 0.124174863, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1315.939087, "values": {"Elec_RPM": -12987.3867, "EncoderCos": 51509, "EncoderSin": 39224, "GapTicks": 37227, "Mech_RPM": -2597.47729, "cg_du": 33.8430634, "cg_dv": 66.1569366, "cg_dw": 48.9317436, "cg_id_a": 5.84877872, "cg_id_raw_a": 15.9480848, "cg_iq_a": 304.745422, "cg_iq_raw_a": 304.970184, "cg_iu_a": 310.725616, "cg_iv_a": -176.750885, "cg_iw_a": -63.7342072, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 8602413, "cg_sample_valid": 1, "cg_theta_rad": 0.361561477, "cg_vd_req_v": 7.86414099, "cg_vd_v": 7.86414099, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9643841, "cg_vq_v": -26.9643841, "cg_vu_v": 73.0221634, "cg_vv_v": 95.8965836, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 75.5331573, "dclink_p_w": 11330.2285, "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": 62.5105896, "temp_inv2_c": 60.6426086, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124829479, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1316.976563, "values": {"Elec_RPM": -12988.1797, "EncoderCos": 37739, "EncoderSin": 52168, "GapTicks": 38384, "Mech_RPM": -2597.63599, "cg_du": 60.0395393, "cg_dv": 65.1050339, "cg_dw": 34.8949623, "cg_id_a": 5.00830364, "cg_id_raw_a": -7.95043993, "cg_iq_a": 303.765564, "cg_iq_raw_a": 301.330658, "cg_iu_a": -45.3700333, "cg_iv_a": -236.91568, "cg_iw_a": 282.285706, "cg_sample_age_us": 23.8090916, "cg_sample_seq": 8607612, "cg_sample_valid": 1, "cg_theta_rad": 1.30701995, "cg_vd_req_v": 7.92166471, "cg_vd_v": 7.92166471, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8804989, "cg_vq_v": -26.8804989, "cg_vu_v": 75.2216263, "cg_vv_v": 113.052383, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 76.0913162, "dclink_p_w": 11413.9541, "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": 4999, "hz_vsense": 2583, "pwm_moe": 1, "temp_inv1_c": 62.4645081, "temp_inv2_c": 60.6645203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122714572, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1317.956177, "values": {"Elec_RPM": -12970.3408, "EncoderCos": 22866, "EncoderSin": 15231, "GapTicks": 39227, "Mech_RPM": -2594.06812, "cg_du": 35.6613922, "cg_dv": 64.3386078, "cg_dw": 62.6892815, "cg_id_a": -4.58322477, "cg_id_raw_a": -15.6430712, "cg_iq_a": 294.126068, "cg_iq_raw_a": 290.726349, "cg_iu_a": 265.275879, "cg_iv_a": -18.4740753, "cg_iw_a": -246.801804, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 8612312, "cg_sample_valid": 1, "cg_theta_rad": 4.24789143, "cg_vd_req_v": 7.99522352, "cg_vd_v": 7.99522352, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8045673, "cg_vq_v": -26.8045673, "cg_vu_v": 32.5520515, "cg_vv_v": 38.2706528, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 76.5371094, "dclink_p_w": 11480.8242, "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": 62.5105896, "temp_inv2_c": 60.5988464, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127901122, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1318.967896, "values": {"Elec_RPM": -12964.1846, "EncoderCos": 17651, "EncoderSin": 45954, "GapTicks": 37201, "Mech_RPM": -2592.83691, "cg_du": 66.1804657, "cg_dv": 48.1281128, "cg_dw": 33.8195343, "cg_id_a": -4.28966045, "cg_id_raw_a": -7.66999435, "cg_iq_a": 303.359711, "cg_iq_raw_a": 304.574524, "cg_iu_a": -233.149338, "cg_iv_a": -52.579483, "cg_iw_a": 285.728821, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 8617562, "cg_sample_valid": 1, "cg_theta_rad": 2.41557407, "cg_vd_req_v": 8.07096958, "cg_vd_v": 8.07096958, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.903923, "cg_vq_v": -26.903923, "cg_vu_v": 136.366699, "cg_vv_v": 140.765625, "cg_vw_v": 73.462059, "control_outputs_enabled": 1, "dclink_i_a": 76.0387573, "dclink_p_w": 11472.9668, "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": 62.5105896, "temp_inv2_c": 60.6316833, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123218127, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1320.005493, "values": {"Elec_RPM": -12969.2236, "EncoderCos": 52052, "EncoderSin": 28297, "GapTicks": 38146, "Mech_RPM": -2593.84473, "cg_du": 65.3214874, "cg_dv": 34.6785088, "cg_dw": 40.5554848, "cg_id_a": -0.775435686, "cg_id_raw_a": 5.29424, "cg_iq_a": 310.658905, "cg_iq_raw_a": 314.880829, "cg_iu_a": -301.142761, "cg_iv_a": 66.8801422, "cg_iw_a": 234.262619, "cg_sample_age_us": 24.0563641, "cg_sample_seq": 8622712, "cg_sample_valid": 1, "cg_theta_rad": 6.09300661, "cg_vd_req_v": 7.92178202, "cg_vd_v": 7.92178202, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1179771, "cg_vq_v": -27.1179771, "cg_vu_v": 74.3418427, "cg_vv_v": 67.743454, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.8810959, "dclink_p_w": 11415.7988, "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": 62.5105896, "temp_inv2_c": 60.5333252, "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": 0.133591205, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1321.022827, "values": {"Elec_RPM": -12980.3662, "EncoderCos": 16730, "EncoderSin": 44837, "GapTicks": 37967, "Mech_RPM": -2596.07324, "cg_du": 65.4841919, "cg_dv": 58.2820511, "cg_dw": 34.5158081, "cg_id_a": -9.39638042, "cg_id_raw_a": -4.05686808, "cg_iq_a": 296.84079, "cg_iq_raw_a": 300.619751, "cg_iu_a": -72.7703705, "cg_iv_a": -212.052383, "cg_iw_a": 284.822754, "cg_sample_age_us": 24.8054543, "cg_sample_seq": 8627763, "cg_sample_valid": 1, "cg_theta_rad": 2.53179097, "cg_vd_req_v": 8.17174625, "cg_vd_v": 8.17174625, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7678318, "cg_vq_v": -26.7678318, "cg_vu_v": 145.604446, "cg_vv_v": 151.323044, "cg_vw_v": 107.773682, "control_outputs_enabled": 1, "dclink_i_a": 76.1221237, "dclink_p_w": 11418.5752, "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": 62.5105896, "temp_inv2_c": 60.6152649, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12628977, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1322.040283, "values": {"Elec_RPM": -12978.5254, "EncoderCos": 16027, "EncoderSin": 43776, "GapTicks": 38963, "Mech_RPM": -2595.70508, "cg_du": 61.781414, "cg_dv": 64.5789642, "cg_dw": 35.4210396, "cg_id_a": 0.363971293, "cg_id_raw_a": 3.12369633, "cg_iq_a": 297.800171, "cg_iq_raw_a": 302.354401, "cg_iu_a": 23.4207611, "cg_iv_a": -263.772339, "cg_iw_a": 240.351563, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 8632863, "cg_sample_valid": 1, "cg_theta_rad": 2.60063362, "cg_vd_req_v": 7.9717989, "cg_vd_v": 7.9717989, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7859306, "cg_vq_v": -26.7859306, "cg_vu_v": 74.3418427, "cg_vv_v": 113.492287, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 76.5697327, "dclink_p_w": 11553.082, "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": 62.5105896, "temp_inv2_c": 60.5988464, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130167097, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1323.057617, "values": {"Elec_RPM": -12992.416, "EncoderCos": 52450, "EncoderSin": 30979, "GapTicks": 37064, "Mech_RPM": -2598.48315, "cg_du": 66.3049164, "cg_dv": 49.0450821, "cg_dw": 33.6950836, "cg_id_a": 9.80051804, "cg_id_raw_a": 16.8390408, "cg_iq_a": 314.3591, "cg_iq_raw_a": 313.745026, "cg_iu_a": -182.95163, "cg_iv_a": -132.823364, "cg_iw_a": 315.774994, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 8638013, "cg_sample_valid": 1, "cg_theta_rad": 6.2303896, "cg_vd_req_v": 7.76515198, "cg_vd_v": 7.76515198, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1698589, "cg_vq_v": -27.1698589, "cg_vu_v": 151.762939, "cg_vv_v": 151.323044, "cg_vw_v": 92.8173294, "control_outputs_enabled": 1, "dclink_i_a": 77.0463409, "dclink_p_w": 11624.9941, "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": 62.5105896, "temp_inv2_c": 60.5960999, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124023803, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1324.075195, "values": {"Elec_RPM": -13000.9395, "EncoderCos": 14838, "EncoderSin": 41578, "GapTicks": 37616, "Mech_RPM": -2600.18799, "cg_du": 44.6378517, "cg_dv": 65.802948, "cg_dw": 34.1970558, "cg_id_a": -3.68108797, "cg_id_raw_a": -3.46718264, "cg_iq_a": 294.326111, "cg_iq_raw_a": 289.909424, "cg_iu_a": 196.883759, "cg_iv_a": -283.271515, "cg_iw_a": 86.387764, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 8643063, "cg_sample_valid": 1, "cg_theta_rad": 2.71239591, "cg_vd_req_v": 8.06451702, "cg_vd_v": 8.06451702, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7011318, "cg_vq_v": -26.7011318, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 75.5712128, "dclink_p_w": 11369.1787, "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": 62.5567627, "temp_inv2_c": 60.6398621, "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": 0.130116731, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1324.916382, "values": {"Elec_RPM": -12978.7715, "EncoderCos": 21327, "EncoderSin": 49204, "GapTicks": 37876, "Mech_RPM": -2595.75439, "cg_du": 65.566925, "cg_dv": 34.4330711, "cg_dw": 56.6749725, "cg_id_a": -9.78585434, "cg_id_raw_a": -15.7211094, "cg_iq_a": 290.289795, "cg_iq_raw_a": 286.192566, "cg_iu_a": -290.849518, "cg_iv_a": 203.011993, "cg_iw_a": 87.8375168, "cg_sample_age_us": 24.0018177, "cg_sample_seq": 8647362, "cg_sample_valid": 1, "cg_theta_rad": 2.21048689, "cg_vd_req_v": 8.21088886, "cg_vd_v": 8.21088886, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6212502, "cg_vq_v": -26.6212502, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.9300308, "dclink_p_w": 11423.1611, "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": 62.5567627, "temp_inv2_c": 60.7001038, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122059971, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1325.953979, "values": {"Elec_RPM": -12963.8535, "EncoderCos": 24964, "EncoderSin": 51200, "GapTicks": 37758, "Mech_RPM": -2592.77075, "cg_du": 43.2592049, "cg_dv": 34.3261719, "cg_dw": 65.6738281, "cg_id_a": -0.395003349, "cg_id_raw_a": -7.75135231, "cg_iq_a": 295.878235, "cg_iq_raw_a": 293.94278, "cg_iu_a": -300.417908, "cg_iv_a": 128.893372, "cg_iw_a": 171.524536, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 8652467, "cg_sample_valid": 1, "cg_theta_rad": 2.26836586, "cg_vd_req_v": 8.02487755, "cg_vd_v": 8.02487755, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.711401, "cg_vq_v": -26.711401, "cg_vu_v": 76.1014175, "cg_vv_v": 43.549366, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 75.8792877, "dclink_p_w": 11348.7705, "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": 62.5567627, "temp_inv2_c": 60.7961731, "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": 0.127649337, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1326.971313, "values": {"Elec_RPM": -12983.1748, "EncoderCos": 34229, "EncoderSin": 12828, "GapTicks": 38005, "Mech_RPM": -2596.63501, "cg_du": 65.4498215, "cg_dv": 34.5501785, "cg_dw": 42.0395203, "cg_id_a": -2.15736675, "cg_id_raw_a": 1.09767497, "cg_iq_a": 300.291809, "cg_iq_raw_a": 306.469696, "cg_iu_a": -58.5990372, "cg_iv_a": -224.157806, "cg_iw_a": 282.756836, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 8657516, "cg_sample_valid": 1, "cg_theta_rad": 5.04749537, "cg_vd_req_v": 7.92203569, "cg_vd_v": 7.92203569, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9426575, "cg_vq_v": -26.9426575, "cg_vu_v": 3.51914048, "cg_vv_v": 47.5083961, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0061417, "dclink_p_w": 11401.1777, "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": 62.5567627, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123671323, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1327.95105, "values": {"Elec_RPM": -12981.9639, "EncoderCos": 12971, "EncoderSin": 29777, "GapTicks": 37492, "Mech_RPM": -2596.39282, "cg_du": 52.6545677, "cg_dv": 34.0841026, "cg_dw": 65.9159012, "cg_id_a": -4.29781866, "cg_id_raw_a": 2.86311531, "cg_iq_a": 287.804382, "cg_iq_raw_a": 291.29007, "cg_iu_a": -166.895615, "cg_iv_a": 290.794556, "cg_iw_a": -123.898956, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 8662413, "cg_sample_valid": 1, "cg_theta_rad": 3.3307991, "cg_vd_req_v": 8.0251379, "cg_vd_v": 8.0251379, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5919361, "cg_vq_v": -26.5919361, "cg_vu_v": 151.323044, "cg_vv_v": 86.2189407, "cg_vw_v": 135.926804, "control_outputs_enabled": 1, "dclink_i_a": 75.8267365, "dclink_p_w": 11374.2666, "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": 62.5105896, "temp_inv2_c": 60.859436, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122009605, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1328.962646, "values": {"Elec_RPM": -12980.6621, "EncoderCos": 47842, "EncoderSin": 45638, "GapTicks": 37936, "Mech_RPM": -2596.13232, "cg_du": 42.1938095, "cg_dv": 34.4878845, "cg_dw": 65.5121155, "cg_id_a": 14.6440897, "cg_id_raw_a": 13.4351826, "cg_iq_a": 307.747681, "cg_iq_raw_a": 314.690674, "cg_iu_a": -65.7390671, "cg_iv_a": 287.532623, "cg_iw_a": -221.793549, "cg_sample_age_us": 23.4127274, "cg_sample_seq": 8667562, "cg_sample_valid": 1, "cg_theta_rad": 0.750161827, "cg_vd_req_v": 7.71415138, "cg_vd_v": 7.71415138, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9803467, "cg_vq_v": -26.9803467, "cg_vu_v": 151.323044, "cg_vv_v": 106.014107, "cg_vw_v": 151.323044, "control_outputs_enabled": 1, "dclink_i_a": 75.4099274, "dclink_p_w": 11311.7432, "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": 62.5567627, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123570606, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1330.000244, "values": {"Elec_RPM": -12980.8145, "EncoderCos": 49624, "EncoderSin": 43140, "GapTicks": 37158, "Mech_RPM": -2596.16284, "cg_du": 33.7804794, "cg_dv": 50.0220375, "cg_dw": 66.2195206, "cg_id_a": 7.97378635, "cg_id_raw_a": 11.6058702, "cg_iq_a": 307.247162, "cg_iq_raw_a": 311.164551, "cg_iu_a": -163.778656, "cg_iv_a": 299.493103, "cg_iw_a": -135.714447, "cg_sample_age_us": 24.8381824, "cg_sample_seq": 8672666, "cg_sample_valid": 1, "cg_theta_rad": 0.809662461, "cg_vd_req_v": 7.84172201, "cg_vd_v": 7.84172201, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9770622, "cg_vq_v": -26.9770622, "cg_vu_v": 70.3828125, "cg_vv_v": 0, "cg_vw_v": 36.5110817, "control_outputs_enabled": 1, "dclink_i_a": 76.1656113, "dclink_p_w": 11425.0986, "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": 62.5567627, "temp_inv2_c": 60.672699, "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": 0.129965663, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1331.017578, "values": {"Elec_RPM": -12987.0908, "EncoderCos": 25453, "EncoderSin": 14120, "GapTicks": 37400, "Mech_RPM": -2597.41821, "cg_du": 34.0007362, "cg_dv": 46.2915649, "cg_dw": 65.9992676, "cg_id_a": -5.98612118, "cg_id_raw_a": -8.54826546, "cg_iq_a": 297.059418, "cg_iq_raw_a": 287.289124, "cg_iu_a": 102.758514, "cg_iv_a": 185.977386, "cg_iw_a": -288.735901, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 8677813, "cg_sample_valid": 1, "cg_theta_rad": 4.37779379, "cg_vd_req_v": 8.03036308, "cg_vd_v": 8.03036308, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8667431, "cg_vq_v": -26.8667431, "cg_vu_v": 126.249161, "cg_vv_v": 98.0960464, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 76.2127304, "dclink_p_w": 11465.6914, "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": 62.5567627, "temp_inv2_c": 60.7522278, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127498284, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1332.035034, "values": {"Elec_RPM": -12976.959, "EncoderCos": 14816, "EncoderSin": 23996, "GapTicks": 38164, "Mech_RPM": -2595.39185, "cg_du": 65.3051453, "cg_dv": 34.6948547, "cg_dw": 41.2458458, "cg_id_a": -11.428524, "cg_id_raw_a": -11.8498468, "cg_iq_a": 295.025146, "cg_iq_raw_a": 300.958252, "cg_iu_a": -274.648529, "cg_iv_a": 53.6511688, "cg_iw_a": 220.99736, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 8682813, "cg_sample_valid": 1, "cg_theta_rad": 3.58826017, "cg_vd_req_v": 8.19284725, "cg_vd_v": 8.19284725, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7743893, "cg_vq_v": -26.7743893, "cg_vu_v": 40.0302238, "cg_vv_v": 37.830761, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0532608, "dclink_p_w": 11441.7002, "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": 62.5567627, "temp_inv2_c": 60.7056274, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124476999, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1333.05249, "values": {"Elec_RPM": -12979.2813, "EncoderCos": 45025, "EncoderSin": 48398, "GapTicks": 38269, "Mech_RPM": -2595.8562, "cg_du": 65.2096939, "cg_dv": 34.7903061, "cg_dw": 59.2260437, "cg_id_a": 8.39444923, "cg_id_raw_a": 13.2232361, "cg_iq_a": 303.063232, "cg_iq_raw_a": 306.809875, "cg_iu_a": -280.302551, "cg_iv_a": 228.563889, "cg_iw_a": 51.7386627, "cg_sample_age_us": 23.550909, "cg_sample_seq": 8687963, "cg_sample_valid": 1, "cg_theta_rad": 0.940897107, "cg_vd_req_v": 7.83444643, "cg_vd_v": 7.83444643, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8767052, "cg_vq_v": -26.8767052, "cg_vu_v": 113.932175, "cg_vv_v": 73.462059, "cg_vw_v": 67.743454, "control_outputs_enabled": 1, "dclink_i_a": 75.4661102, "dclink_p_w": 11353.3672, "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": 62.5567627, "temp_inv2_c": 60.7961731, "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": 0.127095446, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1334.070068, "values": {"Elec_RPM": -12999.4775, "EncoderCos": 43095, "EncoderSin": 49726, "GapTicks": 37702, "Mech_RPM": -2599.89551, "cg_du": 65.7252045, "cg_dv": 34.2747955, "cg_dw": 42.7853012, "cg_id_a": -4.6280818, "cg_id_raw_a": 2.07522082, "cg_iq_a": 304.362488, "cg_iq_raw_a": 308.731354, "cg_iu_a": -300.055481, "cg_iv_a": 85.1833191, "cg_iw_a": 214.872162, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 8693062, "cg_sample_valid": 1, "cg_theta_rad": 1.06096709, "cg_vd_req_v": 8.12230778, "cg_vd_v": 8.12230778, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8944588, "cg_vq_v": -26.8944588, "cg_vu_v": 76.9812012, "cg_vv_v": 74.3418427, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.5929642, "dclink_p_w": 11339.1992, "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": 62.6029968, "temp_inv2_c": 60.8401794, "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": 0.13056992, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1335.08728, "values": {"Elec_RPM": -12998.0166, "EncoderCos": 42021, "EncoderSin": 50348, "GapTicks": 39070, "Mech_RPM": -2599.60327, "cg_du": 64.4810257, "cg_dv": 37.1338005, "cg_dw": 35.5189705, "cg_id_a": -3.62949204, "cg_id_raw_a": 1.50329399, "cg_iq_a": 306.129578, "cg_iq_raw_a": 313.185089, "cg_iu_a": -260.22348, "cg_iv_a": -9.26812744, "cg_iw_a": 269.491608, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 8698162, "cg_sample_valid": 1, "cg_theta_rad": 1.12676334, "cg_vd_req_v": 8.11519337, "cg_vd_v": 8.11519337, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9103146, "cg_vq_v": -26.9103146, "cg_vu_v": 76.9812012, "cg_vv_v": 76.1014175, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.2631454, "dclink_p_w": 11322.832, "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": 62.6029968, "temp_inv2_c": 60.8374329, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1335.928589, "values": {"Elec_RPM": -12963.5254, "EncoderCos": 12822, "EncoderSin": 32136, "GapTicks": 39511, "Mech_RPM": -2592.70508, "cg_du": 36.6465988, "cg_dv": 35.9198074, "cg_dw": 64.0801926, "cg_id_a": 0.581949949, "cg_id_raw_a": -9.10430908, "cg_iq_a": 294.208618, "cg_iq_raw_a": 289.708862, "cg_iu_a": 8.05337524, "cg_iv_a": 248.715485, "cg_iw_a": -256.76886, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 8702413, "cg_sample_valid": 1, "cg_theta_rad": 3.19880748, "cg_vd_req_v": 7.95506954, "cg_vd_v": 7.95506954, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7275429, "cg_vq_v": -26.7275429, "cg_vu_v": 117.011421, "cg_vv_v": 93.2572174, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 74.5491409, "dclink_p_w": 11248.209, "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": 62.6492615, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1336.966064, "values": {"Elec_RPM": -12973.2051, "EncoderCos": 12843, "EncoderSin": 34193, "GapTicks": 37275, "Mech_RPM": -2594.64111, "cg_du": 33.8868408, "cg_dv": 49.0974541, "cg_dw": 66.1131592, "cg_id_a": -5.65810013, "cg_id_raw_a": -4.30810642, "cg_iq_a": 295.29892, "cg_iq_raw_a": 300.864197, "cg_iu_a": -174.398087, "cg_iv_a": 281.371155, "cg_iw_a": -106.973083, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 8707516, "cg_sample_valid": 1, "cg_theta_rad": 3.31691813, "cg_vd_req_v": 8.06868076, "cg_vd_v": 8.06868076, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7328949, "cg_vq_v": -26.7328949, "cg_vu_v": 76.5413055, "cg_vv_v": 30.3525867, "cg_vw_v": 46.1887207, "control_outputs_enabled": 1, "dclink_i_a": 75.9390869, "dclink_p_w": 11424.5234, "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": 62.5567627, "temp_inv2_c": 60.6645203, "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": 0.125836566, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1337.941284, "values": {"Elec_RPM": -12952.6572, "EncoderCos": 40851, "EncoderSin": 14611, "GapTicks": 38247, "Mech_RPM": -2590.53149, "cg_du": 52.0377617, "cg_dv": 65.2292862, "cg_dw": 34.7707138, "cg_id_a": 6.28133678, "cg_id_raw_a": 7.03734255, "cg_iq_a": 300.570221, "cg_iq_raw_a": 299.116394, "cg_iu_a": 133.348297, "cg_iv_a": -294.543335, "cg_iw_a": 161.195038, "cg_sample_age_us": 23.9436359, "cg_sample_seq": 8712463, "cg_sample_valid": 1, "cg_theta_rad": 5.18771267, "cg_vd_req_v": 7.74416208, "cg_vd_v": 7.74416208, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9389305, "cg_vq_v": -26.9389305, "cg_vu_v": 107.773682, "cg_vv_v": 152.202835, "cg_vw_v": 142.965088, "control_outputs_enabled": 1, "dclink_i_a": 75.7361221, "dclink_p_w": 11393.9883, "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": 62.6956177, "temp_inv2_c": 60.7275391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129159987, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1338.957397, "values": {"Elec_RPM": -12954.4912, "EncoderCos": 31400, "EncoderSin": 52628, "GapTicks": 37521, "Mech_RPM": -2590.89819, "cg_du": 34.1105194, "cg_dv": 65.8894806, "cg_dw": 55.2781944, "cg_id_a": -2.95306063, "cg_id_raw_a": 7.04671001, "cg_iq_a": 301.090546, "cg_iq_raw_a": 304.091003, "cg_iu_a": 299.852478, "cg_iv_a": -164.174286, "cg_iw_a": -133.974731, "cg_sample_age_us": 23.7872734, "cg_sample_seq": 8717513, "cg_sample_valid": 1, "cg_theta_rad": 1.6598376, "cg_vd_req_v": 8.06205368, "cg_vd_v": 8.06205368, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8388634, "cg_vq_v": -26.8388634, "cg_vu_v": 73.9019547, "cg_vv_v": 98.0960464, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.6038361, "dclink_p_w": 11340.8301, "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": 62.5567627, "temp_inv2_c": 60.7934265, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124376282, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1339.974976, "values": {"Elec_RPM": -12958.3262, "EncoderCos": 29080, "EncoderSin": 52299, "GapTicks": 37813, "Mech_RPM": -2591.66528, "cg_du": 34.3755264, "cg_dv": 57.4158478, "cg_dw": 65.6244736, "cg_id_a": -4.77286148, "cg_id_raw_a": -16.7450638, "cg_iq_a": 302.9487, "cg_iq_raw_a": 299.114471, "cg_iu_a": 228.524612, "cg_iv_a": 69.5984344, "cg_iw_a": -298.123047, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 8722612, "cg_sample_valid": 1, "cg_theta_rad": 1.79385793, "cg_vd_req_v": 8.09174633, "cg_vd_v": 8.09174633, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8686886, "cg_vq_v": -26.8686886, "cg_vu_v": 114.37207, "cg_vv_v": 104.694435, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.9100952, "dclink_p_w": 11386.7705, "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": 62.6029968, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125081256, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1341.012451, "values": {"Elec_RPM": -12980.5059, "EncoderCos": 44094, "EncoderSin": 16548, "GapTicks": 37449, "Mech_RPM": -2596.10107, "cg_du": 34.0453377, "cg_dv": 65.9546661, "cg_dw": 45.4479408, "cg_id_a": 3.88666105, "cg_id_raw_a": 4.05861235, "cg_iq_a": 302.304138, "cg_iq_raw_a": 299.928406, "cg_iu_a": 301.33847, "cg_iv_a": -206.543304, "cg_iw_a": -94.7951584, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 8727763, "cg_sample_valid": 1, "cg_theta_rad": 5.36975098, "cg_vd_req_v": 7.83757544, "cg_vd_v": 7.83757544, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9738789, "cg_vq_v": -26.9738789, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 74.8807678, "dclink_p_w": 11265.3066, "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": 62.5567627, "temp_inv2_c": 60.7247925, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125937283, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1342.029785, "values": {"Elec_RPM": -12986.7979, "EncoderCos": 45886, "EncoderSin": 17936, "GapTicks": 38748, "Mech_RPM": -2597.35962, "cg_du": 35.2260513, "cg_dv": 64.7739487, "cg_dw": 61.1094475, "cg_id_a": 3.69058585, "cg_id_raw_a": -10.1990099, "cg_iq_a": 301.48877, "cg_iq_raw_a": 297.339935, "cg_iu_a": 301.302216, "cg_iv_a": -122.095184, "cg_iw_a": -179.207031, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 8732862, "cg_sample_valid": 1, "cg_theta_rad": 5.44505167, "cg_vd_req_v": 7.85432529, "cg_vd_v": 7.85432529, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9393539, "cg_vq_v": -26.9393539, "cg_vu_v": 73.9019547, "cg_vv_v": 95.0167923, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 75.9409027, "dclink_p_w": 11391.3916, "enc_isr_hz": 4999, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5001, "hz_app_loop": 2608, "hz_tim_isr": 5001, "hz_vsense": 2608, "pwm_moe": 1, "temp_inv1_c": 62.6492615, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125534445, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1343.047241, "values": {"Elec_RPM": -13000.6309, "EncoderCos": 26502, "EncoderSin": 51660, "GapTicks": 38598, "Mech_RPM": -2600.12622, "cg_du": 35.0892181, "cg_dv": 39.1712418, "cg_dw": 64.9107819, "cg_id_a": 2.62366462, "cg_id_raw_a": -5.59329987, "cg_iq_a": 303.674316, "cg_iq_raw_a": 298.171661, "cg_iu_a": 49.6612968, "cg_iv_a": 231.245926, "cg_iw_a": -280.907227, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 8737913, "cg_sample_valid": 1, "cg_theta_rad": 1.92062664, "cg_vd_req_v": 7.97511196, "cg_vd_v": 7.97511196, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8456554, "cg_vq_v": -26.8456554, "cg_vu_v": 112.172607, "cg_vv_v": 73.0221634, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.8756638, "dclink_p_w": 11348.2285, "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": 62.5567627, "temp_inv2_c": 60.7275391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125232309, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1344.064697, "values": {"Elec_RPM": -12983.7354, "EncoderCos": 47613, "EncoderSin": 19751, "GapTicks": 37261, "Mech_RPM": -2596.74707, "cg_du": 33.8740616, "cg_dv": 50.1306343, "cg_dw": 66.1259384, "cg_id_a": 1.47451174, "cg_id_raw_a": 4.90673351, "cg_iq_a": 302.091034, "cg_iq_raw_a": 304.736633, "cg_iu_a": 164.228058, "cg_iv_a": 148.428802, "cg_iw_a": -312.65686, "cg_sample_age_us": 23.8963642, "cg_sample_seq": 8743062, "cg_sample_valid": 1, "cg_theta_rad": 5.607512, "cg_vd_req_v": 7.89100122, "cg_vd_v": 7.89100122, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9647999, "cg_vq_v": -26.9647999, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 61.1450691, "control_outputs_enabled": 1, "dclink_i_a": 75.2848892, "dclink_p_w": 11326.1035, "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": 62.6029968, "temp_inv2_c": 60.7742004, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125433743, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1345.082031, "values": {"Elec_RPM": -12981.583, "EncoderCos": 24235, "EncoderSin": 50800, "GapTicks": 37313, "Mech_RPM": -2596.31665, "cg_du": 48.9610023, "cg_dv": 33.9214745, "cg_dw": 66.0785217, "cg_id_a": 1.66962314, "cg_id_raw_a": 9.2805624, "cg_iq_a": 295.851074, "cg_iq_raw_a": 298.875, "cg_iu_a": -133.442551, "cg_iv_a": 298.297058, "cg_iw_a": -164.854492, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 8748113, "cg_sample_valid": 1, "cg_theta_rad": 2.03871894, "cg_vd_req_v": 7.99492407, "cg_vd_v": 7.99492407, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6974239, "cg_vq_v": -26.6974239, "cg_vu_v": 151.323044, "cg_vv_v": 100.295509, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 75.9843979, "dclink_p_w": 11397.916, "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": 62.5567627, "temp_inv2_c": 60.7714539, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1345.923462, "values": {"Elec_RPM": -12984.7422, "EncoderCos": 22116, "EncoderSin": 15854, "GapTicks": 37762, "Mech_RPM": -2596.94849, "cg_du": 34.3293762, "cg_dv": 65.6706238, "cg_dw": 56.4263496, "cg_id_a": -8.29042244, "cg_id_raw_a": 2.51457906, "cg_iq_a": 294.970764, "cg_iq_raw_a": 298.106537, "cg_iu_a": 290.320343, "cg_iv_a": -92.26651, "cg_iw_a": -198.053833, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 8752363, "cg_sample_valid": 1, "cg_theta_rad": 4.18494749, "cg_vd_req_v": 8.07006931, "cg_vd_v": 8.07006931, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7858562, "cg_vq_v": -26.7858562, "cg_vu_v": 73.9019547, "cg_vv_v": 96.3364716, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 75.3591843, "dclink_p_w": 11337.2813, "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": 62.6029968, "temp_inv2_c": 60.8511963, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1346.940796, "values": {"Elec_RPM": -12987.3398, "EncoderCos": 24097, "EncoderSin": 14741, "GapTicks": 37818, "Mech_RPM": -2597.46802, "cg_du": 34.3806343, "cg_dv": 56.6683311, "cg_dw": 65.6193695, "cg_id_a": -6.06113863, "cg_id_raw_a": -16.8272533, "cg_iq_a": 293.948273, "cg_iq_raw_a": 293.895172, "cg_iu_a": 210.402695, "cg_iv_a": 1.24258423, "cg_iw_a": -251.875931, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 8757462, "cg_sample_valid": 1, "cg_theta_rad": 4.29670382, "cg_vd_req_v": 8.03997135, "cg_vd_v": 8.03997135, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7640495, "cg_vq_v": -26.7640495, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": 75.5675888, "dclink_p_w": 11335.3936, "enc_isr_hz": 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": 62.6029968, "temp_inv2_c": 60.7056274, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126742959, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1347.936035, "values": {"Elec_RPM": -12976.3379, "EncoderCos": 42870, "EncoderSin": 15762, "GapTicks": 39636, "Mech_RPM": -2595.26758, "cg_du": 36.187149, "cg_dv": 63.9666519, "cg_dw": 36.0333481, "cg_id_a": 2.57307959, "cg_id_raw_a": -8.84374714, "cg_iq_a": 295.223602, "cg_iq_raw_a": 291.656097, "cg_iu_a": 251.938126, "cg_iv_a": -288.236908, "cg_iw_a": 84.9742508, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 8762313, "cg_sample_valid": 1, "cg_theta_rad": 5.29032803, "cg_vd_req_v": 7.86084032, "cg_vd_v": 7.86084032, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8103924, "cg_vq_v": -26.8103924, "cg_vu_v": 106.893898, "cg_vv_v": 152.202835, "cg_vw_v": 150.003372, "control_outputs_enabled": 1, "dclink_i_a": 75.1525955, "dclink_p_w": 11273.1426, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2597, "hz_tim_isr": 4997, "hz_vsense": 2597, "pwm_moe": 1, "temp_inv1_c": 62.5105896, "temp_inv2_c": 60.7083435, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124728769, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1348.952271, "values": {"Elec_RPM": -12974.9463, "EncoderCos": 52328, "EncoderSin": 30860, "GapTicks": 37205, "Mech_RPM": -2594.98926, "cg_du": 66.1769867, "cg_dv": 48.128849, "cg_dw": 33.8230171, "cg_id_a": 11.5439405, "cg_id_raw_a": 17.1395874, "cg_iq_a": 311.074005, "cg_iq_raw_a": 310.668304, "cg_iu_a": -188.569427, "cg_iv_a": -123.617432, "cg_iw_a": 312.186859, "cg_sample_age_us": 23.994545, "cg_sample_seq": 8767513, "cg_sample_valid": 1, "cg_theta_rad": 6.23880625, "cg_vd_req_v": 7.71360683, "cg_vd_v": 7.71360683, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.087883, "cg_vq_v": -27.087883, "cg_vu_v": 38.2706528, "cg_vv_v": 68.1833496, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.0967484, "dclink_p_w": 11414.7686, "enc_isr_hz": 5002, "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": 62.6029968, "temp_inv2_c": 60.6617737, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129210338, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1349.969727, "values": {"Elec_RPM": -12991.9238, "EncoderCos": 52424, "EncoderSin": 32092, "GapTicks": 37737, "Mech_RPM": -2598.38477, "cg_du": 65.6935272, "cg_dv": 56.927433, "cg_dw": 34.3064728, "cg_id_a": 4.88127041, "cg_id_raw_a": 11.9269457, "cg_iq_a": 307.49292, "cg_iq_raw_a": 310.312683, "cg_iu_a": -97.4886627, "cg_iv_a": -204.114975, "cg_iw_a": 301.603638, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 8772613, "cg_sample_valid": 1, "cg_theta_rad": 0.011312874, "cg_vd_req_v": 7.86126089, "cg_vd_v": 7.86126089, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0130997, "cg_vq_v": -27.0130997, "cg_vu_v": 149.123581, "cg_vv_v": 151.762939, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 75.665451, "dclink_p_w": 11383.3564, "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": 62.6029968, "temp_inv2_c": 60.7302856, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12805219, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1351.007324, "values": {"Elec_RPM": -12994.8916, "EncoderCos": 52077, "EncoderSin": 29065, "GapTicks": 39487, "Mech_RPM": -2598.97827, "cg_du": 64.1024933, "cg_dv": 35.9224854, "cg_dw": 35.8975029, "cg_id_a": 13.8454971, "cg_id_raw_a": 7.27981567, "cg_iq_a": 312.402313, "cg_iq_raw_a": 308.08725, "cg_iu_a": -3.68962669, "cg_iv_a": -261.380249, "cg_iw_a": 294.246155, "cg_sample_age_us": 24.0345459, "cg_sample_seq": 8777717, "cg_sample_valid": 1, "cg_theta_rad": 0.0601374991, "cg_vd_req_v": 7.72428608, "cg_vd_v": 7.72428608, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1143665, "cg_vq_v": -27.1143665, "cg_vu_v": 74.7817383, "cg_vv_v": 113.492287, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": 75.4443588, "dclink_p_w": 11350.0947, "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": 62.6029968, "temp_inv2_c": 60.7056274, "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": 0.129159987, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1352.024658, "values": {"Elec_RPM": -12977.5107, "EncoderCos": 52218, "EncoderSin": 35627, "GapTicks": 37333, "Mech_RPM": -2595.5022, "cg_du": 47.5312805, "cg_dv": 66.0600891, "cg_dw": 33.9399109, "cg_id_a": 10.4681187, "cg_id_raw_a": 22.0711937, "cg_iq_a": 303.023315, "cg_iq_raw_a": 308.605103, "cg_iu_a": 163.974335, "cg_iv_a": -306.322601, "cg_iw_a": 142.348267, "cg_sample_age_us": 23.3836365, "cg_sample_seq": 8782812, "cg_sample_valid": 1, "cg_theta_rad": 0.189982489, "cg_vd_req_v": 7.75004578, "cg_vd_v": 7.75004578, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9151783, "cg_vq_v": -26.9151783, "cg_vu_v": 10.1175289, "cg_vv_v": 77.4210892, "cg_vw_v": 62.4647446, "control_outputs_enabled": 1, "dclink_i_a": 75.4606705, "dclink_p_w": 11319.3555, "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": 62.6492615, "temp_inv2_c": 60.8044434, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126742959, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1353.041992, "values": {"Elec_RPM": -12984.4219, "EncoderCos": 52168, "EncoderSin": 35775, "GapTicks": 37332, "Mech_RPM": -2596.88428, "cg_du": 46.3895531, "cg_dv": 66.0611954, "cg_dw": 33.9388046, "cg_id_a": 8.01093102, "cg_id_raw_a": 7.4876976, "cg_iq_a": 304.855072, "cg_iq_raw_a": 300.365967, "cg_iu_a": 183.727234, "cg_iv_a": -296.246826, "cg_iw_a": 112.519577, "cg_sample_age_us": 23.3799992, "cg_sample_seq": 8787913, "cg_sample_valid": 1, "cg_theta_rad": 0.188606203, "cg_vd_req_v": 7.8162775, "cg_vd_v": 7.8162775, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9418411, "cg_vq_v": -26.9418411, "cg_vu_v": 78.3008804, "cg_vv_v": 151.762939, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": 76.3504562, "dclink_p_w": 11452.8262, "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": 62.6492615, "temp_inv2_c": 60.7220459, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127649337, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1354.05957, "values": {"Elec_RPM": -12963.9258, "EncoderCos": 51969, "EncoderSin": 36984, "GapTicks": 38888, "Mech_RPM": -2592.78516, "cg_du": 38.2380676, "cg_dv": 64.6471863, "cg_dw": 35.3528137, "cg_id_a": 12.5479088, "cg_id_raw_a": 4.34814024, "cg_iq_a": 305.39447, "cg_iq_raw_a": 301.157501, "cg_iu_a": 239.723953, "cg_iv_a": -283.126526, "cg_iw_a": 43.4025726, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 8793013, "cg_sample_valid": 1, "cg_theta_rad": 0.261409193, "cg_vd_req_v": 7.72376823, "cg_vd_v": 7.72376823, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.961731, "cg_vq_v": -26.961731, "cg_vu_v": 101.615181, "cg_vv_v": 152.202835, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 75.3591843, "dclink_p_w": 11337.2813, "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": 62.6029968, "temp_inv2_c": 60.8511963, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123822384, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1355.076904, "values": {"Elec_RPM": -12988.3984, "EncoderCos": 51664, "EncoderSin": 38191, "GapTicks": 37956, "Mech_RPM": -2597.67969, "cg_du": 34.5058289, "cg_dv": 65.4941711, "cg_dw": 41.8455582, "cg_id_a": 4.95452976, "cg_id_raw_a": -2.82858109, "cg_iq_a": 308.109375, "cg_iq_raw_a": 303.841003, "cg_iu_a": 295.793152, "cg_iv_a": -238.474121, "cg_iw_a": -57.3190308, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 8798113, "cg_sample_valid": 1, "cg_theta_rad": 0.314479142, "cg_vd_req_v": 7.90943813, "cg_vd_v": 7.90943813, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9962959, "cg_vq_v": -26.9962959, "cg_vu_v": 108.653458, "cg_vv_v": 151.762939, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 76.3250885, "dclink_p_w": 11449.0205, "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": 62.6492615, "temp_inv2_c": 60.7851868, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124074154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1355.918213, "values": {"Elec_RPM": -12989.7793, "EncoderCos": 51846, "EncoderSin": 28180, "GapTicks": 37918, "Mech_RPM": -2597.95581, "cg_du": 65.5289764, "cg_dv": 34.4710197, "cg_dw": 41.5758972, "cg_id_a": -0.426354647, "cg_id_raw_a": 5.35971546, "cg_iq_a": 312.276978, "cg_iq_raw_a": 317.091003, "cg_iu_a": -305.238342, "cg_iv_a": 78.4057159, "cg_iw_a": 226.832626, "cg_sample_age_us": 24.0527267, "cg_sample_seq": 8802412, "cg_sample_valid": 1, "cg_theta_rad": 6.09942293, "cg_vd_req_v": 7.99342346, "cg_vd_v": 7.99342346, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.1149445, "cg_vq_v": -27.1149445, "cg_vu_v": 152.202835, "cg_vv_v": 149.563477, "cg_vw_v": 84.8992691, "control_outputs_enabled": 1, "dclink_i_a": 75.8466644, "dclink_p_w": 11410.6191, "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": 62.6956177, "temp_inv2_c": 60.8346558, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13233234, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1356.935547, "values": {"Elec_RPM": -13006.4648, "EncoderCos": 41760, "EncoderSin": 15165, "GapTicks": 37687, "Mech_RPM": -2601.29297, "cg_du": 44.4688454, "cg_dv": 65.7383118, "cg_dw": 34.2616844, "cg_id_a": 1.39255834, "cg_id_raw_a": -0.19677712, "cg_iq_a": 297.07196, "cg_iq_raw_a": 290.945953, "cg_iu_a": 197.173706, "cg_iv_a": -285.844818, "cg_iw_a": 88.6711197, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 8807413, "cg_sample_valid": 1, "cg_theta_rad": 5.24109077, "cg_vd_req_v": 7.91432476, "cg_vd_v": 7.91432476, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8361301, "cg_vq_v": -26.8361301, "cg_vu_v": 74.3418427, "cg_vv_v": 116.571533, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": 75.5295334, "dclink_p_w": 11362.9082, "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": 62.6492615, "temp_inv2_c": 60.9035339, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124074154, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1357.92627, "values": {"Elec_RPM": -13000.4932, "EncoderCos": 14769, "EncoderSin": 24316, "GapTicks": 39517, "Mech_RPM": -2600.09863, "cg_du": 64.074852, "cg_dv": 35.9251518, "cg_dw": 36.3619003, "cg_id_a": -13.8230314, "cg_id_raw_a": -17.573143, "cg_iq_a": 292.707458, "cg_iq_raw_a": 288.071594, "cg_iu_a": -256.200439, "cg_iv_a": 1.02514648, "cg_iw_a": 255.175293, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 8812312, "cg_sample_valid": 1, "cg_theta_rad": 3.626966, "cg_vd_req_v": 8.27105236, "cg_vd_v": 8.27105236, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6819553, "cg_vq_v": -26.6819553, "cg_vu_v": 75.2216263, "cg_vv_v": 75.6615219, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.3936157, "dclink_p_w": 11342.4609, "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": 62.6492615, "temp_inv2_c": 60.6645203, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127951473, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1358.947144, "values": {"Elec_RPM": -12970.0869, "EncoderCos": 28607, "EncoderSin": 13307, "GapTicks": 37345, "Mech_RPM": -2594.01733, "cg_du": 47.3217773, "cg_dv": 33.9502068, "cg_dw": 66.0497894, "cg_id_a": 2.74188757, "cg_id_raw_a": 7.92363501, "cg_iq_a": 295.512573, "cg_iq_raw_a": 298.800842, "cg_iu_a": -37.2514153, "cg_iv_a": 273.433777, "cg_iw_a": -236.182358, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 8817512, "cg_sample_valid": 1, "cg_theta_rad": 4.50397491, "cg_vd_req_v": 7.82917786, "cg_vd_v": 7.82917786, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8085709, "cg_vq_v": -26.8085709, "cg_vu_v": 40.9100075, "cg_vv_v": 0, "cg_vw_v": 25.0738773, "control_outputs_enabled": 1, "dclink_i_a": 75.3899918, "dclink_p_w": 11341.916, "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": 62.6492615, "temp_inv2_c": 60.7714539, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130368501, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1359.9646, "values": {"Elec_RPM": -12969.3184, "EncoderCos": 44216, "EncoderSin": 48831, "GapTicks": 37329, "Mech_RPM": -2593.86377, "cg_du": 66.0642548, "cg_dv": 33.9357452, "cg_dw": 52.9505692, "cg_id_a": 4.50377655, "cg_id_raw_a": 10.0018511, "cg_iq_a": 306.40802, "cg_iq_raw_a": 306.125, "cg_iu_a": -299.294312, "cg_iv_a": 177.460083, "cg_iw_a": 121.834229, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 8822563, "cg_sample_valid": 1, "cg_theta_rad": 0.986105084, "cg_vd_req_v": 7.93559647, "cg_vd_v": 7.93559647, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9174099, "cg_vq_v": -26.9174099, "cg_vu_v": 141.205521, "cg_vv_v": 103.814644, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 75.6382675, "dclink_p_w": 11379.2666, "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": 62.6956177, "temp_inv2_c": 60.9255676, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126340121, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1361.002075, "values": {"Elec_RPM": -12967.3008, "EncoderCos": 25848, "EncoderSin": 51298, "GapTicks": 39105, "Mech_RPM": -2593.46021, "cg_du": 37.6745987, "cg_dv": 35.5505905, "cg_dw": 64.4494095, "cg_id_a": -3.59313846, "cg_id_raw_a": -0.63909322, "cg_iq_a": 296.882477, "cg_iq_raw_a": 306.054657, "cg_iu_a": -17.9334526, "cg_iv_a": 262.778076, "cg_iw_a": -244.84462, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 8827762, "cg_sample_valid": 1, "cg_theta_rad": 1.95431733, "cg_vd_req_v": 8.09526253, "cg_vd_v": 8.09526253, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6978188, "cg_vq_v": -26.6978188, "cg_vu_v": 37.830761, "cg_vv_v": 0, "cg_vw_v": 49.2679672, "control_outputs_enabled": 1, "dclink_i_a": 77.1387634, "dclink_p_w": 11571.0742, "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": 62.6956177, "temp_inv2_c": 60.7934265, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12805219, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1362.019409, "values": {"Elec_RPM": -12979.2363, "EncoderCos": 44840, "EncoderSin": 48371, "GapTicks": 37933, "Mech_RPM": -2595.84717, "cg_du": 65.5151367, "cg_dv": 34.4848633, "cg_dw": 57.6811142, "cg_id_a": 1.45490408, "cg_id_raw_a": -7.08396864, "cg_iq_a": 300.353333, "cg_iq_raw_a": 293.293915, "cg_iu_a": -270.87915, "cg_iv_a": 17.2623444, "cg_iw_a": 253.616806, "cg_sample_age_us": 23.4563637, "cg_sample_seq": 8832766, "cg_sample_valid": 1, "cg_theta_rad": 1.11379898, "cg_vd_req_v": 8.02499104, "cg_vd_v": 8.02499104, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7729816, "cg_vq_v": -26.7729816, "cg_vu_v": 38.7105446, "cg_vv_v": 41.3499031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.2199783, "dclink_p_w": 11466.7813, "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": 62.6956177, "temp_inv2_c": 60.9090271, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127095446, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1363.036987, "values": {"Elec_RPM": -12983.8467, "EncoderCos": 33448, "EncoderSin": 12993, "GapTicks": 37341, "Mech_RPM": -2596.76929, "cg_du": 66.0532761, "cg_dv": 33.9467239, "cg_dw": 47.3243332, "cg_id_a": -0.523026884, "cg_id_raw_a": 3.66522956, "cg_iq_a": 299.230164, "cg_iq_raw_a": 300.551727, "cg_iu_a": -305.455811, "cg_iv_a": 131.865372, "cg_iw_a": 173.590439, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 8837912, "cg_sample_valid": 1, "cg_theta_rad": 4.79383373, "cg_vd_req_v": 7.95330667, "cg_vd_v": 7.95330667, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8634586, "cg_vq_v": -26.8634586, "cg_vu_v": 42.2296829, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.795929, "dclink_p_w": 11436.3281, "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": 62.5567627, "temp_inv2_c": 60.8980103, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126692608, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1364.054321, "values": {"Elec_RPM": -12977.877, "EncoderCos": 33571, "EncoderSin": 12994, "GapTicks": 37397, "Mech_RPM": -2595.57544, "cg_du": 66.0026093, "cg_dv": 33.9973907, "cg_dw": 46.4563065, "cg_id_a": -3.34811926, "cg_id_raw_a": -4.11227036, "cg_iq_a": 302.291626, "cg_iq_raw_a": 295.876953, "cg_iu_a": -292.987915, "cg_iv_a": 107.219543, "cg_iw_a": 185.768372, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 8843013, "cg_sample_valid": 1, "cg_theta_rad": 4.80255938, "cg_vd_req_v": 7.97123957, "cg_vd_v": 7.97123957, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9534569, "cg_vq_v": -26.9534569, "cg_vu_v": 141.205521, "cg_vv_v": 109.973145, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 75.364624, "dclink_p_w": 11338.0996, "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": 62.7884827, "temp_inv2_c": 60.7632141, "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": 0.126692608, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1365.071655, "values": {"Elec_RPM": -12968.5078, "EncoderCos": 38846, "EncoderSin": 51605, "GapTicks": 38455, "Mech_RPM": -2593.70166, "cg_du": 65.0406189, "cg_dv": 60.4113693, "cg_dw": 34.9593773, "cg_id_a": -1.6995337, "cg_id_raw_a": 2.0719192, "cg_iq_a": 305.021606, "cg_iq_raw_a": 307.499878, "cg_iu_a": -57.5117188, "cg_iv_a": -230.717957, "cg_iw_a": 288.229675, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 8848063, "cg_sample_valid": 1, "cg_theta_rad": 1.30196333, "cg_vd_req_v": 8.06083202, "cg_vd_v": 8.06083202, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8722153, "cg_vq_v": -26.8722153, "cg_vu_v": 32.5520515, "cg_vv_v": 64.2243118, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.5186615, "dclink_p_w": 11328.0537, "enc_isr_hz": 4998, "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": 62.6492615, "temp_inv2_c": 60.87323, "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": 0.128354311, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1365.913086, "values": {"Elec_RPM": -12991.3105, "EncoderCos": 47877, "EncoderSin": 45334, "GapTicks": 38218, "Mech_RPM": -2598.26221, "cg_du": 40.4536972, "cg_dv": 34.7438164, "cg_dw": 65.2561798, "cg_id_a": 13.8756332, "cg_id_raw_a": -2.6545887, "cg_iq_a": 310.673523, "cg_iq_raw_a": 304.103638, "cg_iu_a": -34.3519096, "cg_iv_a": 285.647949, "cg_iw_a": -251.296051, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 8852363, "cg_sample_valid": 1, "cg_theta_rad": 0.721983671, "cg_vd_req_v": 7.734025, "cg_vd_v": 7.734025, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0112133, "cg_vq_v": -27.0112133, "cg_vu_v": 150.443253, "cg_vv_v": 108.21357, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 74.7593536, "dclink_p_w": 11214.1553, "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": 62.6492615, "temp_inv2_c": 60.8622131, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127095446, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1366.93042, "values": {"Elec_RPM": -12976.0332, "EncoderCos": 14253, "EncoderSin": 25612, "GapTicks": 37478, "Mech_RPM": -2595.20654, "cg_du": 65.92836, "cg_dv": 34.07164, "cg_dw": 45.7021484, "cg_id_a": -11.323287, "cg_id_raw_a": -8.35484219, "cg_iq_a": 293.448242, "cg_iq_raw_a": 295.880035, "cg_iu_a": -288.85614, "cg_iv_a": 165.028473, "cg_iw_a": 123.82766, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 8857412, "cg_sample_valid": 1, "cg_theta_rad": 3.50616384, "cg_vd_req_v": 8.19804859, "cg_vd_v": 8.19804859, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6915016, "cg_vq_v": -26.6915016, "cg_vu_v": 44.8690414, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.5404053, "dclink_p_w": 11397.7744, "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": 62.7884827, "temp_inv2_c": 60.9504089, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1367.921143, "values": {"Elec_RPM": -12964.3359, "EncoderCos": 15283, "EncoderSin": 23283, "GapTicks": 37867, "Mech_RPM": -2592.86719, "cg_du": 65.5751038, "cg_dv": 43.179451, "cg_dw": 34.4248962, "cg_id_a": -10.9809008, "cg_id_raw_a": -14.0285044, "cg_iq_a": 292.41272, "cg_iq_raw_a": 286.40564, "cg_iu_a": -209.11969, "cg_iv_a": -2.34555054, "cg_iw_a": 256.045135, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 8862163, "cg_sample_valid": 1, "cg_theta_rad": 3.66332746, "cg_vd_req_v": 8.16664314, "cg_vd_v": 8.16664314, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6863251, "cg_vq_v": -26.6863251, "cg_vu_v": 151.762939, "cg_vv_v": 150.883148, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 76.0967484, "dclink_p_w": 11414.7686, "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": 62.6492615, "temp_inv2_c": 60.9283447, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1368.941895, "values": {"Elec_RPM": -12960.6797, "EncoderCos": 14685, "EncoderSin": 40925, "GapTicks": 38489, "Mech_RPM": -2592.13599, "cg_du": 40.1626358, "cg_dv": 65.0096512, "cg_dw": 34.9903488, "cg_id_a": -3.45480561, "cg_id_raw_a": -9.98416805, "cg_iq_a": 292.2677, "cg_iq_raw_a": 288.222748, "cg_iu_a": 225.480133, "cg_iv_a": -272.57959, "cg_iw_a": 47.0994644, "cg_sample_age_us": 23.954546, "cg_sample_seq": 8867513, "cg_sample_valid": 1, "cg_theta_rad": 2.74828911, "cg_vd_req_v": 8.08578396, "cg_vd_v": 8.08578396, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.595068, "cg_vq_v": -26.595068, "cg_vu_v": 108.21357, "cg_vv_v": 151.323044, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 74.9876862, "dclink_p_w": 11281.3916, "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": 62.6956177, "temp_inv2_c": 60.9725037, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124527358, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1369.959229, "values": {"Elec_RPM": -12980.1074, "EncoderCos": 47121, "EncoderSin": 19375, "GapTicks": 37442, "Mech_RPM": -2596.02148, "cg_du": 34.0388374, "cg_dv": 54.3370934, "cg_dw": 65.9611664, "cg_id_a": -0.971491516, "cg_id_raw_a": -7.54353237, "cg_iq_a": 301.544983, "cg_iq_raw_a": 300.10498, "cg_iu_a": 240.557556, "cg_iv_a": 28.5704346, "cg_iw_a": -269.127991, "cg_sample_age_us": 23.823637, "cg_sample_seq": 8872562, "cg_sample_valid": 1, "cg_theta_rad": 5.53717375, "cg_vd_req_v": 7.95336676, "cg_vd_v": 7.95336676, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9158936, "cg_vq_v": -26.9158936, "cg_vu_v": 73.9019547, "cg_vv_v": 73.0221634, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 76.1221237, "dclink_p_w": 11452.0596, "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": 62.6956177, "temp_inv2_c": 60.7906799, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126894027, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1370.976807, "values": {"Elec_RPM": -12979.1348, "EncoderCos": 24849, "EncoderSin": 50896, "GapTicks": 37609, "Mech_RPM": -2595.8269, "cg_du": 44.8778992, "cg_dv": 34.1903687, "cg_dw": 65.8096313, "cg_id_a": -1.70736146, "cg_id_raw_a": -7.56135988, "cg_iq_a": 296.104187, "cg_iq_raw_a": 293.479736, "cg_iu_a": -91.1097488, "cg_iv_a": 292.316803, "cg_iw_a": -249.230133, "cg_sample_age_us": 23.863636, "cg_sample_seq": 8877613, "cg_sample_valid": 1, "cg_theta_rad": 2.00528049, "cg_vd_req_v": 8.08560848, "cg_vd_v": 8.08560848, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6594696, "cg_vq_v": -26.6594696, "cg_vu_v": 150.883148, "cg_vv_v": 95.4566803, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 75.6473236, "dclink_p_w": 11347.3535, "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": 62.6956177, "temp_inv2_c": 60.8181763, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124124512, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1372.01416, "values": {"Elec_RPM": -12985.9375, "EncoderCos": 13268, "EncoderSin": 36333, "GapTicks": 39579, "Mech_RPM": -2597.1875, "cg_du": 35.9816475, "cg_dv": 63.8308296, "cg_dw": 64.0183487, "cg_id_a": -1.30017316, "cg_id_raw_a": -15.2722845, "cg_iq_a": 299.482727, "cg_iq_raw_a": 297.498016, "cg_iu_a": 266.834351, "cg_iv_a": -11.7327271, "cg_iw_a": -255.101624, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 8882812, "cg_sample_valid": 1, "cg_theta_rad": 2.99040556, "cg_vd_req_v": 8.06529808, "cg_vd_v": 8.06529808, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7548199, "cg_vq_v": -26.7548199, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 75.0583649, "dclink_p_w": 11325.042, "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": 62.6956177, "temp_inv2_c": 60.8401794, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126088351, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1373.031738, "values": {"Elec_RPM": -12985.9219, "EncoderCos": 49326, "EncoderSin": 22311, "GapTicks": 37925, "Mech_RPM": -2597.18433, "cg_du": 42.2791901, "cg_dv": 34.477356, "cg_dw": 65.522644, "cg_id_a": 13.6097755, "cg_id_raw_a": 15.2540522, "cg_iq_a": 306.399323, "cg_iq_raw_a": 313.968597, "cg_iu_a": -66.6814041, "cg_iv_a": 286.590271, "cg_iw_a": -278.69635, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8887862, "cg_sample_valid": 1, "cg_theta_rad": 5.75791502, "cg_vd_req_v": 7.70011663, "cg_vd_v": 7.70011663, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9779167, "cg_vq_v": -26.9779167, "cg_vu_v": 66.4237747, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 74.2899933, "dclink_p_w": 11143.75, "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": 62.7420349, "temp_inv2_c": 60.9283447, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131274894, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1374.049072, "values": {"Elec_RPM": -12991.1641, "EncoderCos": 50936, "EncoderSin": 21426, "GapTicks": 37783, "Mech_RPM": -2598.23291, "cg_du": 42.9342194, "cg_dv": 34.3486938, "cg_dw": 65.6513062, "cg_id_a": 9.82811546, "cg_id_raw_a": -0.454613507, "cg_iq_a": 306.802826, "cg_iq_raw_a": 303.456818, "cg_iu_a": -69.8708649, "cg_iv_a": 298.043335, "cg_iw_a": -228.17247, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 8892963, "cg_sample_valid": 1, "cg_theta_rad": 5.78071451, "cg_vd_req_v": 7.76812172, "cg_vd_v": 7.76812172, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0021667, "cg_vq_v": -27.0021667, "cg_vu_v": 151.323044, "cg_vv_v": 107.333786, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.1924667, "dclink_p_w": 11279.124, "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": 62.7420349, "temp_inv2_c": 60.760498, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129260689, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1375.066528, "values": {"Elec_RPM": -12994.2676, "EncoderCos": 52127, "EncoderSin": 23653, "GapTicks": 38201, "Mech_RPM": -2598.85352, "cg_du": 59.1230507, "cg_dv": 34.7282524, "cg_dw": 65.2717438, "cg_id_a": 8.1240406, "cg_id_raw_a": 5.63814116, "cg_iq_a": 305.169647, "cg_iq_raw_a": 301.164063, "cg_iu_a": -157.94339, "cg_iv_a": 308.336578, "cg_iw_a": -150.393188, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 8898062, "cg_sample_valid": 1, "cg_theta_rad": 5.84650373, "cg_vd_req_v": 7.80823183, "cg_vd_v": 7.80823183, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9550381, "cg_vq_v": -26.9550381, "cg_vu_v": 40.4701157, "cg_vv_v": 0, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 76.3015289, "dclink_p_w": 11445.4863, "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": 62.7420349, "temp_inv2_c": 60.9945984, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132886246, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1376.083984, "values": {"Elec_RPM": -12992.6719, "EncoderCos": 17695, "EncoderSin": 48351, "GapTicks": 39287, "Mech_RPM": -2598.53442, "cg_du": 64.2838135, "cg_dv": 37.2091713, "cg_dw": 35.7161827, "cg_id_a": -13.1813946, "cg_id_raw_a": -9.92851448, "cg_iq_a": 293.015076, "cg_iq_raw_a": 301.105652, "cg_iu_a": -243.587555, "cg_iv_a": -19.7063599, "cg_iw_a": 263.293915, "cg_sample_age_us": 23.994545, "cg_sample_seq": 8903112, "cg_sample_valid": 1, "cg_theta_rad": 2.37499762, "cg_vd_req_v": 8.3263855, "cg_vd_v": 8.3263855, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5780678, "cg_vq_v": -26.5780678, "cg_vu_v": 43.1094704, "cg_vv_v": 35.1914063, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.6799469, "dclink_p_w": 11352.2471, "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": 62.7884827, "temp_inv2_c": 60.8154297, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12855573, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1376.925171, "values": {"Elec_RPM": -12996.7588, "EncoderCos": 29456, "EncoderSin": 54107, "GapTicks": 38826, "Mech_RPM": -2599.35181, "cg_du": 35.2964325, "cg_dv": 61.5909538, "cg_dw": 64.7035675, "cg_id_a": -2.63946676, "cg_id_raw_a": 5.82454538, "cg_iq_a": 302.045929, "cg_iq_raw_a": 304.866272, "cg_iu_a": 243.747025, "cg_iv_a": 25.6346893, "cg_iw_a": -269.381714, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 8907413, "cg_sample_valid": 1, "cg_theta_rad": 1.76489508, "cg_vd_req_v": 8.11129093, "cg_vd_v": 8.11129093, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7801628, "cg_vq_v": -26.7801628, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 48.8280716, "control_outputs_enabled": 1, "dclink_i_a": 76.1873627, "dclink_p_w": 11461.875, "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": 62.6956177, "temp_inv2_c": 60.8566895, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12905927, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1377.906616, "values": {"Elec_RPM": -12993.9268, "EncoderCos": 25724, "EncoderSin": 53197, "GapTicks": 39099, "Mech_RPM": -2598.7854, "cg_du": 35.5446587, "cg_dv": 37.5978165, "cg_dw": 64.4553452, "cg_id_a": 6.22453451, "cg_id_raw_a": -6.44221687, "cg_iq_a": 302.843323, "cg_iq_raw_a": 299.011292, "cg_iu_a": -56.5331345, "cg_iv_a": 275.825867, "cg_iw_a": -219.292725, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 8912163, "cg_sample_valid": 1, "cg_theta_rad": 1.98683834, "cg_vd_req_v": 7.95436001, "cg_vd_v": 7.95436001, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7852249, "cg_vq_v": -26.7852249, "cg_vu_v": 39.1504402, "cg_vv_v": 0, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.1525955, "dclink_p_w": 11273.1426, "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": 62.7420349, "temp_inv2_c": 60.8511963, "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": 0.130167097, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1378.936646, "values": {"Elec_RPM": -13000.5527, "EncoderCos": 53983, "EncoderSin": 35151, "GapTicks": 37333, "Mech_RPM": -2600.1106, "cg_du": 52.389679, "cg_dv": 66.060051, "cg_dw": 33.939949, "cg_id_a": 18.4999771, "cg_id_raw_a": 19.7711601, "cg_iq_a": 306.362366, "cg_iq_raw_a": 308.040527, "cg_iu_a": 123.52623, "cg_iv_a": -296.790466, "cg_iw_a": 173.264221, "cg_sample_age_us": 23.3945446, "cg_sample_seq": 8917413, "cg_sample_valid": 1, "cg_theta_rad": 0.161749199, "cg_vd_req_v": 7.63940382, "cg_vd_v": 7.63940382, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9395523, "cg_vq_v": -26.9395523, "cg_vu_v": 74.3418427, "cg_vv_v": 124.929489, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": 75.1997147, "dclink_p_w": 11280.2109, "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": 62.6956177, "temp_inv2_c": 60.9283447, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127296865, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1379.954102, "values": {"Elec_RPM": -12997.1914, "EncoderCos": 14963, "EncoderSin": 20487, "GapTicks": 38038, "Mech_RPM": -2599.43823, "cg_du": 65.4196625, "cg_dv": 57.8358536, "cg_dw": 34.5803375, "cg_id_a": -4.80409908, "cg_id_raw_a": 2.09426737, "cg_iq_a": 294.433167, "cg_iq_raw_a": 295.783081, "cg_iu_a": -78.4606476, "cg_iv_a": -206.579575, "cg_iw_a": 285.040222, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 8922563, "cg_sample_valid": 1, "cg_theta_rad": 3.77855206, "cg_vd_req_v": 8.08839607, "cg_vd_v": 8.08839607, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7181892, "cg_vq_v": -26.7181892, "cg_vu_v": 135.047012, "cg_vv_v": 151.762939, "cg_vw_v": 81.820015, "control_outputs_enabled": 1, "dclink_i_a": 75.3356323, "dclink_p_w": 11366.877, "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": 62.6029968, "temp_inv2_c": 60.8622131, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127850771, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1380.991699, "values": {"Elec_RPM": -12990.873, "EncoderCos": 41388, "EncoderSin": 52524, "GapTicks": 37272, "Mech_RPM": -2598.17456, "cg_du": 66.1161041, "cg_dv": 46.7408791, "cg_dw": 33.8838959, "cg_id_a": 4.69771719, "cg_id_raw_a": 2.68327594, "cg_iq_a": 310.627167, "cg_iq_raw_a": 313.659637, "cg_iu_a": -183.748993, "cg_iv_a": -121.98645, "cg_iw_a": 305.735443, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 8927712, "cg_sample_valid": 1, "cg_theta_rad": 1.19183338, "cg_vd_req_v": 7.9847188, "cg_vd_v": 7.9847188, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9460182, "cg_vq_v": -26.9460182, "cg_vu_v": 46.1887207, "cg_vv_v": 78.3008804, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.121788, "dclink_p_w": 11301.5664, "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": 62.7420349, "temp_inv2_c": 60.8924866, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129109636, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1382.009155, "values": {"Elec_RPM": -12997.6465, "EncoderCos": 54070, "EncoderSin": 34467, "GapTicks": 39495, "Mech_RPM": -2599.5293, "cg_du": 63.7325592, "cg_dv": 64.0947571, "cg_dw": 35.9052467, "cg_id_a": 15.862484, "cg_id_raw_a": 16.9708595, "cg_iq_a": 307.92981, "cg_iq_raw_a": 310.172394, "cg_iu_a": 301.121033, "cg_iv_a": -214.444489, "cg_iw_a": -86.6765442, "cg_sample_age_us": 23.4818172, "cg_sample_seq": 8932717, "cg_sample_valid": 1, "cg_theta_rad": 0.332999468, "cg_vd_req_v": 7.68976736, "cg_vd_v": 7.68976736, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9696312, "cg_vq_v": -26.9696312, "cg_vu_v": 107.333786, "cg_vv_v": 151.762939, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.7252502, "dclink_p_w": 11359.043, "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": 62.7884827, "temp_inv2_c": 60.922821, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131929502, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1383.026489, "values": {"Elec_RPM": -12987.9961, "EncoderCos": 18255, "EncoderSin": 16663, "GapTicks": 38855, "Mech_RPM": -2597.59912, "cg_du": 38.7967453, "cg_dv": 64.6765747, "cg_dw": 35.3234215, "cg_id_a": -5.59201956, "cg_id_raw_a": 2.64194417, "cg_iq_a": 291.68103, "cg_iq_raw_a": 297.09967, "cg_iu_a": 233.707489, "cg_iv_a": -269.970032, "cg_iw_a": 36.2625504, "cg_sample_age_us": 23.954546, "cg_sample_seq": 8937862, "cg_sample_valid": 1, "cg_theta_rad": 4.02592039, "cg_vd_req_v": 8.08027935, "cg_vd_v": 8.08027935, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6645012, "cg_vq_v": -26.6645012, "cg_vu_v": 0, "cg_vv_v": 43.549366, "cg_vw_v": 8.35795879, "control_outputs_enabled": 1, "dclink_i_a": 77.1496353, "dclink_p_w": 11572.7051, "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": 62.7884827, "temp_inv2_c": 60.9062805, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1384.043823, "values": {"Elec_RPM": -13001.5859, "EncoderCos": 51769, "EncoderSin": 42500, "GapTicks": 38469, "Mech_RPM": -2600.31714, "cg_du": 34.972065, "cg_dv": 60.4118462, "cg_dw": 65.0279312, "cg_id_a": 2.49756002, "cg_id_raw_a": -11.1520777, "cg_iq_a": 308.311005, "cg_iq_raw_a": 303.812408, "cg_iu_a": 255.598755, "cg_iv_a": 33.9345093, "cg_iw_a": -289.533264, "cg_sample_age_us": 23.4381809, "cg_sample_seq": 8942912, "cg_sample_valid": 1, "cg_theta_rad": 0.517022967, "cg_vd_req_v": 8.00772381, "cg_vd_v": 8.00772381, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.952755, "cg_vq_v": -26.952755, "cg_vu_v": 118.770996, "cg_vv_v": 83.5795898, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 76.1547394, "dclink_p_w": 11456.9668, "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": 62.6492615, "temp_inv2_c": 60.9035339, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129915312, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1385.061401, "values": {"Elec_RPM": -12998.4131, "EncoderCos": 11286, "EncoderSin": 30598, "GapTicks": 37531, "Mech_RPM": -2599.68262, "cg_du": 45.8205757, "cg_dv": 34.1194992, "cg_dw": 65.8805008, "cg_id_a": -0.14266634, "cg_id_raw_a": 3.14966393, "cg_iq_a": 293.798401, "cg_iq_raw_a": 297.766937, "cg_iu_a": -108.869225, "cg_iv_a": 284.34317, "cg_iw_a": -175.473938, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 8947962, "cg_sample_valid": 1, "cg_theta_rad": 3.28207541, "cg_vd_req_v": 8.03706074, "cg_vd_v": 8.03706074, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6360493, "cg_vq_v": -26.6360493, "cg_vu_v": 39.590332, "cg_vv_v": 0.43989256, "cg_vw_v": 39.590332, "control_outputs_enabled": 1, "dclink_i_a": 76.0804367, "dclink_p_w": 11445.7881, "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": 62.6956177, "temp_inv2_c": 60.9283447, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1386.078735, "values": {"Elec_RPM": -12979.8838, "EncoderCos": 21382, "EncoderSin": 14354, "GapTicks": 37973, "Mech_RPM": -2595.97681, "cg_du": 34.5212326, "cg_dv": 65.4787674, "cg_dw": 57.4954643, "cg_id_a": -5.66818476, "cg_id_raw_a": -14.3815022, "cg_iq_a": 294.594055, "cg_iq_raw_a": 289.053284, "cg_iu_a": 280.57074, "cg_iv_a": -62.0028839, "cg_iw_a": -218.567856, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 8953162, "cg_sample_valid": 1, "cg_theta_rad": 4.2073555, "cg_vd_req_v": 8.0602808, "cg_vd_v": 8.0602808, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7315769, "cg_vq_v": -26.7315769, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 57.1860352, "control_outputs_enabled": 1, "dclink_i_a": 76.0007019, "dclink_p_w": 11433.793, "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": 62.8349915, "temp_inv2_c": 60.8759766, "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": 0.129361406, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1386.920044, "values": {"Elec_RPM": -12997.3525, "EncoderCos": 12940, "EncoderSin": 41242, "GapTicks": 39215, "Mech_RPM": -2599.47046, "cg_du": 37.526886, "cg_dv": 64.3492889, "cg_dw": 35.6507072, "cg_id_a": -5.19150448, "cg_id_raw_a": 6.20565033, "cg_iq_a": 292.265137, "cg_iq_raw_a": 300.066345, "cg_iu_a": 243.529572, "cg_iv_a": -261.126526, "cg_iw_a": 17.596962, "cg_sample_age_us": 24.0236359, "cg_sample_seq": 8957362, "cg_sample_valid": 1, "cg_theta_rad": 2.77154565, "cg_vd_req_v": 8.15441608, "cg_vd_v": 8.15441608, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5861874, "cg_vq_v": -26.5861874, "cg_vu_v": 36.9509773, "cg_vv_v": 78.3008804, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 75.7107544, "dclink_p_w": 11390.1719, "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": 62.7884827, "temp_inv2_c": 60.8154297, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124476999, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1387.906128, "values": {"Elec_RPM": -13000.8496, "EncoderCos": 28151, "EncoderSin": 53881, "GapTicks": 37348, "Mech_RPM": -2600.16992, "cg_du": 33.9530792, "cg_dv": 53.409832, "cg_dw": 66.0469208, "cg_id_a": 0.840812802, "cg_id_raw_a": 2.91287398, "cg_iq_a": 304.951294, "cg_iq_raw_a": 302.498627, "cg_iu_a": -194.912109, "cg_iv_a": 281.588654, "cg_iw_a": -86.6765366, "cg_sample_age_us": 23.8672733, "cg_sample_seq": 8962017, "cg_sample_valid": 1, "cg_theta_rad": 2.08461666, "cg_vd_req_v": 8.06216145, "cg_vd_v": 8.06216145, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8174343, "cg_vq_v": -26.8174343, "cg_vu_v": 44.8690414, "cg_vv_v": 0, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 75.8521042, "dclink_p_w": 11378.0713, "enc_isr_hz": 4998, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2589, "hz_tim_isr": 5000, "hz_vsense": 2589, "pwm_moe": 1, "temp_inv1_c": 62.7884827, "temp_inv2_c": 60.8181763, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127951473, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1388.931519, "values": {"Elec_RPM": -12993.5947, "EncoderCos": 31252, "EncoderSin": 11258, "GapTicks": 38971, "Mech_RPM": -2598.71899, "cg_du": 64.5714264, "cg_dv": 35.4285774, "cg_dw": 61.6769714, "cg_id_a": -1.72328579, "cg_id_raw_a": 6.80300093, "cg_iq_a": 293.199707, "cg_iq_raw_a": 297.124908, "cg_iu_a": -264.753967, "cg_iv_a": 241.394226, "cg_iw_a": 23.3597488, "cg_sample_age_us": 23.6854553, "cg_sample_seq": 8967413, "cg_sample_valid": 1, "cg_theta_rad": 4.69249249, "cg_vd_req_v": 7.98070335, "cg_vd_v": 7.98070335, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.724823, "cg_vq_v": -26.724823, "cg_vu_v": 152.202835, "cg_vv_v": 109.533249, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": 75.4226151, "dclink_p_w": 11313.6465, "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": 62.7884827, "temp_inv2_c": 60.8401794, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124628067, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1389.948853, "values": {"Elec_RPM": -12999.999, "EncoderCos": 33676, "EncoderSin": 11246, "GapTicks": 37504, "Mech_RPM": -2599.99976, "cg_du": 65.9052734, "cg_dv": 34.0947266, "cg_dw": 46.2682343, "cg_id_a": -2.44390345, "cg_id_raw_a": 5.19912481, "cg_iq_a": 296.774994, "cg_iq_raw_a": 299.248291, "cg_iu_a": -302.193848, "cg_iv_a": 176.880188, "cg_iw_a": 112.664551, "cg_sample_age_us": 24.0636368, "cg_sample_seq": 8972512, "cg_sample_valid": 1, "cg_theta_rad": 4.79006433, "cg_vd_req_v": 8.02311134, "cg_vd_v": 8.02311134, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7883625, "cg_vq_v": -26.7883625, "cg_vu_v": 41.3499031, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.3878555, "dclink_p_w": 11158.4287, "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": 62.7884827, "temp_inv2_c": 60.936615, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12679331, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1390.966309, "values": {"Elec_RPM": -12990.46, "EncoderCos": 34950, "EncoderSin": 11357, "GapTicks": 38872, "Mech_RPM": -2598.09204, "cg_du": 64.6617508, "cg_dv": 35.3382492, "cg_dw": 38.256073, "cg_id_a": -4.07496548, "cg_id_raw_a": 0.727534115, "cg_iq_a": 301.532745, "cg_iq_raw_a": 308.154541, "cg_iu_a": -279.106506, "cg_iv_a": 33.137146, "cg_iw_a": 245.96936, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 8977612, "cg_sample_valid": 1, "cg_theta_rad": 4.86046219, "cg_vd_req_v": 8.03108215, "cg_vd_v": 8.03108215, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8878365, "cg_vq_v": -26.8878365, "cg_vu_v": 43.549366, "cg_vv_v": 10.5574207, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.3555603, "dclink_p_w": 11303.5879, "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": 62.6956177, "temp_inv2_c": 60.9007568, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132433042, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1392.003906, "values": {"Elec_RPM": -13003.9238, "EncoderCos": 30409, "EncoderSin": 11307, "GapTicks": 38840, "Mech_RPM": -2600.78467, "cg_du": 61.3157806, "cg_dv": 35.3099556, "cg_dw": 64.6900482, "cg_id_a": -5.32500696, "cg_id_raw_a": 1.68598258, "cg_iq_a": 294.399719, "cg_iq_raw_a": 298.440765, "cg_iu_a": -272.836365, "cg_iv_a": 30.3826447, "cg_iw_a": 193.524536, "cg_sample_age_us": 23.641819, "cg_sample_seq": 8982717, "cg_sample_valid": 1, "cg_theta_rad": 4.85798836, "cg_vd_req_v": 8.06393909, "cg_vd_v": 8.06393909, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7395153, "cg_vq_v": -26.7395153, "cg_vu_v": 152.202835, "cg_vv_v": 149.563477, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": 74.8753357, "dclink_p_w": 11297.4268, "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": 62.7884827, "temp_inv2_c": 60.9890747, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125635162, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1393.02124, "values": {"Elec_RPM": -12999.9199, "EncoderCos": 41326, "EncoderSin": 52515, "GapTicks": 37281, "Mech_RPM": -2599.98389, "cg_du": 66.1077652, "cg_dv": 47.1054916, "cg_dw": 33.8922348, "cg_id_a": 3.87603283, "cg_id_raw_a": 5.8578229, "cg_iq_a": 308.406372, "cg_iq_raw_a": 311.361816, "cg_iu_a": 123.308769, "cg_iv_a": -303.568054, "cg_iw_a": 180.259293, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 8987766, "cg_sample_valid": 1, "cg_theta_rad": 1.45121527, "cg_vd_req_v": 7.99214411, "cg_vd_v": 7.99214411, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8871632, "cg_vq_v": -26.8871632, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 100.295509, "control_outputs_enabled": 1, "dclink_i_a": 75.429863, "dclink_p_w": 11314.7334, "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": 62.7884827, "temp_inv2_c": 61.0831299, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127095446, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1394.038696, "values": {"Elec_RPM": -13007.3281, "EncoderCos": 18463, "EncoderSin": 48914, "GapTicks": 38326, "Mech_RPM": -2601.46558, "cg_du": 65.1575012, "cg_dv": 34.8424988, "cg_dw": 40.4214935, "cg_id_a": -13.5613556, "cg_id_raw_a": -10.2133017, "cg_iq_a": 297.317322, "cg_iq_raw_a": 302.054474, "cg_iu_a": -291.211975, "cg_iv_a": 116.860413, "cg_iw_a": 174.351563, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 8992962, "cg_sample_valid": 1, "cg_theta_rad": 2.28811908, "cg_vd_req_v": 8.35065842, "cg_vd_v": 8.35065842, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6701832, "cg_vq_v": -26.6701832, "cg_vu_v": 134.607132, "cg_vv_v": 107.333786, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 75.4063034, "dclink_p_w": 11311.2002, "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": 62.8349915, "temp_inv2_c": 61.0554504, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123620957, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1395.056152, "values": {"Elec_RPM": -13008.9531, "EncoderCos": 38810, "EncoderSin": 12180, "GapTicks": 38081, "Mech_RPM": -2601.79053, "cg_du": 65.380661, "cg_dv": 58.5651855, "cg_dw": 34.6193428, "cg_id_a": -4.38834, "cg_id_raw_a": -2.41589069, "cg_iq_a": 302.174194, "cg_iq_raw_a": 304.488556, "cg_iu_a": -73.0240784, "cg_iv_a": -217.271484, "cg_iw_a": 300.625061, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 8998013, "cg_sample_valid": 1, "cg_theta_rad": 5.03841591, "cg_vd_req_v": 8.06074429, "cg_vd_v": 8.06074429, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8833675, "cg_vq_v": -26.8833675, "cg_vu_v": 101.175293, "cg_vv_v": 114.37207, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 75.5567169, "dclink_p_w": 11366.998, "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": 62.7884827, "temp_inv2_c": 61.0333252, "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": 0.132533759, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1396.073486, "values": {"Elec_RPM": -13018.9053, "EncoderCos": 41115, "EncoderSin": 12971, "GapTicks": 37621, "Mech_RPM": -2603.78101, "cg_du": 54.6966591, "cg_dv": 65.7983704, "cg_dw": 34.2016335, "cg_id_a": 2.78603077, "cg_id_raw_a": 0.140680403, "cg_iq_a": 297.409454, "cg_iq_raw_a": 299.539429, "cg_iu_a": 95.1473083, "cg_iv_a": -295.81189, "cg_iw_a": 200.664581, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 9003112, "cg_sample_valid": 1, "cg_theta_rad": 5.15857077, "cg_vd_req_v": 7.92741823, "cg_vd_v": 7.92741823, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.77841, "cg_vq_v": -26.77841, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 22.8744144, "control_outputs_enabled": 1, "dclink_i_a": 74.5273895, "dclink_p_w": 11179.3594, "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": 62.6956177, "temp_inv2_c": 61.0831299, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129562825, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1396.914795, "values": {"Elec_RPM": -12995.2559, "EncoderCos": 44509, "EncoderSin": 50708, "GapTicks": 37270, "Mech_RPM": -2599.05127, "cg_du": 66.1176376, "cg_dv": 33.8823624, "cg_dw": 47.2790642, "cg_id_a": 1.44799781, "cg_id_raw_a": 7.7511301, "cg_iq_a": 307.032898, "cg_iq_raw_a": 308.86026, "cg_iu_a": -312.885803, "cg_iv_a": 137.881836, "cg_iw_a": 175.003967, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 9007362, "cg_sample_valid": 1, "cg_theta_rad": 1.03791714, "cg_vd_req_v": 8.05099678, "cg_vd_v": 8.05099678, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8692226, "cg_vq_v": -26.8692226, "cg_vu_v": 77.4210892, "cg_vv_v": 62.0248489, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.1507874, "dclink_p_w": 11272.8711, "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": 62.8349915, "temp_inv2_c": 60.9393616, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126642242, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1397.896362, "values": {"Elec_RPM": -12993.9609, "EncoderCos": 40036, "EncoderSin": 52966, "GapTicks": 37198, "Mech_RPM": -2598.79224, "cg_du": 66.1828156, "cg_dv": 48.4230042, "cg_dw": 33.8171844, "cg_id_a": 0.895732403, "cg_id_raw_a": 7.05510998, "cg_iq_a": 308.439026, "cg_iq_raw_a": 309.033356, "cg_iu_a": -165.627075, "cg_iv_a": -140.072144, "cg_iw_a": 305.699219, "cg_sample_age_us": 23.8709087, "cg_sample_seq": 9012112, "cg_sample_valid": 1, "cg_theta_rad": 1.21289265, "cg_vd_req_v": 8.05444241, "cg_vd_v": 8.05444241, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8942184, "cg_vq_v": -26.8942184, "cg_vu_v": 124.049698, "cg_vv_v": 151.323044, "cg_vw_v": 100.735397, "control_outputs_enabled": 1, "dclink_i_a": 75.8068008, "dclink_p_w": 11404.6221, "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": 62.7884827, "temp_inv2_c": 61.0167236, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124325924, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1398.92627, "values": {"Elec_RPM": -12996.2217, "EncoderCos": 11591, "EncoderSin": 36859, "GapTicks": 39325, "Mech_RPM": -2599.24438, "cg_du": 35.7500229, "cg_dv": 64.2499771, "cg_dw": 62.9421463, "cg_id_a": -3.28322339, "cg_id_raw_a": -15.5569239, "cg_iq_a": 296.738373, "cg_iq_raw_a": 294.825806, "cg_iu_a": 267.015564, "cg_iv_a": -18.6552734, "cg_iw_a": -248.360291, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9017412, "cg_sample_valid": 1, "cg_theta_rad": 2.98968959, "cg_vd_req_v": 8.09155083, "cg_vd_v": 8.09155083, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6692009, "cg_vq_v": -26.6692009, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 51.9073219, "control_outputs_enabled": 1, "dclink_i_a": 76.3214645, "dclink_p_w": 11482.0498, "enc_isr_hz": 4998, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2592, "hz_tim_isr": 4998, "hz_vsense": 2592, "pwm_moe": 1, "temp_inv1_c": 62.7420349, "temp_inv2_c": 60.9890747, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124124512, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1399.943726, "values": {"Elec_RPM": -12993.5938, "EncoderCos": 11577, "EncoderSin": 36716, "GapTicks": 39684, "Mech_RPM": -2598.71875, "cg_du": 36.0770416, "cg_dv": 63.9229584, "cg_dw": 63.813179, "cg_id_a": -7.72135401, "cg_id_raw_a": 3.4092195, "cg_iq_a": 294.489563, "cg_iq_raw_a": 300.524506, "cg_iu_a": 256.758575, "cg_iv_a": -9.01441956, "cg_iw_a": -210.304245, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 9022513, "cg_sample_valid": 1, "cg_theta_rad": 2.98140597, "cg_vd_req_v": 8.19630909, "cg_vd_v": 8.19630909, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6409893, "cg_vq_v": -26.6409893, "cg_vu_v": 110.413033, "cg_vv_v": 110.852921, "cg_vw_v": 148.683685, "control_outputs_enabled": 1, "dclink_i_a": 75.7995529, "dclink_p_w": 11370.1885, "enc_isr_hz": 5001, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2614, "hz_tim_isr": 4999, "hz_vsense": 2614, "pwm_moe": 1, "temp_inv1_c": 62.8349915, "temp_inv2_c": 61.1275024, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128505379, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1400.96106, "values": {"Elec_RPM": -12995.8086, "EncoderCos": 51333, "EncoderSin": 22316, "GapTicks": 37217, "Mech_RPM": -2599.16162, "cg_du": 49.1193199, "cg_dv": 33.8341675, "cg_dw": 66.1658325, "cg_id_a": 12.6886082, "cg_id_raw_a": 14.1683807, "cg_iq_a": 309.299164, "cg_iq_raw_a": 309.329803, "cg_iu_a": -142.104828, "cg_iv_a": 292.67926, "cg_iw_a": -240.71283, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 9027562, "cg_sample_valid": 1, "cg_theta_rad": 5.80844927, "cg_vd_req_v": 7.73125029, "cg_vd_v": 7.73125029, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0120506, "cg_vq_v": -27.0120506, "cg_vu_v": 45.3089333, "cg_vv_v": 0, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": 75.2649536, "dclink_p_w": 11323.1045, "enc_isr_hz": 4999, "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": 62.8815613, "temp_inv2_c": 61.0526733, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127699703, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1401.978516, "values": {"Elec_RPM": -13005.083, "EncoderCos": 51897, "EncoderSin": 23462, "GapTicks": 37864, "Mech_RPM": -2601.0166, "cg_du": 57.472641, "cg_dv": 34.4221153, "cg_dw": 65.5778809, "cg_id_a": 7.75565481, "cg_id_raw_a": 4.26970959, "cg_iq_a": 306.997955, "cg_iq_raw_a": 301.983368, "cg_iu_a": -218.325607, "cg_iv_a": 310.366211, "cg_iw_a": -168.152664, "cg_sample_age_us": 23.7072735, "cg_sample_seq": 9032662, "cg_sample_valid": 1, "cg_theta_rad": 5.86809397, "cg_vd_req_v": 7.85065651, "cg_vd_v": 7.85065651, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9603157, "cg_vq_v": -26.9603157, "cg_vu_v": 73.0221634, "cg_vv_v": 0, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": 74.7865372, "dclink_p_w": 11251.1299, "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": 62.8349915, "temp_inv2_c": 61.0831299, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127498284, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1403.016113, "values": {"Elec_RPM": -12989.4639, "EncoderCos": 11253, "EncoderSin": 32967, "GapTicks": 38349, "Mech_RPM": -2597.89282, "cg_du": 34.8629456, "cg_dv": 40.5878258, "cg_dw": 65.1370544, "cg_id_a": -1.01770544, "cg_id_raw_a": -7.09830952, "cg_iq_a": 295.609253, "cg_iq_raw_a": 289.250854, "cg_iu_a": -20.8692036, "cg_iv_a": 257.377747, "cg_iw_a": -236.508545, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 9037813, "cg_sample_valid": 1, "cg_theta_rad": 3.22074437, "cg_vd_req_v": 8.03537655, "cg_vd_v": 8.03537655, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6729813, "cg_vq_v": -26.6729813, "cg_vu_v": 38.2706528, "cg_vv_v": 0, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": 75.0891724, "dclink_p_w": 11263.6289, "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": 62.7884827, "temp_inv2_c": 60.9725037, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126138702, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1404.033569, "values": {"Elec_RPM": -12997.7686, "EncoderCos": 52464, "EncoderSin": 24739, "GapTicks": 38986, "Mech_RPM": -2599.55371, "cg_du": 64.5573425, "cg_dv": 35.4426613, "cg_dw": 62.1167679, "cg_id_a": 4.97687578, "cg_id_raw_a": 14.4346895, "cg_iq_a": 305.617523, "cg_iq_raw_a": 309.740143, "cg_iu_a": -270.806702, "cg_iv_a": 256.761627, "cg_iw_a": 14.0450745, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 9042863, "cg_sample_valid": 1, "cg_theta_rad": 5.9497056, "cg_vd_req_v": 7.92030096, "cg_vd_v": 7.92030096, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9158897, "cg_vq_v": -26.9158897, "cg_vu_v": 135.486908, "cg_vv_v": 93.2572174, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.5023499, "dclink_p_w": 11358.8193, "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": 62.8349915, "temp_inv2_c": 61.1275024, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1405.050903, "values": {"Elec_RPM": -12999.9033, "EncoderCos": 50376, "EncoderSin": 44782, "GapTicks": 37652, "Mech_RPM": -2599.98071, "cg_du": 34.2295341, "cg_dv": 43.3681793, "cg_dw": 65.770462, "cg_id_a": 5.9956336, "cg_id_raw_a": 9.19786549, "cg_iq_a": 311.140076, "cg_iq_raw_a": 318.179962, "cg_iu_a": 108.122604, "cg_iv_a": 203.845596, "cg_iw_a": -311.968201, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 9048062, "cg_sample_valid": 1, "cg_theta_rad": 0.634842753, "cg_vd_req_v": 7.94909239, "cg_vd_v": 7.94909239, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9620342, "cg_vq_v": -26.9620342, "cg_vu_v": 4.83881807, "cg_vv_v": 0, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 75.5965881, "dclink_p_w": 11339.7432, "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": 62.8349915, "temp_inv2_c": 61.1496887, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127347216, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1406.068237, "values": {"Elec_RPM": -12988.1895, "EncoderCos": 53549, "EncoderSin": 28290, "GapTicks": 38693, "Mech_RPM": -2597.63794, "cg_du": 64.8237076, "cg_dv": 35.1762924, "cg_dw": 38.5891113, "cg_id_a": 2.87977839, "cg_id_raw_a": 7.50282192, "cg_iq_a": 311.447693, "cg_iq_raw_a": 315.823395, "cg_iu_a": -295.851196, "cg_iv_a": 112.982315, "cg_iw_a": 190.190109, "cg_sample_age_us": 24.0309086, "cg_sample_seq": 9053062, "cg_sample_valid": 1, "cg_theta_rad": 6.10403967, "cg_vd_req_v": 7.94412851, "cg_vd_v": 7.94412851, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0369835, "cg_vq_v": -27.0369835, "cg_vu_v": 43.549366, "cg_vv_v": 7.91806602, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.2000427, "dclink_p_w": 11430.2637, "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": 62.8349915, "temp_inv2_c": 61.0748291, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127901122, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1407.085693, "values": {"Elec_RPM": -13000.0596, "EncoderCos": 53759, "EncoderSin": 29499, "GapTicks": 38262, "Mech_RPM": -2600.01196, "cg_du": 65.2155838, "cg_dv": 40.3926353, "cg_dw": 34.78442, "cg_id_a": 12.6047192, "cg_id_raw_a": 10.9543352, "cg_iq_a": 312.164307, "cg_iq_raw_a": 318.568756, "cg_iu_a": -243.732544, "cg_iv_a": -44.170929, "cg_iw_a": 287.903473, "cg_sample_age_us": 24.1109085, "cg_sample_seq": 9058162, "cg_sample_valid": 1, "cg_theta_rad": 6.18107224, "cg_vd_req_v": 7.77430058, "cg_vd_v": 7.77430058, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0381317, "cg_vq_v": -27.0381317, "cg_vu_v": 51.9073219, "cg_vv_v": 76.5413055, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 74.9840622, "dclink_p_w": 11247.8623, "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": 62.8349915, "temp_inv2_c": 61.0498962, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125836566, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1407.886353, "values": {"Elec_RPM": -13004.9375, "EncoderCos": 12106, "EncoderSin": 38634, "GapTicks": 37325, "Mech_RPM": -2600.98755, "cg_du": 33.9326439, "cg_dv": 66.0673523, "cg_dw": 51.6150856, "cg_id_a": -9.21080589, "cg_id_raw_a": -12.1172152, "cg_iq_a": 295.942169, "cg_iq_raw_a": 291.307129, "cg_iu_a": 279.41095, "cg_iv_a": -59.3208466, "cg_iw_a": -220.090103, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 9062164, "cg_sample_valid": 1, "cg_theta_rad": 2.95757508, "cg_vd_req_v": 8.2432518, "cg_vd_v": 8.2432518, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6302853, "cg_vq_v": -26.6302853, "cg_vu_v": 107.773682, "cg_vv_v": 112.172607, "cg_vw_v": 149.123581, "control_outputs_enabled": 1, "dclink_i_a": 74.8227768, "dclink_p_w": 11223.6689, "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": 62.8349915, "temp_inv2_c": 61.1025085, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1408.921021, "values": {"Elec_RPM": -12998.7363, "EncoderCos": 16255, "EncoderSin": 18961, "GapTicks": 38228, "Mech_RPM": -2599.74731, "cg_du": 58.1805458, "cg_dv": 65.2469025, "cg_dw": 34.7531013, "cg_id_a": 3.88438153, "cg_id_raw_a": 3.92897487, "cg_iq_a": 293.155884, "cg_iq_raw_a": 295.215637, "cg_iu_a": 67.8919525, "cg_iv_a": -274.246826, "cg_iw_a": 206.354858, "cg_sample_age_us": 23.954546, "cg_sample_seq": 9067363, "cg_sample_valid": 1, "cg_theta_rad": 3.8789413, "cg_vd_req_v": 7.93191671, "cg_vd_v": 7.93191671, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6540146, "cg_vq_v": -26.6540146, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 74.6180038, "dclink_p_w": 11258.5996, "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": 62.8349915, "temp_inv2_c": 60.9945984, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126692608, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1409.938477, "values": {"Elec_RPM": -12984.4814, "EncoderCos": 17887, "EncoderSin": 17165, "GapTicks": 38039, "Mech_RPM": -2596.89624, "cg_du": 42.458107, "cg_dv": 65.4189148, "cg_dw": 34.5810852, "cg_id_a": -7.54830933, "cg_id_raw_a": 0.944898069, "cg_iq_a": 290.588959, "cg_iq_raw_a": 296.363739, "cg_iu_a": 206.959534, "cg_iv_a": -282.401672, "cg_iw_a": 75.4421234, "cg_sample_age_us": 23.9727268, "cg_sample_seq": 9072462, "cg_sample_valid": 1, "cg_theta_rad": 3.99182367, "cg_vd_req_v": 8.13336658, "cg_vd_v": 8.13336658, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6179523, "cg_vq_v": -26.6179523, "cg_vu_v": 0, "cg_vv_v": 67.303566, "cg_vw_v": 29.4728031, "control_outputs_enabled": 1, "dclink_i_a": 75.553093, "dclink_p_w": 11366.4531, "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": 62.8349915, "temp_inv2_c": 61.0582275, "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": 0.127145797, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1410.955811, "values": {"Elec_RPM": -12999.3457, "EncoderCos": 39372, "EncoderSin": 53124, "GapTicks": 38445, "Mech_RPM": -2599.86914, "cg_du": 65.0498886, "cg_dv": 60.2745132, "cg_dw": 34.9501076, "cg_id_a": -0.464587927, "cg_id_raw_a": 5.9010911, "cg_iq_a": 306.404541, "cg_iq_raw_a": 309.655823, "cg_iu_a": -60.9548874, "cg_iv_a": -229.66687, "cg_iw_a": 303.017151, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 9077613, "cg_sample_valid": 1, "cg_theta_rad": 1.2784127, "cg_vd_req_v": 8.09733868, "cg_vd_v": 8.09733868, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8240891, "cg_vq_v": -26.8240891, "cg_vu_v": 75.2216263, "cg_vv_v": 113.492287, "cg_vw_v": 69.5030289, "control_outputs_enabled": 1, "dclink_i_a": 75.3428802, "dclink_p_w": 11334.8281, "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": 62.7884827, "temp_inv2_c": 61.2385864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129915312, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1411.973389, "values": {"Elec_RPM": -13002.5254, "EncoderCos": 51911, "EncoderSin": 41934, "GapTicks": 39500, "Mech_RPM": -2600.50513, "cg_du": 35.9091721, "cg_dv": 63.6861954, "cg_dw": 64.0908279, "cg_id_a": 0.0280996561, "cg_id_raw_a": 8.67804813, "cg_iq_a": 306.604187, "cg_iq_raw_a": 309.817108, "cg_iu_a": 266.254456, "cg_iv_a": -5.86120605, "cg_iw_a": -260.39325, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 9082613, "cg_sample_valid": 1, "cg_theta_rad": 0.478530854, "cg_vd_req_v": 8.0469141, "cg_vd_v": 8.0469141, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.885828, "cg_vq_v": -26.885828, "cg_vu_v": 73.9019547, "cg_vv_v": 73.9019547, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 75.4443588, "dclink_p_w": 11350.0947, "enc_isr_hz": 5001, "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": 62.8349915, "temp_inv2_c": 60.9697571, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131728083, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1412.990723, "values": {"Elec_RPM": -12986.7461, "EncoderCos": 50778, "EncoderSin": 44092, "GapTicks": 37264, "Mech_RPM": -2597.34912, "cg_du": 33.8768463, "cg_dv": 48.4162903, "cg_dw": 66.1231537, "cg_id_a": 1.32041287, "cg_id_raw_a": 6.27896309, "cg_iq_a": 307.006683, "cg_iq_raw_a": 310.463989, "cg_iu_a": 154.333496, "cg_iv_a": 161.911499, "cg_iw_a": -316.244995, "cg_sample_age_us": 23.5327282, "cg_sample_seq": 9087712, "cg_sample_valid": 1, "cg_theta_rad": 0.595086217, "cg_vd_req_v": 8.03283215, "cg_vd_v": 8.03283215, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8789997, "cg_vq_v": -26.8789997, "cg_vu_v": 36.0711899, "cg_vv_v": 7.47817326, "cg_vw_v": 58.5057106, "control_outputs_enabled": 1, "dclink_i_a": 75.7560577, "dclink_p_w": 11363.6641, "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": 62.8815613, "temp_inv2_c": 61.1191711, "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": 0.131325245, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1414.02832, "values": {"Elec_RPM": -12995.2422, "EncoderCos": 21890, "EncoderSin": 14119, "GapTicks": 38755, "Mech_RPM": -2599.04834, "cg_du": 35.2319832, "cg_dv": 64.768013, "cg_dw": 60.9235191, "cg_id_a": -5.66483116, "cg_id_raw_a": -14.3445921, "cg_iq_a": 294.031189, "cg_iq_raw_a": 288.302704, "cg_iu_a": 273.720673, "cg_iv_a": -37.3933411, "cg_iw_a": -236.327332, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 9092862, "cg_sample_valid": 1, "cg_theta_rad": 4.2220273, "cg_vd_req_v": 8.09869766, "cg_vd_v": 8.09869766, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6944923, "cg_vq_v": -26.6944923, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 60.2652817, "control_outputs_enabled": 1, "dclink_i_a": 74.7829132, "dclink_p_w": 11250.585, "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": 62.8349915, "temp_inv2_c": 61.0803528, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129311055, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1415.045654, "values": {"Elec_RPM": -13001.0586, "EncoderCos": 23008, "EncoderSin": 13577, "GapTicks": 38422, "Mech_RPM": -2600.21167, "cg_du": 34.9294434, "cg_dv": 59.6951675, "cg_dw": 65.0705566, "cg_id_a": -2.15141606, "cg_id_raw_a": -17.7271099, "cg_iq_a": 297.126556, "cg_iq_raw_a": 294.517853, "cg_iu_a": 237.476837, "cg_iv_a": 45.315094, "cg_iw_a": -282.791931, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9097962, "cg_sample_valid": 1, "cg_theta_rad": 4.288589, "cg_vd_req_v": 8.04099369, "cg_vd_v": 8.04099369, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7449589, "cg_vq_v": -26.7449589, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 60.2652817, "control_outputs_enabled": 1, "dclink_i_a": 75.4987259, "dclink_p_w": 11358.2734, "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": 62.8815613, "temp_inv2_c": 61.0942078, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126491189, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1416.062988, "values": {"Elec_RPM": -12985.0352, "EncoderCos": 23071, "EncoderSin": 13537, "GapTicks": 38384, "Mech_RPM": -2597.00708, "cg_du": 34.8954315, "cg_dv": 59.3123016, "cg_dw": 65.1045685, "cg_id_a": 3.31769896, "cg_id_raw_a": 6.42970037, "cg_iq_a": 294.611694, "cg_iq_raw_a": 297.544525, "cg_iu_a": 218.195114, "cg_iv_a": 51.5490265, "cg_iw_a": -269.744141, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 9103063, "cg_sample_valid": 1, "cg_theta_rad": 4.28123188, "cg_vd_req_v": 7.90876102, "cg_vd_v": 7.90876102, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7054081, "cg_vq_v": -26.7054081, "cg_vu_v": 87.53862, "cg_vv_v": 73.0221634, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.7161865, "dclink_p_w": 11357.6836, "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": 62.8815613, "temp_inv2_c": 61.0582275, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1417.080444, "values": {"Elec_RPM": -12995.6387, "EncoderCos": 47604, "EncoderSin": 48000, "GapTicks": 37514, "Mech_RPM": -2599.12769, "cg_du": 55.0990715, "cg_dv": 34.1039963, "cg_dw": 65.8960037, "cg_id_a": 7.45008755, "cg_id_raw_a": 8.29445267, "cg_iq_a": 306.827728, "cg_iq_raw_a": 304.758759, "cg_iu_a": -195.963165, "cg_iv_a": 307.756683, "cg_iw_a": -192.363556, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 9108112, "cg_sample_valid": 1, "cg_theta_rad": 0.822044194, "cg_vd_req_v": 7.95270205, "cg_vd_v": 7.95270205, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8484478, "cg_vq_v": -26.8484478, "cg_vu_v": 46.1887207, "cg_vv_v": 0, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": 75.1489716, "dclink_p_w": 11272.5996, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2590, "hz_tim_isr": 5002, "hz_vsense": 2590, "pwm_moe": 1, "temp_inv1_c": 62.8815613, "temp_inv2_c": 61.0803528, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12628977, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1417.865723, "values": {"Elec_RPM": -12992.7529, "EncoderCos": 50473, "EncoderSin": 21067, "GapTicks": 38507, "Mech_RPM": -2598.55054, "cg_du": 39.5929718, "cg_dv": 35.0072632, "cg_dw": 64.9927368, "cg_id_a": 8.92070389, "cg_id_raw_a": -6.67032003, "cg_iq_a": 305.769348, "cg_iq_raw_a": 298.58667, "cg_iu_a": -29.8214321, "cg_iv_a": 281.081238, "cg_iw_a": -289.388306, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9111963, "cg_sample_valid": 1, "cg_theta_rad": 5.74016666, "cg_vd_req_v": 7.82162905, "cg_vd_v": 7.82162905, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9463806, "cg_vq_v": -26.9463806, "cg_vu_v": 150.883148, "cg_vv_v": 98.9758301, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.3084488, "dclink_p_w": 11329.6484, "enc_isr_hz": 5000, "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": 62.8815613, "temp_inv2_c": 61.2330322, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123721682, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1418.915771, "values": {"Elec_RPM": -12997.4863, "EncoderCos": 35262, "EncoderSin": 11563, "GapTicks": 39480, "Mech_RPM": -2599.49731, "cg_du": 64.108757, "cg_dv": 35.891243, "cg_dw": 36.309166, "cg_id_a": -1.48570275, "cg_id_raw_a": 0.815689385, "cg_iq_a": 300.530762, "cg_iq_raw_a": 306.315308, "cg_iu_a": -267.327271, "cg_iv_a": 8.92626953, "cg_iw_a": 258.401001, "cg_sample_age_us": 23.9799995, "cg_sample_seq": 9117312, "cg_sample_valid": 1, "cg_theta_rad": 4.88750267, "cg_vd_req_v": 7.99897766, "cg_vd_v": 7.99897766, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8451405, "cg_vq_v": -26.8451405, "cg_vu_v": 76.9812012, "cg_vv_v": 76.1014175, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 75.232338, "dclink_p_w": 11318.1973, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 62.8815613, "temp_inv2_c": 61.1053162, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128857866, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1419.933228, "values": {"Elec_RPM": -13004.5078, "EncoderCos": 36507, "EncoderSin": 11764, "GapTicks": 37812, "Mech_RPM": -2600.90161, "cg_du": 65.6250458, "cg_dv": 43.3024063, "cg_dw": 34.374958, "cg_id_a": 4.43210936, "cg_id_raw_a": 2.58909416, "cg_iq_a": 299.868164, "cg_iq_raw_a": 303.857117, "cg_iu_a": -205.4953, "cg_iv_a": 11.3908691, "cg_iw_a": 253.616821, "cg_sample_age_us": 24.0599995, "cg_sample_seq": 9122412, "cg_sample_valid": 1, "cg_theta_rad": 4.92543125, "cg_vd_req_v": 7.89749146, "cg_vd_v": 7.89749146, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8237534, "cg_vq_v": -26.8237534, "cg_vu_v": 36.9509773, "cg_vv_v": 54.5466805, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.4733582, "dclink_p_w": 11321.2578, "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": 62.8349915, "temp_inv2_c": 61.1246948, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135756463, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1420.950562, "values": {"Elec_RPM": -13013.0264, "EncoderCos": 37734, "EncoderSin": 12016, "GapTicks": 37320, "Mech_RPM": -2602.60522, "cg_du": 66.0726547, "cg_dv": 51.493103, "cg_dw": 33.9273453, "cg_id_a": 1.86036301, "cg_id_raw_a": 0.364556074, "cg_iq_a": 300.06189, "cg_iq_raw_a": 301.446564, "cg_iu_a": -129.528229, "cg_iv_a": -165.551544, "cg_iw_a": 295.079773, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 9127512, "cg_sample_valid": 1, "cg_theta_rad": 4.9941144, "cg_vd_req_v": 7.93809175, "cg_vd_v": 7.93809175, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8105717, "cg_vq_v": -26.8105717, "cg_vu_v": 41.3499031, "cg_vv_v": 78.3008804, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.5349731, "dclink_p_w": 11363.7266, "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": 62.8815613, "temp_inv2_c": 61.171875, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129311055, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1421.968018, "values": {"Elec_RPM": -13000.8994, "EncoderCos": 38884, "EncoderSin": 12355, "GapTicks": 38276, "Mech_RPM": -2600.17993, "cg_du": 65.2035294, "cg_dv": 59.1231918, "cg_dw": 34.7964668, "cg_id_a": 4.64313936, "cg_id_raw_a": -5.57486773, "cg_iq_a": 303.644379, "cg_iq_raw_a": 301.974792, "cg_iu_a": -64.3618011, "cg_iv_a": -158.157806, "cg_iw_a": 305.55423, "cg_sample_age_us": 23.954546, "cg_sample_seq": 9132612, "cg_sample_valid": 1, "cg_theta_rad": 5.04181862, "cg_vd_req_v": 7.87409258, "cg_vd_v": 7.87409258, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9043865, "cg_vq_v": -26.9043865, "cg_vu_v": 39.1504402, "cg_vv_v": 78.7407684, "cg_vw_v": 38.7105446, "control_outputs_enabled": 1, "dclink_i_a": 76.178299, "dclink_p_w": 11460.5107, "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": 62.9282227, "temp_inv2_c": 61.1496887, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129361406, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1422.985474, "values": {"Elec_RPM": -13002.8525, "EncoderCos": 34168, "EncoderSin": 54053, "GapTicks": 39260, "Mech_RPM": -2600.57056, "cg_du": 35.6909904, "cg_dv": 64.3090057, "cg_dw": 37.2249374, "cg_id_a": -3.22865796, "cg_id_raw_a": 4.72348499, "cg_iq_a": 299.476715, "cg_iq_raw_a": 303.795807, "cg_iu_a": 262.412598, "cg_iv_a": -255.146301, "cg_iw_a": -7.26629639, "cg_sample_age_us": 23.9109097, "cg_sample_seq": 9137662, "cg_sample_valid": 1, "cg_theta_rad": 1.52864528, "cg_vd_req_v": 8.18114662, "cg_vd_v": 8.18114662, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6561298, "cg_vq_v": -26.6561298, "cg_vu_v": 0, "cg_vv_v": 42.2296829, "cg_vw_v": 34.3116188, "control_outputs_enabled": 1, "dclink_i_a": 75.5440292, "dclink_p_w": 11331.8594, "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": 62.5105896, "temp_inv2_c": 61.1496887, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127498284, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1424.022949, "values": {"Elec_RPM": -13029.791, "EncoderCos": 36808, "EncoderSin": 11841, "GapTicks": 37543, "Mech_RPM": -2605.95825, "cg_du": 65.8696671, "cg_dv": 45.214325, "cg_dw": 34.1303329, "cg_id_a": 6.2414732, "cg_id_raw_a": 3.69165134, "cg_iq_a": 301.993591, "cg_iq_raw_a": 306.174866, "cg_iu_a": 101.163788, "cg_iv_a": -299.218811, "cg_iw_a": 198.055023, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 9142816, "cg_sample_valid": 1, "cg_theta_rad": 5.16460896, "cg_vd_req_v": 7.84914875, "cg_vd_v": 7.84914875, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8596363, "cg_vq_v": -26.8596363, "cg_vu_v": 0, "cg_vv_v": 45.3089333, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.9333267, "dclink_p_w": 11240.252, "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": 62.8815613, "temp_inv2_c": 61.1691284, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1425.040283, "values": {"Elec_RPM": -13031.5313, "EncoderCos": 16589, "EncoderSin": 46874, "GapTicks": 37307, "Mech_RPM": -2606.30615, "cg_du": 66.084465, "cg_dv": 48.3378983, "cg_dw": 33.915535, "cg_id_a": -3.43972349, "cg_id_raw_a": -1.20138216, "cg_iq_a": 300.084015, "cg_iq_raw_a": 298.369568, "cg_iu_a": -173.45575, "cg_iv_a": -128.256653, "cg_iw_a": 301.712402, "cg_sample_age_us": 23.9654541, "cg_sample_seq": 9147963, "cg_sample_valid": 1, "cg_theta_rad": 2.46114993, "cg_vd_req_v": 8.15931416, "cg_vd_v": 8.15931416, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6899471, "cg_vq_v": -26.6899471, "cg_vu_v": 150.883148, "cg_vv_v": 151.323044, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 75.5059738, "dclink_p_w": 11359.3643, "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": 62.8349915, "temp_inv2_c": 61.2775879, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129965663, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1426.057861, "values": {"Elec_RPM": -13018.1348, "EncoderCos": 31660, "EncoderSin": 54136, "GapTicks": 37382, "Mech_RPM": -2603.62695, "cg_du": 33.9844818, "cg_dv": 66.0155182, "cg_dw": 53.0941734, "cg_id_a": -2.67037249, "cg_id_raw_a": 5.56005049, "cg_iq_a": 300.812256, "cg_iq_raw_a": 302.531219, "cg_iu_a": 303.911774, "cg_iv_a": -130.829956, "cg_iw_a": -173.081818, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 9152963, "cg_sample_valid": 1, "cg_theta_rad": 1.66953516, "cg_vd_req_v": 8.18016624, "cg_vd_v": 8.18016624, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6867847, "cg_vq_v": -26.6867847, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 65.9838867, "control_outputs_enabled": 1, "dclink_i_a": 75.0366211, "dclink_p_w": 11255.7461, "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": 62.8815613, "temp_inv2_c": 61.1275024, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125635162, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1427.075195, "values": {"Elec_RPM": -12998.0518, "EncoderCos": 44470, "EncoderSin": 14973, "GapTicks": 38149, "Mech_RPM": -2599.61035, "cg_du": 34.681366, "cg_dv": 65.318634, "cg_dw": 41.7076416, "cg_id_a": 6.22777462, "cg_id_raw_a": 9.94295883, "cg_iq_a": 300.93158, "cg_iq_raw_a": 301.613525, "cg_iu_a": 284.340118, "cg_iv_a": -221.040863, "cg_iw_a": -63.299263, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 9158112, "cg_sample_valid": 1, "cg_theta_rad": 5.35081244, "cg_vd_req_v": 7.89334774, "cg_vd_v": 7.89334774, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.824728, "cg_vq_v": -26.824728, "cg_vu_v": 77.8609848, "cg_vv_v": 122.290138, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.4642944, "dclink_p_w": 11353.0938, "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": 62.8815613, "temp_inv2_c": 61.2163391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132181272, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1428.125488, "values": {"Elec_RPM": -12972.5137, "EncoderCos": 12355, "EncoderSin": 26096, "GapTicks": 37490, "Mech_RPM": -2594.50269, "cg_du": 65.9178009, "cg_dv": 34.0821991, "cg_dw": 52.995285, "cg_id_a": -10.8750687, "cg_id_raw_a": -5.48869324, "cg_iq_a": 290.797852, "cg_iq_raw_a": 288.385101, "cg_iu_a": -287.00769, "cg_iv_a": 161.911499, "cg_iw_a": 125.096184, "cg_sample_age_us": 24.1072731, "cg_sample_seq": 9163363, "cg_sample_valid": 1, "cg_theta_rad": 3.49712086, "cg_vd_req_v": 8.2348938, "cg_vd_v": 8.2348938, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5676403, "cg_vq_v": -26.5676403, "cg_vu_v": 151.762939, "cg_vv_v": 122.290138, "cg_vw_v": 84.8992691, "control_outputs_enabled": 1, "dclink_i_a": 76.1801147, "dclink_p_w": 11460.7842, "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": 62.8815613, "temp_inv2_c": 61.2831421, "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": 0.12654154, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1429.08667, "values": {"Elec_RPM": -12989.5518, "EncoderCos": 44466, "EncoderSin": 50531, "GapTicks": 37298, "Mech_RPM": -2597.9104, "cg_du": 66.0922852, "cg_dv": 33.9077148, "cg_dw": 47.5745697, "cg_id_a": -0.687986553, "cg_id_raw_a": 6.03002071, "cg_iq_a": 304.147186, "cg_iq_raw_a": 307.194427, "cg_iu_a": -308.971436, "cg_iv_a": 136.613281, "cg_iw_a": 172.358154, "cg_sample_age_us": 23.8854542, "cg_sample_seq": 9168162, "cg_sample_valid": 1, "cg_theta_rad": 1.02415955, "cg_vd_req_v": 8.13650799, "cg_vd_v": 8.13650799, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7693863, "cg_vq_v": -26.7693863, "cg_vu_v": 47.9482918, "cg_vv_v": 1.31967759, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.245018, "dclink_p_w": 11320.1055, "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": 62.8815613, "temp_inv2_c": 61.1385803, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127045095, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1429.927979, "values": {"Elec_RPM": -12980.7139, "EncoderCos": 52113, "EncoderSin": 41322, "GapTicks": 38523, "Mech_RPM": -2596.14282, "cg_du": 35.0214157, "cg_dv": 64.9785843, "cg_dw": 60.5687447, "cg_id_a": 2.66473818, "cg_id_raw_a": -7.22138357, "cg_iq_a": 305.25708, "cg_iq_raw_a": 301.281067, "cg_iu_a": 285.318726, "cg_iv_a": -43.5910645, "cg_iw_a": -241.727661, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 9172462, "cg_sample_valid": 1, "cg_theta_rad": 0.457659096, "cg_vd_req_v": 8.01947117, "cg_vd_v": 8.01947117, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8420525, "cg_vq_v": -26.8420525, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 48.3881836, "control_outputs_enabled": 1, "dclink_i_a": 74.8554001, "dclink_p_w": 11261.4902, "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": 62.8815613, "temp_inv2_c": 61.171875, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132835895, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1430.945313, "values": {"Elec_RPM": -12996.4561, "EncoderCos": 52312, "EncoderSin": 24572, "GapTicks": 39466, "Mech_RPM": -2599.29126, "cg_du": 64.1210785, "cg_dv": 35.8789253, "cg_dw": 63.3692131, "cg_id_a": 9.44124699, "cg_id_raw_a": 0.16853027, "cg_iq_a": 307.039612, "cg_iq_raw_a": 301.923096, "cg_iu_a": -264.790222, "cg_iv_a": 271.440369, "cg_iw_a": -6.65016174, "cg_sample_age_us": 23.6054554, "cg_sample_seq": 9177462, "cg_sample_valid": 1, "cg_theta_rad": 5.93939209, "cg_vd_req_v": 7.83726835, "cg_vd_v": 7.83726835, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.920311, "cg_vq_v": -26.920311, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 75.9880219, "dclink_p_w": 11431.8848, "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": 62.8815613, "temp_inv2_c": 61.1691284, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133943692, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1431.962769, "values": {"Elec_RPM": -13003.2051, "EncoderCos": 52687, "EncoderSin": 25760, "GapTicks": 37605, "Mech_RPM": -2600.64111, "cg_du": 65.8129044, "cg_dv": 34.1870956, "cg_dw": 55.6972008, "cg_id_a": 5.87826443, "cg_id_raw_a": 0.839321434, "cg_iq_a": 307.659424, "cg_iq_raw_a": 304.364136, "cg_iu_a": -306.398132, "cg_iv_a": 217.002121, "cg_iw_a": 89.3960114, "cg_sample_age_us": 24.2054539, "cg_sample_seq": 9182562, "cg_sample_valid": 1, "cg_theta_rad": 5.98853207, "cg_vd_req_v": 7.93959713, "cg_vd_v": 7.93959713, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.910902, "cg_vq_v": -26.910902, "cg_vu_v": 73.462059, "cg_vv_v": 22.4345207, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 76.2815933, "dclink_p_w": 11442.4961, "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": 62.9282227, "temp_inv2_c": 61.1469116, "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": 0.129512474, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1432.980225, "values": {"Elec_RPM": -13003.1035, "EncoderCos": 11623, "EncoderSin": 29494, "GapTicks": 37585, "Mech_RPM": -2600.62061, "cg_du": 53.3625679, "cg_dv": 34.1689415, "cg_dw": 65.8310623, "cg_id_a": -6.5714097, "cg_id_raw_a": -3.07511115, "cg_iq_a": 287.217957, "cg_iq_raw_a": 286.339783, "cg_iu_a": -100.895584, "cg_iv_a": 286.662781, "cg_iw_a": -185.767181, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 9187712, "cg_sample_valid": 1, "cg_theta_rad": 3.28712749, "cg_vd_req_v": 8.19952869, "cg_vd_v": 8.19952869, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4661865, "cg_vq_v": -26.4661865, "cg_vu_v": 139.885834, "cg_vv_v": 73.462059, "cg_vw_v": 106.893898, "control_outputs_enabled": 1, "dclink_i_a": 76.355896, "dclink_p_w": 11487.2295, "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": 62.9282227, "temp_inv2_c": 61.2747803, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130167097, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1433.997681, "values": {"Elec_RPM": -12995.9746, "EncoderCos": 53377, "EncoderSin": 28102, "GapTicks": 38358, "Mech_RPM": -2599.19482, "cg_du": 65.1287766, "cg_dv": 34.8712273, "cg_dw": 39.7892952, "cg_id_a": -1.95590138, "cg_id_raw_a": -0.573767722, "cg_iq_a": 312.582703, "cg_iq_raw_a": 315.635956, "cg_iu_a": -305.45578, "cg_iv_a": 122.369476, "cg_iw_a": 183.086304, "cg_sample_age_us": 24.0418186, "cg_sample_seq": 9192762, "cg_sample_valid": 1, "cg_theta_rad": 6.06455326, "cg_vd_req_v": 8.08817291, "cg_vd_v": 8.08817291, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0214806, "cg_vq_v": -27.0214806, "cg_vu_v": 71.2625961, "cg_vv_v": 35.6312981, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.8445282, "dclink_p_w": 11226.9316, "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": 62.8815613, "temp_inv2_c": 61.1941223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129361406, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1435.035034, "values": {"Elec_RPM": -13001.6367, "EncoderCos": 51961, "EncoderSin": 23787, "GapTicks": 38249, "Mech_RPM": -2600.32739, "cg_du": 59.5291824, "cg_dv": 34.7719307, "cg_dw": 65.2280731, "cg_id_a": 7.08971596, "cg_id_raw_a": 16.5457191, "cg_iq_a": 306.771942, "cg_iq_raw_a": 311.800934, "cg_iu_a": -286.319031, "cg_iv_a": 133.605042, "cg_iw_a": 180.368042, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 9197867, "cg_sample_valid": 1, "cg_theta_rad": 6.1013751, "cg_vd_req_v": 7.87559891, "cg_vd_v": 7.87559891, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9165001, "cg_vq_v": -26.9165001, "cg_vu_v": 123.169922, "cg_vv_v": 111.292824, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": 75.4570465, "dclink_p_w": 11352.0039, "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": 62.9749146, "temp_inv2_c": 61.1358032, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1436.052612, "values": {"Elec_RPM": -12999.8926, "EncoderCos": 53638, "EncoderSin": 29406, "GapTicks": 38381, "Mech_RPM": -2599.97852, "cg_du": 65.1073456, "cg_dv": 39.7229309, "cg_dw": 34.8926506, "cg_id_a": 11.0265102, "cg_id_raw_a": -2.17098832, "cg_iq_a": 315.780823, "cg_iq_raw_a": 308.772919, "cg_iu_a": -259.716064, "cg_iv_a": -26.4839478, "cg_iw_a": 286.200012, "cg_sample_age_us": 24.1472721, "cg_sample_seq": 9202963, "cg_sample_valid": 1, "cg_theta_rad": 6.16315746, "cg_vd_req_v": 7.81990099, "cg_vd_v": 7.81990099, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0894966, "cg_vq_v": -27.0894966, "cg_vu_v": 152.202835, "cg_vv_v": 150.443253, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": 73.5886765, "dclink_p_w": 11070.9199, "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": 62.9282227, "temp_inv2_c": 61.1275024, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130519569, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1437.069946, "values": {"Elec_RPM": -12998.3125, "EncoderCos": 14331, "EncoderSin": 43535, "GapTicks": 37592, "Mech_RPM": -2599.6626, "cg_du": 54.6291389, "cg_dv": 65.8246613, "cg_dw": 34.1753387, "cg_id_a": 5.61465025, "cg_id_raw_a": 4.58187008, "cg_iq_a": 297.903259, "cg_iq_raw_a": 298.518188, "cg_iu_a": 100.91008, "cg_iv_a": -286.569702, "cg_iw_a": 185.659622, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 9208013, "cg_sample_valid": 1, "cg_theta_rad": 2.64718127, "cg_vd_req_v": 7.95994186, "cg_vd_v": 7.95994186, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6338692, "cg_vq_v": -26.6338692, "cg_vu_v": 107.333786, "cg_vv_v": 151.762939, "cg_vw_v": 129.768311, "control_outputs_enabled": 1, "dclink_i_a": 75.487854, "dclink_p_w": 11389.8447, "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": 62.9282227, "temp_inv2_c": 61.171875, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127649337, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1438.115601, "values": {"Elec_RPM": -12991.0664, "EncoderCos": 13399, "EncoderSin": 23657, "GapTicks": 39725, "Mech_RPM": -2598.21338, "cg_du": 63.8855171, "cg_dv": 36.1144829, "cg_dw": 36.3341064, "cg_id_a": -14.3244238, "cg_id_raw_a": -12.1447601, "cg_iq_a": 290.189484, "cg_iq_raw_a": 297.00354, "cg_iu_a": -253.772079, "cg_iv_a": -0.0984344482, "cg_iw_a": 253.870514, "cg_sample_age_us": 24.0781822, "cg_sample_seq": 9213212, "cg_sample_valid": 1, "cg_theta_rad": 3.62283993, "cg_vd_req_v": 8.31649685, "cg_vd_v": 8.31649685, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5528164, "cg_vq_v": -26.5528164, "cg_vu_v": 40.0302238, "cg_vv_v": 34.7515144, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.0547409, "dclink_p_w": 11324.4951, "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": 62.9749146, "temp_inv2_c": 61.1691284, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128253594, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1439.081421, "values": {"Elec_RPM": -12989.0322, "EncoderCos": 26176, "EncoderSin": 12417, "GapTicks": 39036, "Mech_RPM": -2597.8064, "cg_du": 35.4881287, "cg_dv": 38.1004219, "cg_dw": 64.5118713, "cg_id_a": -8.05537319, "cg_id_raw_a": -3.94584537, "cg_iq_a": 293.650787, "cg_iq_raw_a": 300.182678, "cg_iu_a": -281.244904, "cg_iv_a": 274.339874, "cg_iw_a": -27.7078247, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 9218066, "cg_sample_valid": 1, "cg_theta_rad": 4.70480728, "cg_vd_req_v": 8.13284492, "cg_vd_v": 8.13284492, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6799049, "cg_vq_v": -26.6799049, "cg_vu_v": 131.967773, "cg_vv_v": 100.735397, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 75.2069626, "dclink_p_w": 11314.3799, "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": 62.9282227, "temp_inv2_c": 61.171875, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129915312, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1439.922729, "values": {"Elec_RPM": -12991.1436, "EncoderCos": 18731, "EncoderSin": 16551, "GapTicks": 39700, "Mech_RPM": -2598.22876, "cg_du": 36.3373451, "cg_dv": 63.9087524, "cg_dw": 36.0912476, "cg_id_a": -2.48526192, "cg_id_raw_a": -10.9693441, "cg_iq_a": 290.993958, "cg_iq_raw_a": 286.474884, "cg_iu_a": 247.733841, "cg_iv_a": -259.169373, "cg_iw_a": 11.4355164, "cg_sample_age_us": 23.9581814, "cg_sample_seq": 9222363, "cg_sample_valid": 1, "cg_theta_rad": 4.04107857, "cg_vd_req_v": 8.05566311, "cg_vd_v": 8.05566311, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5833511, "cg_vq_v": -26.5833511, "cg_vu_v": 73.9019547, "cg_vv_v": 113.492287, "cg_vw_v": 111.732712, "control_outputs_enabled": 1, "dclink_i_a": 75.1181641, "dclink_p_w": 11301.0205, "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": 62.9282227, "temp_inv2_c": 61.2358093, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131526664, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1440.940063, "values": {"Elec_RPM": -13000.4199, "EncoderCos": 37233, "EncoderSin": 53582, "GapTicks": 37525, "Mech_RPM": -2600.08398, "cg_du": 54.5772057, "cg_dv": 65.8854904, "cg_dw": 34.1145096, "cg_id_a": 7.91466999, "cg_id_raw_a": 7.60694408, "cg_iq_a": 304.0849, "cg_iq_raw_a": 305.266449, "cg_iu_a": 99.8590088, "cg_iv_a": -292.11499, "cg_iw_a": 262.09787, "cg_sample_age_us": 23.8199997, "cg_sample_seq": 9227513, "cg_sample_valid": 1, "cg_theta_rad": 1.38043809, "cg_vd_req_v": 7.95678091, "cg_vd_v": 7.95678091, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7342892, "cg_vq_v": -26.7342892, "cg_vu_v": 109.533249, "cg_vv_v": 151.323044, "cg_vw_v": 119.650772, "control_outputs_enabled": 1, "dclink_i_a": 75.1290436, "dclink_p_w": 11302.6572, "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": 62.9749146, "temp_inv2_c": 61.2163391, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129159987, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1441.95752, "values": {"Elec_RPM": -13001.9063, "EncoderCos": 50832, "EncoderSin": 43765, "GapTicks": 37219, "Mech_RPM": -2600.38135, "cg_du": 33.8357887, "cg_dv": 50.5084114, "cg_dw": 66.1642151, "cg_id_a": 7.6095686, "cg_id_raw_a": 8.21813965, "cg_iq_a": 311.498932, "cg_iq_raw_a": 305.864838, "cg_iu_a": 160.204987, "cg_iv_a": 144.188263, "cg_iw_a": -304.39325, "cg_sample_age_us": 23.5618191, "cg_sample_seq": 9232513, "cg_sample_valid": 1, "cg_theta_rad": 0.583091021, "cg_vd_req_v": 7.96583843, "cg_vd_v": 7.96583843, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9312077, "cg_vq_v": -26.9312077, "cg_vu_v": 124.049698, "cg_vv_v": 84.0194778, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.8955994, "dclink_p_w": 11417.9805, "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": 62.9749146, "temp_inv2_c": 61.1941223, "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": 0.131174177, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1442.974854, "values": {"Elec_RPM": -13017.3145, "EncoderCos": 22664, "EncoderSin": 13892, "GapTicks": 39169, "Mech_RPM": -2603.46289, "cg_du": 35.6084518, "cg_dv": 62.3338814, "cg_dw": 64.3915482, "cg_id_a": -3.73134947, "cg_id_raw_a": -19.0556583, "cg_iq_a": 295.980469, "cg_iq_raw_a": 294.095245, "cg_iu_a": 253.641586, "cg_iv_a": 14.2541046, "cg_iw_a": -267.895691, "cg_sample_age_us": 23.8163643, "cg_sample_seq": 9237662, "cg_sample_valid": 1, "cg_theta_rad": 4.27094126, "cg_vd_req_v": 8.09850693, "cg_vd_v": 8.09850693, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6920738, "cg_vq_v": -26.6920738, "cg_vu_v": 113.052383, "cg_vv_v": 104.254532, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 75.5603409, "dclink_p_w": 11367.543, "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": 62.9749146, "temp_inv2_c": 61.2608643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126894027, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1443.992432, "values": {"Elec_RPM": -13009.5, "EncoderCos": 23765, "EncoderSin": 13360, "GapTicks": 37585, "Mech_RPM": -2601.8999, "cg_du": 34.1688652, "cg_dv": 54.7275429, "cg_dw": 65.831131, "cg_id_a": -5.03992367, "cg_id_raw_a": -11.2839632, "cg_iq_a": 295.368713, "cg_iq_raw_a": 295.916931, "cg_iu_a": 198.949646, "cg_iv_a": 101.130554, "cg_iw_a": -261.806763, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9242762, "cg_sample_valid": 1, "cg_theta_rad": 4.31248665, "cg_vd_req_v": 8.10761166, "cg_vd_v": 8.10761166, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7034302, "cg_vq_v": -26.7034302, "cg_vu_v": 37.830761, "cg_vv_v": 35.6312981, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 75.4769821, "dclink_p_w": 11321.8018, "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": 62.9282227, "temp_inv2_c": 61.1885681, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132785529, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1445.009766, "values": {"Elec_RPM": -13020.0576, "EncoderCos": 47900, "EncoderSin": 47585, "GapTicks": 37335, "Mech_RPM": -2604.01147, "cg_du": 51.9405365, "cg_dv": 33.9412155, "cg_dw": 66.0587845, "cg_id_a": 4.15319443, "cg_id_raw_a": 11.0098925, "cg_iq_a": 304.381378, "cg_iq_raw_a": 304.909943, "cg_iu_a": -170.483749, "cg_iv_a": 296.557312, "cg_iw_a": -126.073578, "cg_sample_age_us": 23.7690907, "cg_sample_seq": 9247812, "cg_sample_valid": 1, "cg_theta_rad": 0.800347626, "cg_vd_req_v": 8.0727911, "cg_vd_v": 8.0727911, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7740707, "cg_vq_v": -26.7740707, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": 75.2504578, "dclink_p_w": 11287.8223, "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": 63.068512, "temp_inv2_c": 61.1607666, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12780042, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1446.047363, "values": {"Elec_RPM": -13008.3184, "EncoderCos": 31304, "EncoderSin": 54004, "GapTicks": 37637, "Mech_RPM": -2601.66357, "cg_du": 34.216156, "cg_dv": 65.783844, "cg_dw": 55.3954086, "cg_id_a": 2.08964872, "cg_id_raw_a": 11.9750786, "cg_iq_a": 300.740997, "cg_iq_raw_a": 306.221069, "cg_iu_a": 296.844238, "cg_iv_a": -165.261597, "cg_iw_a": -132.488739, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 9253013, "cg_sample_valid": 1, "cg_theta_rad": 1.66326272, "cg_vd_req_v": 8.13035965, "cg_vd_v": 8.13035965, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6539249, "cg_vq_v": -26.6539249, "cg_vu_v": 109.093361, "cg_vv_v": 150.443253, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.7850571, "dclink_p_w": 11368.0137, "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": 62.9749146, "temp_inv2_c": 61.0609741, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130217448, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1447.064697, "values": {"Elec_RPM": -13003.2969, "EncoderCos": 46128, "EncoderSin": 49215, "GapTicks": 38820, "Mech_RPM": -2600.65942, "cg_du": 64.7085724, "cg_dv": 35.2914238, "cg_dw": 61.1835632, "cg_id_a": 5.36078548, "cg_id_raw_a": -5.25351381, "cg_iq_a": 302.540588, "cg_iq_raw_a": 296.205139, "cg_iu_a": -277.221832, "cg_iv_a": 254.04332, "cg_iw_a": 23.1785126, "cg_sample_age_us": 23.4745445, "cg_sample_seq": 9258012, "cg_sample_valid": 1, "cg_theta_rad": 0.930765986, "cg_vd_req_v": 8.02253628, "cg_vd_v": 8.02253628, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7267532, "cg_vq_v": -26.7267532, "cg_vu_v": 68.6232376, "cg_vv_v": 0, "cg_vw_v": 0.43989256, "control_outputs_enabled": 1, "dclink_i_a": 76.1366196, "dclink_p_w": 11420.75, "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": 63.021698, "temp_inv2_c": 61.1802063, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129109636, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1448.110352, "values": {"Elec_RPM": -12981.2344, "EncoderCos": 45609, "EncoderSin": 15938, "GapTicks": 37289, "Mech_RPM": -2596.24683, "cg_du": 33.8995285, "cg_dv": 66.1004715, "cg_dw": 51.4646378, "cg_id_a": -0.411410332, "cg_id_raw_a": 0.836258948, "cg_iq_a": 301.714294, "cg_iq_raw_a": 296.860779, "cg_iu_a": 299.598755, "cg_iv_a": -126.661896, "cg_iw_a": -172.936859, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 9263262, "cg_sample_valid": 1, "cg_theta_rad": 5.41850471, "cg_vd_req_v": 8.02591705, "cg_vd_v": 8.02591705, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8332062, "cg_vq_v": -26.8332062, "cg_vu_v": 0, "cg_vv_v": 30.3525867, "cg_vw_v": 51.0275345, "control_outputs_enabled": 1, "dclink_i_a": 74.9641342, "dclink_p_w": 11277.8486, "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": 62.9282227, "temp_inv2_c": 61.2385864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127246514, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1449.076172, "values": {"Elec_RPM": -12989.5068, "EncoderCos": 53795, "EncoderSin": 34412, "GapTicks": 37792, "Mech_RPM": -2597.90137, "cg_du": 56.8259659, "cg_dv": 65.6430893, "cg_dw": 34.3569107, "cg_id_a": 14.2035351, "cg_id_raw_a": 15.2934752, "cg_iq_a": 305.648651, "cg_iq_raw_a": 308.70575, "cg_iu_a": 74.1621323, "cg_iv_a": -286.171021, "cg_iw_a": 212.008881, "cg_sample_age_us": 23.4709091, "cg_sample_seq": 9268113, "cg_sample_valid": 1, "cg_theta_rad": 0.109923422, "cg_vd_req_v": 7.76658773, "cg_vd_v": 7.76658773, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.840786, "cg_vq_v": -26.840786, "cg_vu_v": 110.413033, "cg_vv_v": 151.762939, "cg_vw_v": 115.251846, "control_outputs_enabled": 1, "dclink_i_a": 75.3175049, "dclink_p_w": 11297.8799, "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": 62.9282227, "temp_inv2_c": 61.2247009, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130670637, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1449.91748, "values": {"Elec_RPM": -13005.8438, "EncoderCos": 18887, "EncoderSin": 49052, "GapTicks": 37853, "Mech_RPM": -2601.1687, "cg_du": 65.5876389, "cg_dv": 34.4123611, "cg_dw": 42.8399467, "cg_id_a": -16.6164341, "cg_id_raw_a": -14.1768064, "cg_iq_a": 298.342682, "cg_iq_raw_a": 300.507477, "cg_iu_a": -295.017578, "cg_iv_a": 142.883499, "cg_iw_a": 152.134079, "cg_sample_age_us": 23.9036369, "cg_sample_seq": 9272362, "cg_sample_valid": 1, "cg_theta_rad": 2.26695418, "cg_vd_req_v": 8.48684406, "cg_vd_v": 8.48684406, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6119957, "cg_vq_v": -26.6119957, "cg_vu_v": 142.085297, "cg_vv_v": 107.333786, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 75.6962585, "dclink_p_w": 11354.6943, "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": 4999, "hz_vsense": 2602, "pwm_moe": 1, "temp_inv1_c": 62.9749146, "temp_inv2_c": 61.2385864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128757149, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1450.934937, "values": {"Elec_RPM": -13016.9336, "EncoderCos": 37197, "EncoderSin": 12001, "GapTicks": 37322, "Mech_RPM": -2603.38672, "cg_du": 66.0707932, "cg_dv": 48.0050888, "cg_dw": 33.9292068, "cg_id_a": 5.27098322, "cg_id_raw_a": 5.44526196, "cg_iq_a": 303.095093, "cg_iq_raw_a": 306.137085, "cg_iu_a": -106.803329, "cg_iv_a": -189.472488, "cg_iw_a": 296.275818, "cg_sample_age_us": 23.9763641, "cg_sample_seq": 9277414, "cg_sample_valid": 1, "cg_theta_rad": 5.02921629, "cg_vd_req_v": 7.91905546, "cg_vd_v": 7.91905546, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8456459, "cg_vq_v": -26.8456459, "cg_vu_v": 122.730026, "cg_vv_v": 151.762939, "cg_vw_v": 103.374756, "control_outputs_enabled": 1, "dclink_i_a": 76.0260773, "dclink_p_w": 11437.6104, "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": 63.021698, "temp_inv2_c": 61.1941223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131375596, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1451.952271, "values": {"Elec_RPM": -13014.4092, "EncoderCos": 52766, "EncoderSin": 26017, "GapTicks": 37460, "Mech_RPM": -2602.88184, "cg_du": 65.9450912, "cg_dv": 34.0549088, "cg_dw": 53.9315567, "cg_id_a": 5.57000446, "cg_id_raw_a": 5.0233407, "cg_iq_a": 307.759338, "cg_iq_raw_a": 304.147766, "cg_iu_a": -311.834717, "cg_iv_a": 204.389282, "cg_iw_a": 22.8885651, "cg_sample_age_us": 24.1945457, "cg_sample_seq": 9282612, "cg_sample_valid": 1, "cg_theta_rad": 5.99292994, "cg_vd_req_v": 7.96327734, "cg_vd_v": 7.96327734, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9067192, "cg_vq_v": -26.9067192, "cg_vu_v": 76.9812012, "cg_vv_v": 40.0302238, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.2613297, "dclink_p_w": 11289.4531, "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": 62.9749146, "temp_inv2_c": 61.2385864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132281989, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1452.969727, "values": {"Elec_RPM": -13012.625, "EncoderCos": 40592, "EncoderSin": 13043, "GapTicks": 38046, "Mech_RPM": -2602.5249, "cg_du": 57.600174, "cg_dv": 65.4121933, "cg_dw": 34.5878067, "cg_id_a": 7.60227156, "cg_id_raw_a": 7.09005737, "cg_iq_a": 299.557037, "cg_iq_raw_a": 300.396606, "cg_iu_a": 67.7469711, "cg_iv_a": -282.002991, "cg_iw_a": 214.256012, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 9287613, "cg_sample_valid": 1, "cg_theta_rad": 5.14816713, "cg_vd_req_v": 7.90297699, "cg_vd_v": 7.90297699, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7770596, "cg_vq_v": -26.7770596, "cg_vu_v": 100.735397, "cg_vv_v": 152.202835, "cg_vw_v": 124.929489, "control_outputs_enabled": 1, "dclink_i_a": 74.1232758, "dclink_p_w": 11183.9531, "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": 62.9749146, "temp_inv2_c": 61.2608643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129361406, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1453.987183, "values": {"Elec_RPM": -13004.1807, "EncoderCos": 41698, "EncoderSin": 13540, "GapTicks": 37318, "Mech_RPM": -2600.83618, "cg_du": 49.7986984, "cg_dv": 66.0743637, "cg_dw": 33.9256363, "cg_id_a": 9.57013702, "cg_id_raw_a": 12.7042847, "cg_iq_a": 300.869446, "cg_iq_raw_a": 299.870087, "cg_iu_a": 147.737106, "cg_iv_a": -294.325867, "cg_iw_a": 227.195068, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 9292713, "cg_sample_valid": 1, "cg_theta_rad": 5.18710041, "cg_vd_req_v": 7.8431344, "cg_vd_v": 7.8431344, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8005543, "cg_vq_v": -26.8005543, "cg_vu_v": 108.21357, "cg_vv_v": 152.202835, "cg_vw_v": 148.24379, "control_outputs_enabled": 1, "dclink_i_a": 75.1797791, "dclink_p_w": 11310.29, "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": 63.021698, "temp_inv2_c": 61.3444824, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12830396, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1455.004517, "values": {"Elec_RPM": -13007.4453, "EncoderCos": 42751, "EncoderSin": 14068, "GapTicks": 38113, "Mech_RPM": -2601.48901, "cg_du": 41.9928398, "cg_dv": 65.3511505, "cg_dw": 34.6488495, "cg_id_a": 2.12854719, "cg_id_raw_a": 0.0250428002, "cg_iq_a": 295.026306, "cg_iq_raw_a": 291.104431, "cg_iu_a": 213.265961, "cg_iv_a": -279.900848, "cg_iw_a": 66.6348801, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 9297813, "cg_sample_valid": 1, "cg_theta_rad": 5.26122618, "cg_vd_req_v": 8.00463867, "cg_vd_v": 8.00463867, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6754169, "cg_vq_v": -26.6754169, "cg_vu_v": 91.9375458, "cg_vv_v": 135.047012, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 75.060173, "dclink_p_w": 11325.3154, "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": 62.9749146, "temp_inv2_c": 61.1941223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133389801, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1456.022095, "values": {"Elec_RPM": -13008.1104, "EncoderCos": 29966, "EncoderSin": 53850, "GapTicks": 39584, "Mech_RPM": -2601.62207, "cg_du": 35.9858627, "cg_dv": 64.0141373, "cg_dw": 63.8377914, "cg_id_a": -7.67290163, "cg_id_raw_a": 2.78330207, "cg_iq_a": 302.258301, "cg_iq_raw_a": 304.513977, "cg_iu_a": 267.559204, "cg_iv_a": -11.9863892, "cg_iw_a": -255.572815, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 9302863, "cg_sample_valid": 1, "cg_theta_rad": 1.72718358, "cg_vd_req_v": 8.32127953, "cg_vd_v": 8.32127953, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6732807, "cg_vq_v": -26.6732807, "cg_vu_v": 107.333786, "cg_vv_v": 122.730026, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.669075, "dclink_p_w": 11383.9014, "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": 62.9749146, "temp_inv2_c": 61.2580566, "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": 0.133289069, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1457.059448, "values": {"Elec_RPM": -13009.5703, "EncoderCos": 53893, "EncoderSin": 31927, "GapTicks": 37231, "Mech_RPM": -2601.91406, "cg_du": 66.1529083, "cg_dv": 48.6182022, "cg_dw": 33.8470917, "cg_id_a": 11.1379318, "cg_id_raw_a": 6.70841885, "cg_iq_a": 312.200531, "cg_iq_raw_a": 310.412872, "cg_iu_a": -187.844543, "cg_iv_a": -125.61084, "cg_iw_a": 313.455383, "cg_sample_age_us": 24.0672722, "cg_sample_seq": 9308113, "cg_sample_valid": 1, "cg_theta_rad": 6.24097109, "cg_vd_req_v": 7.82391167, "cg_vd_v": 7.82391167, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9831314, "cg_vq_v": -26.9831314, "cg_vu_v": 110.852921, "cg_vv_v": 113.492287, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": 74.7013626, "dclink_p_w": 11238.3164, "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": 63.021698, "temp_inv2_c": 61.1469116, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129311055, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1458.096069, "values": {"Elec_RPM": -12998.3799, "EncoderCos": 46644, "EncoderSin": 16764, "GapTicks": 38397, "Mech_RPM": -2599.67603, "cg_du": 34.9066582, "cg_dv": 65.093338, "cg_dw": 59.8781815, "cg_id_a": 2.99362659, "cg_id_raw_a": -6.08236885, "cg_iq_a": 304.593872, "cg_iq_raw_a": 299.978241, "cg_iu_a": 286.007324, "cg_iv_a": -50.0786743, "cg_iw_a": -235.92865, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9313112, "cg_sample_valid": 1, "cg_theta_rad": 5.46815157, "cg_vd_req_v": 7.95678139, "cg_vd_v": 7.95678139, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8759651, "cg_vq_v": -26.8759651, "cg_vu_v": 25.0738773, "cg_vv_v": 36.0711899, "cg_vw_v": 56.7461433, "control_outputs_enabled": 1, "dclink_i_a": 74.2211304, "dclink_p_w": 11133.4199, "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": 62.9749146, "temp_inv2_c": 61.3723755, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127548635, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1459.071045, "values": {"Elec_RPM": -12997.3838, "EncoderCos": 46760, "EncoderSin": 48596, "GapTicks": 38807, "Mech_RPM": -2599.47681, "cg_du": 61.4590683, "cg_dv": 35.2798462, "cg_dw": 64.7201538, "cg_id_a": 9.44794655, "cg_id_raw_a": 3.91692662, "cg_iq_a": 306.588684, "cg_iq_raw_a": 302.526489, "cg_iu_a": -280.483765, "cg_iv_a": 26.7582245, "cg_iw_a": 253.72554, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 9318066, "cg_sample_valid": 1, "cg_theta_rad": 1.08962941, "cg_vd_req_v": 7.93465424, "cg_vd_v": 7.93465424, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8036499, "cg_vq_v": -26.8036499, "cg_vu_v": 72.1423798, "cg_vv_v": 75.2216263, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.4280548, "dclink_p_w": 11314.4629, "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": 63.021698, "temp_inv2_c": 61.4170837, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131274894, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1459.912231, "values": {"Elec_RPM": -13006.7832, "EncoderCos": 51828, "EncoderSin": 41638, "GapTicks": 39268, "Mech_RPM": -2601.35669, "cg_du": 35.6985741, "cg_dv": 64.3014297, "cg_dw": 63.0156822, "cg_id_a": 0.180541754, "cg_id_raw_a": 10.5802507, "cg_iq_a": 307.01767, "cg_iq_raw_a": 310.23233, "cg_iu_a": 276.982605, "cg_iv_a": -24.5267639, "cg_iw_a": -252.455841, "cg_sample_age_us": 23.5436363, "cg_sample_seq": 9322363, "cg_sample_valid": 1, "cg_theta_rad": 0.474962801, "cg_vd_req_v": 8.10581493, "cg_vd_v": 8.10581493, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8687668, "cg_vq_v": -26.8687668, "cg_vu_v": 95.8965836, "cg_vv_v": 113.052383, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 76.1293716, "dclink_p_w": 11419.6621, "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": 63.068512, "temp_inv2_c": 61.3054504, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1460.929688, "values": {"Elec_RPM": -12998.7422, "EncoderCos": 50729, "EncoderSin": 43768, "GapTicks": 37273, "Mech_RPM": -2599.74854, "cg_du": 33.8847122, "cg_dv": 50.1258011, "cg_dw": 66.1152878, "cg_id_a": 8.37910843, "cg_id_raw_a": 15.2023544, "cg_iq_a": 308.22934, "cg_iq_raw_a": 312.92804, "cg_iu_a": 176.043549, "cg_iv_a": 65.3216705, "cg_iw_a": -287.431122, "cg_sample_age_us": 23.5290909, "cg_sample_seq": 9327462, "cg_sample_valid": 1, "cg_theta_rad": 0.572408319, "cg_vd_req_v": 7.94715548, "cg_vd_v": 7.94715548, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8435764, "cg_vq_v": -26.8435764, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 65.5439911, "control_outputs_enabled": 1, "dclink_i_a": 75.3773117, "dclink_p_w": 11306.8506, "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": 62.9282227, "temp_inv2_c": 61.2636414, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129663542, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1461.947021, "values": {"Elec_RPM": -12995.1152, "EncoderCos": 52730, "EncoderSin": 26107, "GapTicks": 37348, "Mech_RPM": -2599.02295, "cg_du": 66.0470734, "cg_dv": 33.9529266, "cg_dw": 53.5901222, "cg_id_a": 10.1722317, "cg_id_raw_a": 12.1182022, "cg_iq_a": 312.310181, "cg_iq_raw_a": 310.501678, "cg_iu_a": -315.749023, "cg_iv_a": 128.494659, "cg_iw_a": 187.254364, "cg_sample_age_us": 24.1909084, "cg_sample_seq": 9332463, "cg_sample_valid": 1, "cg_theta_rad": 6.0624795, "cg_vd_req_v": 7.83911228, "cg_vd_v": 7.83911228, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9928055, "cg_vq_v": -26.9928055, "cg_vu_v": 42.6695786, "cg_vv_v": 0.87978512, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.4661102, "dclink_p_w": 11353.3672, "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": 62.9749146, "temp_inv2_c": 61.3835754, "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": 0.13610895, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1462.964355, "values": {"Elec_RPM": -12983.457, "EncoderCos": 50053, "EncoderSin": 44782, "GapTicks": 37870, "Mech_RPM": -2596.69141, "cg_du": 34.4275742, "cg_dv": 42.2091179, "cg_dw": 65.5724258, "cg_id_a": 8.87095833, "cg_id_raw_a": 4.69148064, "cg_iq_a": 312.336975, "cg_iq_raw_a": 303.866302, "cg_iu_a": 82.6069412, "cg_iv_a": 213.55896, "cg_iw_a": -296.165894, "cg_sample_age_us": 23.5618191, "cg_sample_seq": 9337663, "cg_sample_valid": 1, "cg_theta_rad": 0.63826263, "cg_vd_req_v": 7.93827391, "cg_vd_v": 7.93827391, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.929882, "cg_vq_v": -26.929882, "cg_vu_v": 148.683685, "cg_vv_v": 93.2572174, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.4316788, "dclink_p_w": 11315.0059, "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": 62.9282227, "temp_inv2_c": 61.2330322, "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": 0.138677046, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1463.981934, "values": {"Elec_RPM": -13004.0352, "EncoderCos": 53336, "EncoderSin": 28389, "GapTicks": 38800, "Mech_RPM": -2600.80713, "cg_du": 64.7266006, "cg_dv": 35.2733994, "cg_dw": 38.3404999, "cg_id_a": 10.1401815, "cg_id_raw_a": 2.76595092, "cg_iq_a": 312.873352, "cg_iq_raw_a": 307.71701, "cg_iu_a": -287.660065, "cg_iv_a": 45.7137604, "cg_iw_a": 241.946304, "cg_sample_age_us": 24.1727276, "cg_sample_seq": 9342663, "cg_sample_valid": 1, "cg_theta_rad": 6.11656761, "cg_vd_req_v": 7.89198017, "cg_vd_v": 7.89198017, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9987869, "cg_vq_v": -26.9987869, "cg_vu_v": 152.202835, "cg_vv_v": 149.123581, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 74.4893341, "dclink_p_w": 11206.418, "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": 62.9749146, "temp_inv2_c": 61.2525024, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129814595, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1464.999268, "values": {"Elec_RPM": -13023.0547, "EncoderCos": 53521, "EncoderSin": 29540, "GapTicks": 38252, "Mech_RPM": -2604.61084, "cg_du": 65.2253876, "cg_dv": 40.5550613, "cg_dw": 34.7746124, "cg_id_a": 9.51966858, "cg_id_raw_a": -5.45280647, "cg_iq_a": 312.152313, "cg_iq_raw_a": 304.990967, "cg_iu_a": -177.949982, "cg_iv_a": -130.213806, "cg_iw_a": 308.163788, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 9347763, "cg_sample_valid": 1, "cg_theta_rad": 6.22401333, "cg_vd_req_v": 7.89996624, "cg_vd_v": 7.89996624, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9606915, "cg_vq_v": -26.9606915, "cg_vu_v": 14.0765619, "cg_vv_v": 58.5057106, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.7502899, "dclink_p_w": 11245.6768, "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": 63.021698, "temp_inv2_c": 61.2608643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134044394, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1466.036743, "values": {"Elec_RPM": -13010.3027, "EncoderCos": 11831, "EncoderSin": 29109, "GapTicks": 37867, "Mech_RPM": -2602.06055, "cg_du": 56.0787201, "cg_dv": 34.4254227, "cg_dw": 65.5745773, "cg_id_a": -8.39175606, "cg_id_raw_a": -8.09916306, "cg_iq_a": 286.038391, "cg_iq_raw_a": 281.740814, "cg_iu_a": -283.274567, "cg_iv_a": 75.5424347, "cg_iw_a": 207.732132, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 9352916, "cg_sample_valid": 1, "cg_theta_rad": 3.5679512, "cg_vd_req_v": 8.25577736, "cg_vd_v": 8.25577736, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3918476, "cg_vq_v": -26.3918476, "cg_vu_v": 76.9812012, "cg_vv_v": 67.743454, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.2232742, "dclink_p_w": 11316.834, "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": 63.021698, "temp_inv2_c": 61.1941223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135907531, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1467.054199, "values": {"Elec_RPM": -13013.4873, "EncoderCos": 53361, "EncoderSin": 28489, "GapTicks": 39028, "Mech_RPM": -2602.69751, "cg_du": 64.5190887, "cg_dv": 35.4809074, "cg_dw": 37.6097679, "cg_id_a": 3.5278616, "cg_id_raw_a": 7.23791122, "cg_iq_a": 311.046661, "cg_iq_raw_a": 317.285828, "cg_iu_a": -32.5759621, "cg_iv_a": -250.760803, "cg_iw_a": 308.127563, "cg_sample_age_us": 24.0527267, "cg_sample_seq": 9357966, "cg_sample_valid": 1, "cg_theta_rad": 0.0473453365, "cg_vd_req_v": 8.0262146, "cg_vd_v": 8.0262146, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9473877, "cg_vq_v": -26.9473877, "cg_vu_v": 0.87978512, "cg_vv_v": 41.3499031, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.5241013, "dclink_p_w": 11362.0918, "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": 63.068512, "temp_inv2_c": 61.2747803, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132584125, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1468.095337, "values": {"Elec_RPM": -12990.1719, "EncoderCos": 47784, "EncoderSin": 47596, "GapTicks": 37313, "Mech_RPM": -2598.03442, "cg_du": 52.3156281, "cg_dv": 33.9211082, "cg_dw": 66.0788879, "cg_id_a": 14.54146, "cg_id_raw_a": 24.5334511, "cg_iq_a": 307.966797, "cg_iq_raw_a": 313.267609, "cg_iu_a": -272.80011, "cg_iv_a": 246.287155, "cg_iw_a": 26.5129547, "cg_sample_age_us": 23.6745453, "cg_sample_seq": 9363165, "cg_sample_valid": 1, "cg_theta_rad": 0.916283846, "cg_vd_req_v": 7.83586073, "cg_vd_v": 7.83586073, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8251514, "cg_vq_v": -26.8251514, "cg_vu_v": 135.486908, "cg_vv_v": 95.4566803, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 74.0163498, "dclink_p_w": 11102.7021, "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": 63.068512, "temp_inv2_c": 61.3193665, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128958568, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1469.045654, "values": {"Elec_RPM": -12997.6016, "EncoderCos": 25414, "EncoderSin": 52704, "GapTicks": 39269, "Mech_RPM": -2599.52026, "cg_du": 37.2215996, "cg_dv": 35.6995926, "cg_dw": 64.3004074, "cg_id_a": 3.49759936, "cg_id_raw_a": -10.7947683, "cg_iq_a": 303.502441, "cg_iq_raw_a": 299.235474, "cg_iu_a": 3.99406624, "cg_iv_a": 259.117432, "cg_iw_a": -263.111511, "cg_sample_age_us": 23.772728, "cg_sample_seq": 9368013, "cg_sample_valid": 1, "cg_theta_rad": 1.96444952, "cg_vd_req_v": 8.06723022, "cg_vd_v": 8.06723022, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6785927, "cg_vq_v": -26.6785927, "cg_vu_v": 145.164551, "cg_vv_v": 81.380127, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 75.5295334, "dclink_p_w": 11329.6846, "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": 63.068512, "temp_inv2_c": 61.411499, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12805219, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1470.083008, "values": {"Elec_RPM": -13016.7197, "EncoderCos": 48978, "EncoderSin": 19383, "GapTicks": 37392, "Mech_RPM": -2603.34399, "cg_du": 33.9928131, "cg_dv": 46.0826797, "cg_dw": 66.0071869, "cg_id_a": 7.74766302, "cg_id_raw_a": 10.3948727, "cg_iq_a": 309.324493, "cg_iq_raw_a": 314.83844, "cg_iu_a": 52.8507538, "cg_iv_a": 179.707245, "cg_iw_a": -314.650269, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 9373162, "cg_sample_valid": 1, "cg_theta_rad": 5.68550062, "cg_vd_req_v": 7.91236544, "cg_vd_v": 7.91236544, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9456882, "cg_vq_v": -26.9456882, "cg_vu_v": 149.563477, "cg_vv_v": 106.453995, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 76.3268967, "dclink_p_w": 11482.8662, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 63.021698, "temp_inv2_c": 61.3054504, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133842975, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1470.924438, "values": {"Elec_RPM": -13014.4531, "EncoderCos": 36092, "EncoderSin": 53694, "GapTicks": 37397, "Mech_RPM": -2602.89063, "cg_du": 46.9821091, "cg_dv": 66.0024796, "cg_dw": 33.9975204, "cg_id_a": 4.79505682, "cg_id_raw_a": 7.45792246, "cg_iq_a": 302.979828, "cg_iq_raw_a": 300.120422, "cg_iu_a": 175.789825, "cg_iv_a": -295.993103, "cg_iw_a": 120.20327, "cg_sample_age_us": 23.863636, "cg_sample_seq": 9377413, "cg_sample_valid": 1, "cg_theta_rad": 1.44417548, "cg_vd_req_v": 8.09152317, "cg_vd_v": 8.09152317, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6816025, "cg_vq_v": -26.6816025, "cg_vu_v": 107.333786, "cg_vv_v": 151.762939, "cg_vw_v": 148.24379, "control_outputs_enabled": 1, "dclink_i_a": 74.9296951, "dclink_p_w": 11305.6279, "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": 63.068512, "temp_inv2_c": 61.3640137, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133389801, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1471.941772, "values": {"Elec_RPM": -13026.7363, "EncoderCos": 34949, "EncoderSin": 53789, "GapTicks": 38583, "Mech_RPM": -2605.34717, "cg_du": 39.6945496, "cg_dv": 64.9245224, "cg_dw": 35.0754776, "cg_id_a": 4.48858404, "cg_id_raw_a": 1.2837981, "cg_iq_a": 300.468079, "cg_iq_raw_a": 297.620148, "cg_iu_a": 228.923294, "cg_iv_a": -279.900848, "cg_iw_a": 50.9775543, "cg_sample_age_us": 23.9072723, "cg_sample_seq": 9382513, "cg_sample_valid": 1, "cg_theta_rad": 1.50145066, "cg_vd_req_v": 8.10117149, "cg_vd_v": 8.10117149, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6239071, "cg_vq_v": -26.6239071, "cg_vu_v": 73.462059, "cg_vv_v": 113.492287, "cg_vw_v": 107.773682, "control_outputs_enabled": 1, "dclink_i_a": 75.2740173, "dclink_p_w": 11324.4678, "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": 63.021698, "temp_inv2_c": 61.3695984, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126994744, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1472.959351, "values": {"Elec_RPM": -12986.6211, "EncoderCos": 22689, "EncoderSin": 14033, "GapTicks": 39263, "Mech_RPM": -2597.32422, "cg_du": 35.6943169, "cg_dv": 62.4364548, "cg_dw": 64.305687, "cg_id_a": -5.87389565, "cg_id_raw_a": 3.51502466, "cg_iq_a": 291.669678, "cg_iq_raw_a": 295.558594, "cg_iu_a": 241.028732, "cg_iv_a": 15.5226593, "cg_iw_a": -256.551392, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9387563, "cg_sample_valid": 1, "cg_theta_rad": 4.264534, "cg_vd_req_v": 8.1734066, "cg_vd_v": 8.1734066, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5775833, "cg_vq_v": -26.5775833, "cg_vu_v": 73.9019547, "cg_vv_v": 73.9019547, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 74.4857101, "dclink_p_w": 11205.8721, "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": 63.1154175, "temp_inv2_c": 61.3165894, "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": 0.140590534, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1473.976685, "values": {"Elec_RPM": -12995.6094, "EncoderCos": 31477, "EncoderSin": 53881, "GapTicks": 37523, "Mech_RPM": -2599.12183, "cg_du": 34.1125832, "cg_dv": 65.8874207, "cg_dw": 54.4431725, "cg_id_a": -3.20095634, "cg_id_raw_a": -5.374053, "cg_iq_a": 302.23877, "cg_iq_raw_a": 296.156525, "cg_iu_a": 302.824463, "cg_iv_a": -189.218765, "cg_iw_a": -113.605698, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 9392712, "cg_sample_valid": 1, "cg_theta_rad": 1.62191319, "cg_vd_req_v": 8.23708248, "cg_vd_v": 8.23708248, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6300087, "cg_vq_v": -26.6300087, "cg_vu_v": 73.462059, "cg_vv_v": 109.093361, "cg_vw_v": 113.052383, "control_outputs_enabled": 1, "dclink_i_a": 74.5527649, "dclink_p_w": 11183.166, "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": 63.068512, "temp_inv2_c": 61.3500671, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129764244, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1474.994019, "values": {"Elec_RPM": -13005.0723, "EncoderCos": 25929, "EncoderSin": 12677, "GapTicks": 38590, "Mech_RPM": -2601.0144, "cg_du": 35.0825539, "cg_dv": 40.0413208, "cg_dw": 64.91745, "cg_id_a": -6.20955849, "cg_id_raw_a": 1.07440615, "cg_iq_a": 293.827057, "cg_iq_raw_a": 301.70932, "cg_iu_a": 58.0698662, "cg_iv_a": 224.287125, "cg_iw_a": -282.356995, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9397762, "cg_sample_valid": 1, "cg_theta_rad": 4.42391777, "cg_vd_req_v": 8.14667988, "cg_vd_v": 8.14667988, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6355591, "cg_vq_v": -26.6355591, "cg_vu_v": 58.5057106, "cg_vv_v": 36.9509773, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 75.0746765, "dclink_p_w": 11294.4785, "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": 63.068512, "temp_inv2_c": 61.3277283, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131728083, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1476.011475, "values": {"Elec_RPM": -13013.8623, "EncoderCos": 26965, "EncoderSin": 12291, "GapTicks": 38884, "Mech_RPM": -2602.77246, "cg_du": 38.6457138, "cg_dv": 35.3497543, "cg_dw": 64.6502457, "cg_id_a": -1.93777752, "cg_id_raw_a": 1.91379631, "cg_iq_a": 296.036255, "cg_iq_raw_a": 302.982635, "cg_iu_a": -29.0240669, "cg_iv_a": 266.547455, "cg_iw_a": -237.523376, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 9402862, "cg_sample_valid": 1, "cg_theta_rad": 4.48080349, "cg_vd_req_v": 8.06925011, "cg_vd_v": 8.06925011, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6883926, "cg_vq_v": -26.6883926, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 47.0685043, "control_outputs_enabled": 1, "dclink_i_a": 74.8300247, "dclink_p_w": 11257.6719, "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": 63.021698, "temp_inv2_c": 61.3723755, "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": 0.133138016, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1477.04895, "values": {"Elec_RPM": -12996.3389, "EncoderCos": 28025, "EncoderSin": 53409, "GapTicks": 37325, "Mech_RPM": -2599.26782, "cg_du": 33.9324799, "cg_dv": 51.7242393, "cg_dw": 66.0675201, "cg_id_a": -3.72001767, "cg_id_raw_a": -2.19784355, "cg_iq_a": 301.819458, "cg_iq_raw_a": 303.636169, "cg_iu_a": 180.718994, "cg_iv_a": 131.031738, "cg_iw_a": -311.750732, "cg_sample_age_us": 23.772728, "cg_sample_seq": 9408012, "cg_sample_valid": 1, "cg_theta_rad": 1.8213253, "cg_vd_req_v": 8.24250603, "cg_vd_v": 8.24250603, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6376495, "cg_vq_v": -26.6376495, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": 74.7575378, "dclink_p_w": 11246.7676, "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": 63.068512, "temp_inv2_c": 61.3640137, "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": 0.132130921, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1478.081055, "values": {"Elec_RPM": -12995.2969, "EncoderCos": 48639, "EncoderSin": 46563, "GapTicks": 37843, "Mech_RPM": -2599.05933, "cg_du": 42.8126488, "cg_dv": 34.4032974, "cg_dw": 65.5967026, "cg_id_a": 8.8391304, "cg_id_raw_a": -0.910797179, "cg_iq_a": 307.169495, "cg_iq_raw_a": 303.965088, "cg_iu_a": -295.778687, "cg_iv_a": 197.321716, "cg_iw_a": 98.4569626, "cg_sample_age_us": 26.40909, "cg_sample_seq": 9413017, "cg_sample_valid": 1, "cg_theta_rad": 0.965346158, "cg_vd_req_v": 7.97032356, "cg_vd_v": 7.97032356, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7943783, "cg_vq_v": -26.7943783, "cg_vu_v": 151.762939, "cg_vv_v": 116.131638, "cg_vw_v": 84.0194778, "control_outputs_enabled": 1, "dclink_i_a": 74.7666016, "dclink_p_w": 11215.2422, "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": 63.068512, "temp_inv2_c": 61.280365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131979853, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1479.040405, "values": {"Elec_RPM": -13004.0879, "EncoderCos": 53413, "EncoderSin": 36374, "GapTicks": 37739, "Mech_RPM": -2600.81763, "cg_du": 43.6783714, "cg_dv": 65.6915588, "cg_dw": 34.308445, "cg_id_a": 8.35564899, "cg_id_raw_a": 2.61343622, "cg_iq_a": 303.436768, "cg_iq_raw_a": 299.865692, "cg_iu_a": 250.198425, "cg_iv_a": -274.35553, "cg_iw_a": 24.1571045, "cg_sample_age_us": 23.3909092, "cg_sample_seq": 9418012, "cg_sample_valid": 1, "cg_theta_rad": 0.270619541, "cg_vd_req_v": 7.942101, "cg_vd_v": 7.942101, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7506218, "cg_vq_v": -26.7506218, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 75.7977371, "dclink_p_w": 11369.916, "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": 63.021698, "temp_inv2_c": 61.3054504, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131677717, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1480.078003, "values": {"Elec_RPM": -13006.5527, "EncoderCos": 53746, "EncoderSin": 32988, "GapTicks": 39199, "Mech_RPM": -2601.31055, "cg_du": 64.3642197, "cg_dv": 62.6598244, "cg_dw": 35.6357803, "cg_id_a": 12.5917244, "cg_id_raw_a": 3.51516318, "cg_iq_a": 308.777527, "cg_iq_raw_a": 308.454315, "cg_iu_a": 204.349976, "cg_iv_a": -293.818481, "cg_iw_a": 89.4684906, "cg_sample_age_us": 24.2781811, "cg_sample_seq": 9423116, "cg_sample_valid": 1, "cg_theta_rad": 0.226770192, "cg_vd_req_v": 7.88763094, "cg_vd_v": 7.88763094, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8637505, "cg_vq_v": -26.8637505, "cg_vu_v": 0, "cg_vv_v": 50.1477547, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 74.9677505, "dclink_p_w": 11278.3926, "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": 63.068512, "temp_inv2_c": 61.2664185, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133188367, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1480.919189, "values": {"Elec_RPM": -12996.1924, "EncoderCos": 39021, "EncoderSin": 12632, "GapTicks": 38654, "Mech_RPM": -2599.23853, "cg_du": 64.8597565, "cg_dv": 60.5407524, "cg_dw": 35.1402473, "cg_id_a": 1.97544777, "cg_id_raw_a": 4.64588594, "cg_iq_a": 304.003662, "cg_iq_raw_a": 306.67865, "cg_iu_a": -58.055378, "cg_iv_a": -230.826706, "cg_iw_a": 288.88208, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 9427313, "cg_sample_valid": 1, "cg_theta_rad": 5.05879641, "cg_vd_req_v": 7.97805595, "cg_vd_v": 7.97805595, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.814743, "cg_vq_v": -26.814743, "cg_vu_v": 98.0960464, "cg_vv_v": 113.932175, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 75.5929642, "dclink_p_w": 11339.1992, "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": 63.021698, "temp_inv2_c": 61.473053, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127951473, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1481.936523, "values": {"Elec_RPM": -13000.9355, "EncoderCos": 52492, "EncoderSin": 25633, "GapTicks": 37833, "Mech_RPM": -2600.18701, "cg_du": 65.60569, "cg_dv": 34.39431, "cg_dw": 56.8642921, "cg_id_a": 9.81831169, "cg_id_raw_a": 15.2368031, "cg_iq_a": 305.711578, "cg_iq_raw_a": 306.362823, "cg_iu_a": -292.081818, "cg_iv_a": 215.081207, "cg_iw_a": 77.000618, "cg_sample_age_us": 24.1327267, "cg_sample_seq": 9432513, "cg_sample_valid": 1, "cg_theta_rad": 5.98578739, "cg_vd_req_v": 7.90186691, "cg_vd_v": 7.90186691, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8308582, "cg_vq_v": -26.8308582, "cg_vu_v": 152.202835, "cg_vv_v": 116.571533, "cg_vw_v": 92.3774414, "control_outputs_enabled": 1, "dclink_i_a": 75.4697342, "dclink_p_w": 11353.9121, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 63.068512, "temp_inv2_c": 61.3277283, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135403976, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1482.954102, "values": {"Elec_RPM": -12993.0234, "EncoderCos": 16798, "EncoderSin": 46696, "GapTicks": 37356, "Mech_RPM": -2598.60474, "cg_du": 66.0392761, "cg_dv": 48.5519905, "cg_dw": 33.9607239, "cg_id_a": -8.7930479, "cg_id_raw_a": -3.42331505, "cg_iq_a": 296.402863, "cg_iq_raw_a": 293.418427, "cg_iu_a": -170.121307, "cg_iv_a": -129.706421, "cg_iw_a": 299.827728, "cg_sample_age_us": 23.994545, "cg_sample_seq": 9437563, "cg_sample_valid": 1, "cg_theta_rad": 2.46032405, "cg_vd_req_v": 8.33405972, "cg_vd_v": 8.33405972, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5414791, "cg_vq_v": -26.5414791, "cg_vu_v": 150.443253, "cg_vv_v": 151.323044, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 75.4552307, "dclink_p_w": 11318.5391, "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": 62.9749146, "temp_inv2_c": 61.3723755, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129462123, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1483.971436, "values": {"Elec_RPM": -12990.5674, "EncoderCos": 43197, "EncoderSin": 14471, "GapTicks": 39021, "Mech_RPM": -2598.11353, "cg_du": 38.4113045, "cg_dv": 64.5259857, "cg_dw": 35.4740143, "cg_id_a": 1.67328417, "cg_id_raw_a": 9.65620232, "cg_iq_a": 296.43158, "cg_iq_raw_a": 302.366943, "cg_iu_a": 236.57074, "cg_iv_a": -274.645477, "cg_iw_a": 38.0747299, "cg_sample_age_us": 23.954546, "cg_sample_seq": 9442612, "cg_sample_valid": 1, "cg_theta_rad": 5.272439, "cg_vd_req_v": 8.00093174, "cg_vd_v": 8.00093174, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6900272, "cg_vq_v": -26.6900272, "cg_vu_v": 0, "cg_vv_v": 51.4674301, "cg_vw_v": 28.1531239, "control_outputs_enabled": 1, "dclink_i_a": 75.4425507, "dclink_p_w": 11349.8223, "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": 63.1154175, "temp_inv2_c": 61.3277283, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133893341, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1485.009033, "values": {"Elec_RPM": -13005.6074, "EncoderCos": 52096, "EncoderSin": 25684, "GapTicks": 39538, "Mech_RPM": -2601.12158, "cg_du": 64.0563354, "cg_dv": 35.9436646, "cg_dw": 63.7772293, "cg_id_a": 9.92619991, "cg_id_raw_a": 4.26074362, "cg_iq_a": 309.717743, "cg_iq_raw_a": 307.303864, "cg_iu_a": -207.778656, "cg_iv_a": -89.7294617, "cg_iw_a": 297.508118, "cg_sample_age_us": 23.5836372, "cg_sample_seq": 9447817, "cg_sample_valid": 1, "cg_theta_rad": 6.19910383, "cg_vd_req_v": 7.90309858, "cg_vd_v": 7.90309858, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9207516, "cg_vq_v": -26.9207516, "cg_vu_v": 37.830761, "cg_vv_v": 45.7488289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.9224472, "dclink_p_w": 11271.5762, "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": 63.068512, "temp_inv2_c": 61.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125735864, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1486.006348, "values": {"Elec_RPM": -12987.4326, "EncoderCos": 45096, "EncoderSin": 15708, "GapTicks": 37408, "Mech_RPM": -2597.48657, "cg_du": 34.0076752, "cg_dv": 65.9923248, "cg_dw": 47.7902374, "cg_id_a": 3.97086406, "cg_id_raw_a": 5.79767895, "cg_iq_a": 301.855255, "cg_iq_raw_a": 299.804077, "cg_iu_a": 298.185242, "cg_iv_a": -162.724518, "cg_iw_a": -135.460724, "cg_sample_age_us": 23.9472733, "cg_sample_seq": 9452812, "cg_sample_valid": 1, "cg_theta_rad": 5.3862958, "cg_vd_req_v": 7.95475292, "cg_vd_v": 7.95475292, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7952881, "cg_vq_v": -26.7952881, "cg_vu_v": 0, "cg_vv_v": 4.83881807, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": 75.9264069, "dclink_p_w": 11422.6152, "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": 63.068512, "temp_inv2_c": 61.3500671, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131123826, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1487.043823, "values": {"Elec_RPM": -13005.7988, "EncoderCos": 42170, "EncoderSin": 13943, "GapTicks": 37577, "Mech_RPM": -2601.15967, "cg_du": 45.8213882, "cg_dv": 65.8385925, "cg_dw": 34.1614113, "cg_id_a": 9.48230171, "cg_id_raw_a": 8.14983463, "cg_iq_a": 297.738495, "cg_iq_raw_a": 300.057251, "cg_iu_a": 292.023804, "cg_iv_a": -88.895813, "cg_iw_a": -203.127991, "cg_sample_age_us": 23.8890915, "cg_sample_seq": 9457916, "cg_sample_valid": 1, "cg_theta_rad": 5.44214058, "cg_vd_req_v": 7.84541655, "cg_vd_v": 7.84541655, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7030087, "cg_vq_v": -26.7030087, "cg_vu_v": 0, "cg_vv_v": 9.67763615, "cg_vw_v": 56.3062477, "control_outputs_enabled": 1, "dclink_i_a": 74.681427, "dclink_p_w": 11235.3164, "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": 63.068512, "temp_inv2_c": 61.280365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131526664, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1488.071289, "values": {"Elec_RPM": -12996.21, "EncoderCos": 14775, "EncoderSin": 43900, "GapTicks": 38133, "Mech_RPM": -2599.24194, "cg_du": 57.9210358, "cg_dv": 65.3330078, "cg_dw": 34.6669922, "cg_id_a": 2.93937016, "cg_id_raw_a": 2.25463462, "cg_iq_a": 294.465088, "cg_iq_raw_a": 298.367889, "cg_iu_a": 253.424133, "cg_iv_a": -249.021088, "cg_iw_a": -4.40303802, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 9463065, "cg_sample_valid": 1, "cg_theta_rad": 2.77797318, "cg_vd_req_v": 8.08367538, "cg_vd_v": 8.08367538, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5091534, "cg_vq_v": -26.5091534, "cg_vu_v": 0, "cg_vv_v": 54.1067848, "cg_vw_v": 37.830761, "control_outputs_enabled": 1, "dclink_i_a": 75.8792877, "dclink_p_w": 11448.9063, "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": 63.1154175, "temp_inv2_c": 61.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130368501, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1489.035278, "values": {"Elec_RPM": -13000.2832, "EncoderCos": 42626, "EncoderSin": 51380, "GapTicks": 39270, "Mech_RPM": -2600.05664, "cg_du": 64.2992477, "cg_dv": 36.9786835, "cg_dw": 35.7007523, "cg_id_a": -2.27600026, "cg_id_raw_a": 5.49760771, "cg_iq_a": 306.79422, "cg_iq_raw_a": 312.494751, "cg_iu_a": -264.898926, "cg_iv_a": -4.55645752, "cg_iw_a": 269.455383, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 9467962, "cg_sample_valid": 1, "cg_theta_rad": 1.11048055, "cg_vd_req_v": 8.21601772, "cg_vd_v": 8.21601772, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7486877, "cg_vq_v": -26.7486877, "cg_vu_v": 41.7897949, "cg_vv_v": 33.4318352, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.4751663, "dclink_p_w": 11288.3281, "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": 63.1154175, "temp_inv2_c": 61.3277283, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129411772, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1490.072754, "values": {"Elec_RPM": -13007.0977, "EncoderCos": 45549, "EncoderSin": 49508, "GapTicks": 37841, "Mech_RPM": -2601.41943, "cg_du": 65.5982971, "cg_dv": 34.4016991, "cg_dw": 57.168396, "cg_id_a": 0.306485444, "cg_id_raw_a": -8.78311729, "cg_iq_a": 305.968445, "cg_iq_raw_a": 301.194977, "cg_iu_a": -210.170746, "cg_iv_a": -87.0111389, "cg_iw_a": 297.181885, "cg_sample_age_us": 24.0163631, "cg_sample_seq": 9473066, "cg_sample_valid": 1, "cg_theta_rad": 1.17627013, "cg_vd_req_v": 8.1798563, "cg_vd_v": 8.1798563, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7288609, "cg_vq_v": -26.7288609, "cg_vu_v": 47.9482918, "cg_vv_v": 76.9812012, "cg_vw_v": 37.3908691, "control_outputs_enabled": 1, "dclink_i_a": 75.4479828, "dclink_p_w": 11350.6396, "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": 63.068512, "temp_inv2_c": 61.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1490.91394, "values": {"Elec_RPM": -13002.7051, "EncoderCos": 50506, "EncoderSin": 43978, "GapTicks": 37335, "Mech_RPM": -2600.54102, "cg_du": 33.9416809, "cg_dv": 48.1982956, "cg_dw": 66.0583191, "cg_id_a": 9.6303196, "cg_id_raw_a": 15.5649147, "cg_iq_a": 307.276276, "cg_iq_raw_a": 313.3992, "cg_iu_a": 157.704163, "cg_iv_a": 158.2146, "cg_iw_a": -315.918762, "cg_sample_age_us": 23.5218182, "cg_sample_seq": 9477362, "cg_sample_valid": 1, "cg_theta_rad": 0.60455209, "cg_vd_req_v": 7.92931414, "cg_vd_v": 7.92931414, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.806324, "cg_vq_v": -26.806324, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 68.6232376, "control_outputs_enabled": 1, "dclink_i_a": 75.3990555, "dclink_p_w": 11310.1123, "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": 63.1154175, "temp_inv2_c": 61.4842529, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135907531, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1491.931396, "values": {"Elec_RPM": -13007.4277, "EncoderCos": 53020, "EncoderSin": 27515, "GapTicks": 37611, "Mech_RPM": -2601.4856, "cg_du": 65.8073349, "cg_dv": 34.1926651, "cg_dw": 44.0322037, "cg_id_a": 5.48503971, "cg_id_raw_a": 12.1380615, "cg_iq_a": 312.012146, "cg_iq_raw_a": 316.113556, "cg_iu_a": -313.284454, "cg_iv_a": 111.351349, "cg_iw_a": 201.933105, "cg_sample_age_us": 24.1654549, "cg_sample_seq": 9482362, "cg_sample_valid": 1, "cg_theta_rad": 6.07193947, "cg_vd_req_v": 7.98390055, "cg_vd_v": 7.98390055, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9468918, "cg_vq_v": -26.9468918, "cg_vu_v": 58.0658188, "cg_vv_v": 9.67763615, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.6183319, "dclink_p_w": 11343.0049, "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": 63.1154175, "temp_inv2_c": 61.3277283, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132030219, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1492.948853, "values": {"Elec_RPM": -12999.1582, "EncoderCos": 49160, "EncoderSin": 45785, "GapTicks": 38974, "Mech_RPM": -2599.83154, "cg_du": 37.9143753, "cg_dv": 35.4316711, "cg_dw": 64.5683289, "cg_id_a": 6.35360813, "cg_id_raw_a": 11.0649433, "cg_iq_a": 308.098602, "cg_iq_raw_a": 316.75174, "cg_iu_a": -11.228344, "cg_iv_a": 269.483185, "cg_iw_a": -258.254852, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 9487562, "cg_sample_valid": 1, "cg_theta_rad": 0.706631601, "cg_vd_req_v": 8.0192461, "cg_vd_v": 8.0192461, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8048096, "cg_vq_v": -26.8048096, "cg_vu_v": 73.462059, "cg_vv_v": 36.9509773, "cg_vw_v": 77.8609848, "control_outputs_enabled": 1, "dclink_i_a": 74.9188232, "dclink_p_w": 11271.0313, "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": 63.1154175, "temp_inv2_c": 61.4170837, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134950787, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1493.966187, "values": {"Elec_RPM": -12994.748, "EncoderCos": 12146, "EncoderSin": 27899, "GapTicks": 39851, "Mech_RPM": -2598.94971, "cg_du": 63.7628174, "cg_dv": 36.2282906, "cg_dw": 63.7717094, "cg_id_a": -14.9897661, "cg_id_raw_a": -4.44238949, "cg_iq_a": 282.851959, "cg_iq_raw_a": 288.781219, "cg_iu_a": -246.958237, "cg_iv_a": 244.402466, "cg_iw_a": 2.5557785, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 9492613, "cg_sample_valid": 1, "cg_theta_rad": 3.40965104, "cg_vd_req_v": 8.3992281, "cg_vd_v": 8.3992281, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.312294, "cg_vq_v": -26.312294, "cg_vu_v": 151.323044, "cg_vv_v": 109.533249, "cg_vw_v": 108.21357, "control_outputs_enabled": 1, "dclink_i_a": 74.3697281, "dclink_p_w": 11188.4238, "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": 63.1154175, "temp_inv2_c": 61.2608643, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132181272, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1494.983643, "values": {"Elec_RPM": -13000.3301, "EncoderCos": 12406, "EncoderSin": 26824, "GapTicks": 38109, "Mech_RPM": -2600.06592, "cg_du": 65.3553085, "cg_dv": 34.6446915, "cg_dw": 57.1685791, "cg_id_a": -12.4914684, "cg_id_raw_a": -10.0138607, "cg_iq_a": 284.43335, "cg_iq_raw_a": 284.470978, "cg_iu_a": -276.823151, "cg_iv_a": 191.377731, "cg_iw_a": 85.4454193, "cg_sample_age_us": 23.7327271, "cg_sample_seq": 9497713, "cg_sample_valid": 1, "cg_theta_rad": 3.46809101, "cg_vd_req_v": 8.34114933, "cg_vd_v": 8.34114933, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3374424, "cg_vq_v": -26.3374424, "cg_vu_v": 142.525192, "cg_vv_v": 96.7763672, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 75.7234421, "dclink_p_w": 11358.7715, "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": 63.1154175, "temp_inv2_c": 61.4170837, "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": 0.134195477, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1496.001099, "values": {"Elec_RPM": -12985.1836, "EncoderCos": 13209, "EncoderSin": 24656, "GapTicks": 38120, "Mech_RPM": -2597.03662, "cg_du": 65.3447571, "cg_dv": 34.6552391, "cg_dw": 42.1019745, "cg_id_a": -20.1356106, "cg_id_raw_a": -17.3856735, "cg_iq_a": 290.388611, "cg_iq_raw_a": 293.156036, "cg_iu_a": -283.528259, "cg_iv_a": 64.7055206, "cg_iw_a": 218.822739, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 9502812, "cg_sample_valid": 1, "cg_theta_rad": 3.5657413, "cg_vd_req_v": 8.48357201, "cg_vd_v": 8.48357201, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4828796, "cg_vq_v": -26.4828796, "cg_vu_v": 71.7024918, "cg_vv_v": 35.1914063, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.163475, "dclink_p_w": 11307.8379, "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": 63.068512, "temp_inv2_c": 61.5487366, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131526664, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1497.018433, "values": {"Elec_RPM": -12989.9814, "EncoderCos": 53656, "EncoderSin": 31977, "GapTicks": 37666, "Mech_RPM": -2597.99634, "cg_du": 65.7577972, "cg_dv": 56.5268288, "cg_dw": 34.2422066, "cg_id_a": 9.25283813, "cg_id_raw_a": 13.0341263, "cg_iq_a": 312.267822, "cg_iq_raw_a": 314.845978, "cg_iu_a": -107.89064, "cg_iv_a": -199.729477, "cg_iw_a": 307.620117, "cg_sample_age_us": 24.0927277, "cg_sample_seq": 9507863, "cg_sample_valid": 1, "cg_theta_rad": 0.00662316801, "cg_vd_req_v": 7.94064808, "cg_vd_v": 7.94064808, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9166355, "cg_vq_v": -26.9166355, "cg_vu_v": 114.37207, "cg_vv_v": 150.003372, "cg_vw_v": 95.4566803, "control_outputs_enabled": 1, "dclink_i_a": 75.3972473, "dclink_p_w": 11309.8418, "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": 63.1154175, "temp_inv2_c": 61.4590454, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129965663, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1498.070557, "values": {"Elec_RPM": -12972.7695, "EncoderCos": 14198, "EncoderSin": 22600, "GapTicks": 37926, "Mech_RPM": -2594.55396, "cg_du": 65.5214767, "cg_dv": 43.8350105, "cg_dw": 34.4785233, "cg_id_a": -6.95356274, "cg_id_raw_a": -12.1302948, "cg_iq_a": 291.962067, "cg_iq_raw_a": 294.702911, "cg_iu_a": -250.981308, "cg_iv_a": -2.30931091, "cg_iw_a": 253.290619, "cg_sample_age_us": 23.9872723, "cg_sample_seq": 9513012, "cg_sample_valid": 1, "cg_theta_rad": 3.63838387, "cg_vd_req_v": 8.19490623, "cg_vd_v": 8.19490623, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5062962, "cg_vq_v": -26.5062962, "cg_vu_v": 113.932175, "cg_vv_v": 112.172607, "cg_vw_v": 69.9429169, "control_outputs_enabled": 1, "dclink_i_a": 74.607132, "dclink_p_w": 11224.1396, "enc_isr_hz": 5002, "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": 63.1154175, "temp_inv2_c": 61.5291138, "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": 0.130368501, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1499.029907, "values": {"Elec_RPM": -12974.5098, "EncoderCos": 48142, "EncoderSin": 18515, "GapTicks": 37507, "Mech_RPM": -2594.90186, "cg_du": 34.0972977, "cg_dv": 53.7744713, "cg_dw": 65.9027023, "cg_id_a": -2.39190555, "cg_id_raw_a": -5.55836105, "cg_iq_a": 301.825623, "cg_iq_raw_a": 301.419617, "cg_iu_a": 197.20993, "cg_iv_a": 112.076233, "cg_iw_a": -309.286163, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 9517962, "cg_sample_valid": 1, "cg_theta_rad": 5.59333515, "cg_vd_req_v": 8.08668137, "cg_vd_v": 8.08668137, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7706623, "cg_vq_v": -26.7706623, "cg_vu_v": 111.732712, "cg_vv_v": 82.2599106, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 75.549469, "dclink_p_w": 11332.6748, "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": 63.162384, "temp_inv2_c": 61.4394531, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129713893, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1500.047485, "values": {"Elec_RPM": -13003.7969, "EncoderCos": 24381, "EncoderSin": 52129, "GapTicks": 37740, "Mech_RPM": -2600.75928, "cg_du": 44.744709, "cg_dv": 34.3096657, "cg_dw": 65.6903381, "cg_id_a": -2.50020123, "cg_id_raw_a": -5.87570524, "cg_iq_a": 293.205444, "cg_iq_raw_a": 292.22168, "cg_iu_a": -88.6814117, "cg_iv_a": 288.946136, "cg_iw_a": -200.264725, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 9523013, "cg_sample_valid": 1, "cg_theta_rad": 2.00670481, "cg_vd_req_v": 8.22849274, "cg_vd_v": 8.22849274, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4292297, "cg_vq_v": -26.4292297, "cg_vu_v": 150.883148, "cg_vv_v": 94.1370087, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 75.2848892, "dclink_p_w": 11292.9873, "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": 63.162384, "temp_inv2_c": 61.3612061, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136008233, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1501.084839, "values": {"Elec_RPM": -13005.6826, "EncoderCos": 12254, "EncoderSin": 38033, "GapTicks": 37688, "Mech_RPM": -2601.13647, "cg_du": 34.2622833, "cg_dv": 65.7377167, "cg_dw": 55.214119, "cg_id_a": -7.77903223, "cg_id_raw_a": 2.41414952, "cg_iq_a": 293.342712, "cg_iq_raw_a": 297.592285, "cg_iu_a": 290.429077, "cg_iv_a": -103.175903, "cg_iw_a": -133.53981, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9528213, "cg_sample_valid": 1, "cg_theta_rad": 2.91816211, "cg_vd_req_v": 8.31798458, "cg_vd_v": 8.31798458, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4775391, "cg_vq_v": -26.4775391, "cg_vu_v": 97.2162552, "cg_vv_v": 145.164551, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.7614975, "dclink_p_w": 11397.8057, "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": 63.162384, "temp_inv2_c": 61.4338684, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132382691, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1501.92627, "values": {"Elec_RPM": -13006.5869, "EncoderCos": 33914, "EncoderSin": 53804, "GapTicks": 38890, "Mech_RPM": -2601.31738, "cg_du": 35.354847, "cg_dv": 64.6451492, "cg_dw": 38.668705, "cg_id_a": 2.4442935, "cg_id_raw_a": 10.074091, "cg_iq_a": 299.083557, "cg_iq_raw_a": 304.878937, "cg_iu_a": 269.443909, "cg_iv_a": -239.597717, "cg_iw_a": -29.846199, "cg_sample_age_us": 23.8999996, "cg_sample_seq": 9532412, "cg_sample_valid": 1, "cg_theta_rad": 1.55980146, "cg_vd_req_v": 8.15444756, "cg_vd_v": 8.15444756, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5589809, "cg_vq_v": -26.5589809, "cg_vu_v": 35.1914063, "cg_vv_v": 76.9812012, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 74.9188232, "dclink_p_w": 11238.0762, "enc_isr_hz": 4998, "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": 63.162384, "temp_inv2_c": 61.5263062, "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": 0.141144425, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1502.943604, "values": {"Elec_RPM": -12999.9629, "EncoderCos": 49397, "EncoderSin": 45453, "GapTicks": 39442, "Mech_RPM": -2599.99268, "cg_du": 35.857132, "cg_dv": 36.6114273, "cg_dw": 64.142868, "cg_id_a": 11.4767141, "cg_id_raw_a": 0.316190988, "cg_iq_a": 310.629761, "cg_iq_raw_a": 304.911682, "cg_iu_a": 29.5822124, "cg_iv_a": 251.143799, "cg_iw_a": -280.726013, "cg_sample_age_us": 23.5400009, "cg_sample_seq": 9537413, "cg_sample_valid": 1, "cg_theta_rad": 0.690203488, "cg_vd_req_v": 7.92205906, "cg_vd_v": 7.92205906, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8546028, "cg_vq_v": -26.8546028, "cg_vu_v": 114.37207, "cg_vv_v": 73.0221634, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 75.2015305, "dclink_p_w": 11280.4834, "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": 63.1154175, "temp_inv2_c": 61.461853, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129764244, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1503.960938, "values": {"Elec_RPM": -12994.4824, "EncoderCos": 24683, "EncoderSin": 13214, "GapTicks": 37416, "Mech_RPM": -2598.89648, "cg_du": 34.0146217, "cg_dv": 48.6521606, "cg_dw": 65.9853821, "cg_id_a": -6.93263865, "cg_id_raw_a": -1.03536546, "cg_iq_a": 292.581665, "cg_iq_raw_a": 297.082153, "cg_iu_a": 191.990829, "cg_iv_a": 87.4666595, "cg_iw_a": -279.457489, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 9542562, "cg_sample_valid": 1, "cg_theta_rad": 4.32293224, "cg_vd_req_v": 8.21371841, "cg_vd_v": 8.21371841, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5611839, "cg_vq_v": -26.5611839, "cg_vu_v": 41.7897949, "cg_vv_v": 73.462059, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": 74.7557297, "dclink_p_w": 11279.3799, "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": 63.1154175, "temp_inv2_c": 61.5627747, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132936597, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1504.978516, "values": {"Elec_RPM": -12989.8252, "EncoderCos": 31669, "EncoderSin": 53799, "GapTicks": 37465, "Mech_RPM": -2597.96509, "cg_du": 34.0597687, "cg_dv": 65.9402313, "cg_dw": 53.2049294, "cg_id_a": -1.39706111, "cg_id_raw_a": 9.09237862, "cg_iq_a": 299.303925, "cg_iq_raw_a": 302.029877, "cg_iu_a": 300.613586, "cg_iv_a": -129.452667, "cg_iw_a": -171.160919, "cg_sample_age_us": 23.772728, "cg_sample_seq": 9547713, "cg_sample_valid": 1, "cg_theta_rad": 1.66307843, "cg_vd_req_v": 8.20274448, "cg_vd_v": 8.20274448, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5573769, "cg_vq_v": -26.5573769, "cg_vu_v": 0, "cg_vv_v": 0.87978512, "cg_vw_v": 62.0248489, "control_outputs_enabled": 1, "dclink_i_a": 75.6273956, "dclink_p_w": 11410.8994, "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": 63.162384, "temp_inv2_c": 61.4170837, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131174177, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1505.99585, "values": {"Elec_RPM": -12998.0176, "EncoderCos": 29396, "EncoderSin": 53564, "GapTicks": 38639, "Mech_RPM": -2599.60352, "cg_du": 35.1268654, "cg_dv": 60.6229439, "cg_dw": 64.8731308, "cg_id_a": 1.78065479, "cg_id_raw_a": -13.0534124, "cg_iq_a": 304.136658, "cg_iq_raw_a": 301.034119, "cg_iu_a": 254.221497, "cg_iv_a": 28.3529663, "cg_iw_a": -229.404755, "cg_sample_age_us": 23.8563633, "cg_sample_seq": 9552812, "cg_sample_valid": 1, "cg_theta_rad": 1.7542994, "cg_vd_req_v": 8.16184902, "cg_vd_v": 8.16184902, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6438808, "cg_vq_v": -26.6438808, "cg_vu_v": 0, "cg_vv_v": 0, "cg_vw_v": 54.9865723, "control_outputs_enabled": 1, "dclink_i_a": 76.047821, "dclink_p_w": 11440.8818, "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": 63.1154175, "temp_inv2_c": 61.4562378, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12780042, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1507.033447, "values": {"Elec_RPM": -12998.1328, "EncoderCos": 33986, "EncoderSin": 53792, "GapTicks": 38974, "Mech_RPM": -2599.62646, "cg_du": 35.431057, "cg_dv": 64.5689392, "cg_dw": 38.2687225, "cg_id_a": -0.662954569, "cg_id_raw_a": -10.1228781, "cg_iq_a": 299.293671, "cg_iq_raw_a": 294.55954, "cg_iu_a": 242.913422, "cg_iv_a": 32.70224, "cg_iw_a": -275.615662, "cg_sample_age_us": 23.8054543, "cg_sample_seq": 9557917, "cg_sample_valid": 1, "cg_theta_rad": 1.75791478, "cg_vd_req_v": 8.21274281, "cg_vd_v": 8.21274281, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5889225, "cg_vq_v": -26.5889225, "cg_vu_v": 95.0167923, "cg_vv_v": 73.9019547, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 74.3334885, "dclink_p_w": 11150.2744, "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": 63.162384, "temp_inv2_c": 61.4590454, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133792624, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1508.040771, "values": {"Elec_RPM": -12986.0146, "EncoderCos": 45464, "EncoderSin": 49416, "GapTicks": 37874, "Mech_RPM": -2597.20288, "cg_du": 65.5683289, "cg_dv": 34.4316711, "cg_dw": 57.1268158, "cg_id_a": 5.44365358, "cg_id_raw_a": 9.09579754, "cg_iq_a": 304.654266, "cg_iq_raw_a": 305.955688, "cg_iu_a": -290.01593, "cg_iv_a": 212.725372, "cg_iw_a": 77.2905655, "cg_sample_age_us": 23.9363632, "cg_sample_seq": 9562913, "cg_sample_valid": 1, "cg_theta_rad": 0.949671924, "cg_vd_req_v": 8.07701206, "cg_vd_v": 8.07701206, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6965733, "cg_vq_v": -26.6965733, "cg_vu_v": 151.762939, "cg_vv_v": 116.131638, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 74.6669312, "dclink_p_w": 11200.291, "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": 63.162384, "temp_inv2_c": 61.4394531, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128404662, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1509.02478, "values": {"Elec_RPM": -12994.126, "EncoderCos": 53348, "EncoderSin": 36053, "GapTicks": 37555, "Mech_RPM": -2598.8252, "cg_du": 45.6730194, "cg_dv": 65.8588562, "cg_dw": 34.1411438, "cg_id_a": 10.1366463, "cg_id_raw_a": 21.8632088, "cg_iq_a": 303.808197, "cg_iq_raw_a": 310.842896, "cg_iu_a": 111.746986, "cg_iv_a": -296.572998, "cg_iw_a": 184.826019, "cg_sample_age_us": 23.4927273, "cg_sample_seq": 9567912, "cg_sample_valid": 1, "cg_theta_rad": 0.187387884, "cg_vd_req_v": 7.9312067, "cg_vd_v": 7.9312067, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.737709, "cg_vq_v": -26.737709, "cg_vu_v": 0, "cg_vv_v": 47.9482918, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": 75.3175049, "dclink_p_w": 11331.0107, "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": 63.162384, "temp_inv2_c": 61.461853, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130922407, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1510.042236, "values": {"Elec_RPM": -12992.5674, "EncoderCos": 53144, "EncoderSin": 37117, "GapTicks": 38849, "Mech_RPM": -2598.51343, "cg_du": 38.6438179, "cg_dv": 64.6819611, "cg_dw": 35.3180389, "cg_id_a": 2.34240723, "cg_id_raw_a": 11.1034431, "cg_iq_a": 304.733551, "cg_iq_raw_a": 310.497009, "cg_iu_a": 238.709137, "cg_iv_a": -284.866241, "cg_iw_a": 46.1571121, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 9573012, "cg_sample_valid": 1, "cg_theta_rad": 0.249138281, "cg_vd_req_v": 8.12526512, "cg_vd_v": 8.12526512, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7247772, "cg_vq_v": -26.7247772, "cg_vu_v": 0, "cg_vv_v": 41.3499031, "cg_vw_v": 20.6749516, "control_outputs_enabled": 1, "dclink_i_a": 76.2562256, "dclink_p_w": 11438.6914, "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": 63.2093811, "temp_inv2_c": 61.4338684, "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": 0.132886246, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1511.05957, "values": {"Elec_RPM": -12987.0918, "EncoderCos": 11936, "EncoderSin": 36278, "GapTicks": 39005, "Mech_RPM": -2597.41846, "cg_du": 35.4598808, "cg_dv": 61.7239151, "cg_dw": 64.5401154, "cg_id_a": -8.75840092, "cg_id_raw_a": -22.6969776, "cg_iq_a": 294.890594, "cg_iq_raw_a": 291.765808, "cg_iu_a": 279.664673, "cg_iv_a": -60.0820007, "cg_iw_a": -219.582672, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 9578062, "cg_sample_valid": 1, "cg_theta_rad": 2.96618295, "cg_vd_req_v": 8.29928684, "cg_vd_v": 8.29928684, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5113564, "cg_vq_v": -26.5113564, "cg_vu_v": 73.9019547, "cg_vv_v": 75.2216263, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 75.4932938, "dclink_p_w": 11324.249, "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": 63.1154175, "temp_inv2_c": 61.5964661, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130167097, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1511.921021, "values": {"Elec_RPM": -12982.8086, "EncoderCos": 52224, "EncoderSin": 25258, "GapTicks": 38364, "Mech_RPM": -2596.56177, "cg_du": 65.1229553, "cg_dv": 34.8770409, "cg_dw": 59.6493797, "cg_id_a": 7.77746105, "cg_id_raw_a": 11.8799763, "cg_iq_a": 307.551392, "cg_iq_raw_a": 309.091705, "cg_iu_a": -284.289398, "cg_iv_a": 284.95929, "cg_iw_a": -41.4804688, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 9582413, "cg_sample_valid": 1, "cg_theta_rad": 5.95179176, "cg_vd_req_v": 7.9335022, "cg_vd_v": 7.9335022, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8494644, "cg_vq_v": -26.8494644, "cg_vu_v": 152.202835, "cg_vv_v": 111.292824, "cg_vw_v": 108.21357, "control_outputs_enabled": 1, "dclink_i_a": 75.3918076, "dclink_p_w": 11342.1885, "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": 63.2093811, "temp_inv2_c": 61.4394531, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129713893, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1512.938354, "values": {"Elec_RPM": -12984.2275, "EncoderCos": 52910, "EncoderSin": 27455, "GapTicks": 37587, "Mech_RPM": -2596.84546, "cg_du": 65.8293152, "cg_dv": 34.170681, "cg_dw": 44.6188622, "cg_id_a": 7.16497326, "cg_id_raw_a": 13.6956062, "cg_iq_a": 313.467438, "cg_iq_raw_a": 317.705383, "cg_iu_a": -315.604065, "cg_iv_a": 115.736847, "cg_iw_a": 128.17691, "cg_sample_age_us": 24.136364, "cg_sample_seq": 9587512, "cg_sample_valid": 1, "cg_theta_rad": 6.06136322, "cg_vd_req_v": 7.95003557, "cg_vd_v": 7.95003557, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9569111, "cg_vq_v": -26.9569111, "cg_vu_v": 77.4210892, "cg_vv_v": 74.7817383, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 74.4875259, "dclink_p_w": 11206.1455, "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": 63.162384, "temp_inv2_c": 61.5936584, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1513.955811, "values": {"Elec_RPM": -13001.9453, "EncoderCos": 41696, "EncoderSin": 13767, "GapTicks": 37413, "Mech_RPM": -2600.38916, "cg_du": 48.9476318, "cg_dv": 65.9877701, "cg_dw": 34.0122337, "cg_id_a": 1.16199183, "cg_id_raw_a": 2.61204886, "cg_iq_a": 298.605774, "cg_iq_raw_a": 295.716644, "cg_iu_a": 158.972687, "cg_iv_a": -293.202301, "cg_iw_a": 134.229614, "cg_sample_age_us": 23.9836369, "cg_sample_seq": 9592513, "cg_sample_valid": 1, "cg_theta_rad": 5.20213079, "cg_vd_req_v": 8.04076672, "cg_vd_v": 8.04076672, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.689867, "cg_vq_v": -26.689867, "cg_vu_v": 74.3418427, "cg_vv_v": 114.37207, "cg_vw_v": 100.295509, "control_outputs_enabled": 1, "dclink_i_a": 74.7539139, "dclink_p_w": 11213.3389, "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": 63.2093811, "temp_inv2_c": 61.4590454, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130519569, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1514.973267, "values": {"Elec_RPM": -13008.9365, "EncoderCos": 15773, "EncoderSin": 45259, "GapTicks": 38470, "Mech_RPM": -2601.78735, "cg_du": 65.0266418, "cg_dv": 59.9789848, "cg_dw": 34.9733582, "cg_id_a": -8.81176853, "cg_id_raw_a": -3.67869329, "cg_iq_a": 296.69516, "cg_iq_raw_a": 299.564545, "cg_iu_a": -59.7225952, "cg_iv_a": -176.17099, "cg_iw_a": 293.630005, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 9597663, "cg_sample_valid": 1, "cg_theta_rad": 2.52953982, "cg_vd_req_v": 8.34878159, "cg_vd_v": 8.34878159, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5096607, "cg_vq_v": -26.5096607, "cg_vu_v": 142.525192, "cg_vv_v": 151.323044, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 75.85392, "dclink_p_w": 11411.71, "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": 63.162384, "temp_inv2_c": 61.461853, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 149.563477}}
{"type": "telemetry", "t": 1515.990601, "values": {"Elec_RPM": -13014.625, "EncoderCos": 14559, "EncoderSin": 43416, "GapTicks": 37665, "Mech_RPM": -2602.92505, "cg_du": 54.3191719, "cg_dv": 65.7582245, "cg_dw": 34.2417755, "cg_id_a": -4.28266287, "cg_id_raw_a": -4.34527206, "cg_iq_a": 288.528076, "cg_iq_raw_a": 292.134094, "cg_iu_a": 102.178619, "cg_iv_a": -289.25174, "cg_iw_a": 187.07312, "cg_sample_age_us": 23.8818188, "cg_sample_seq": 9602762, "cg_sample_valid": 1, "cg_theta_rad": 2.65074444, "cg_vd_req_v": 8.28717422, "cg_vd_v": 8.28717422, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3624249, "cg_vq_v": -26.3624249, "cg_vu_v": 0, "cg_vv_v": 65.1041031, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 74.7158585, "dclink_p_w": 11240.4971, "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": 63.2093811, "temp_inv2_c": 61.5234985, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129260689, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1517.008057, "values": {"Elec_RPM": -13001.1182, "EncoderCos": 45447, "EncoderSin": 16142, "GapTicks": 37358, "Mech_RPM": -2600.22363, "cg_du": 33.9626846, "cg_dv": 66.0373154, "cg_dw": 51.3832016, "cg_id_a": 5.30409527, "cg_id_raw_a": 6.30690575, "cg_iq_a": 304.565521, "cg_iq_raw_a": 301.866302, "cg_iu_a": 299.743744, "cg_iv_a": -132.026001, "cg_iw_a": -167.717743, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9607812, "cg_sample_valid": 1, "cg_theta_rad": 5.4187336, "cg_vd_req_v": 7.98014069, "cg_vd_v": 7.98014069, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8132839, "cg_vq_v": -26.8132839, "cg_vu_v": 0, "cg_vv_v": 26.8334465, "cg_vw_v": 54.1067848, "control_outputs_enabled": 1, "dclink_i_a": 75.2124023, "dclink_p_w": 11315.1982, "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": 63.162384, "temp_inv2_c": 61.436676, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131979853, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1518.035522, "values": {"Elec_RPM": -12980.001, "EncoderCos": 29459, "EncoderSin": 11927, "GapTicks": 37681, "Mech_RPM": -2596.00024, "cg_du": 54.9749603, "cg_dv": 34.2556, "cg_dw": 65.7444, "cg_id_a": -0.690785646, "cg_id_raw_a": -0.199852154, "cg_iq_a": 295.171204, "cg_iq_raw_a": 292.072815, "cg_iu_a": -192.701233, "cg_iv_a": 285.068054, "cg_iw_a": -92.3668137, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 9612812, "cg_sample_valid": 1, "cg_theta_rad": 4.59493446, "cg_vd_req_v": 8.08692455, "cg_vd_v": 8.08692455, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.599966, "cg_vq_v": -26.599966, "cg_vu_v": 76.9812012, "cg_vv_v": 36.9509773, "cg_vw_v": 48.8280716, "control_outputs_enabled": 1, "dclink_i_a": 74.8173447, "dclink_p_w": 11255.7646, "enc_isr_hz": 5000, "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": 63.162384, "temp_inv2_c": 61.5487366, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133389801, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1519.019531, "values": {"Elec_RPM": -12987.46, "EncoderCos": 44166, "EncoderSin": 50354, "GapTicks": 37376, "Mech_RPM": -2597.49194, "cg_du": 66.0215759, "cg_dv": 33.9784241, "cg_dw": 46.4645805, "cg_id_a": -2.88925195, "cg_id_raw_a": 0.887686133, "cg_iq_a": 306.592224, "cg_iq_raw_a": 299.792511, "cg_iu_a": -299.330566, "cg_iv_a": 114.830734, "cg_iw_a": 184.499832, "cg_sample_age_us": 23.823637, "cg_sample_seq": 9617863, "cg_sample_valid": 1, "cg_theta_rad": 1.03443277, "cg_vd_req_v": 8.24222755, "cg_vd_v": 8.24222755, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7333622, "cg_vq_v": -26.7333622, "cg_vu_v": 151.762939, "cg_vv_v": 148.683685, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 74.7937851, "dclink_p_w": 11219.3203, "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": 63.162384, "temp_inv2_c": 61.461853, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130066365, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1520.036987, "values": {"Elec_RPM": -12997.1436, "EncoderCos": 42240, "EncoderSin": 51480, "GapTicks": 38591, "Mech_RPM": -2599.42871, "cg_du": 64.9165497, "cg_dv": 39.3379135, "cg_dw": 35.0834503, "cg_id_a": -1.2500869, "cg_id_raw_a": -1.04434037, "cg_iq_a": 306.585358, "cg_iq_raw_a": 311.943542, "cg_iu_a": -245.689697, "cg_iv_a": -36.5960083, "cg_iw_a": 282.285706, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9622962, "cg_sample_valid": 1, "cg_theta_rad": 1.12695932, "cg_vd_req_v": 8.22364712, "cg_vd_v": 8.22364712, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7132359, "cg_vq_v": -26.7132359, "cg_vu_v": 39.590332, "cg_vv_v": 45.7488289, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.2015305, "dclink_p_w": 11280.4834, "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": 63.1154175, "temp_inv2_c": 61.5291138, "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": 0.131627366, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1521.074463, "values": {"Elec_RPM": -13008.2705, "EncoderCos": 28225, "EncoderSin": 12170, "GapTicks": 37502, "Mech_RPM": -2601.65405, "cg_du": 46.5920105, "cg_dv": 34.0933876, "cg_dw": 65.9066162, "cg_id_a": 2.03719187, "cg_id_raw_a": 6.16503286, "cg_iq_a": 297.759613, "cg_iq_raw_a": 300.923096, "cg_iu_a": -289.94342, "cg_iv_a": 91.0910339, "cg_iw_a": 198.852386, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 9628116, "cg_sample_valid": 1, "cg_theta_rad": 4.81788301, "cg_vd_req_v": 8.03769207, "cg_vd_v": 8.03769207, "cg_vdc_v": 151.323044, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6576862, "cg_vq_v": -26.6576862, "cg_vu_v": 139.006058, "cg_vv_v": 113.492287, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 75.0547409, "dclink_p_w": 11291.4795, "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": 63.2093811, "temp_inv2_c": 61.5515442, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13736783, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1521.915771, "values": {"Elec_RPM": -12993.3643, "EncoderCos": 11761, "EncoderSin": 30928, "GapTicks": 37853, "Mech_RPM": -2598.67285, "cg_du": 44.3455429, "cg_dv": 34.4124756, "cg_dw": 65.5875244, "cg_id_a": -6.62749529, "cg_id_raw_a": -11.7510176, "cg_iq_a": 285.596985, "cg_iq_raw_a": 283.298645, "cg_iu_a": -85.854393, "cg_iv_a": 281.516144, "cg_iw_a": -195.661743, "cg_sample_age_us": 23.8418179, "cg_sample_seq": 9632313, "cg_sample_valid": 1, "cg_theta_rad": 3.27047157, "cg_vd_req_v": 8.259058, "cg_vd_v": 8.259058, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3193436, "cg_vq_v": -26.3193436, "cg_vu_v": 124.489601, "cg_vv_v": 87.9785156, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 75.2160263, "dclink_p_w": 11282.6572, "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": 63.162384, "temp_inv2_c": 61.5740051, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128102541, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1522.933105, "values": {"Elec_RPM": -12985.8379, "EncoderCos": 50226, "EncoderSin": 44140, "GapTicks": 37364, "Mech_RPM": -2597.16748, "cg_du": 33.9681053, "cg_dv": 46.1873512, "cg_dw": 66.0318909, "cg_id_a": 6.21867561, "cg_id_raw_a": 2.27806044, "cg_iq_a": 311.915741, "cg_iq_raw_a": 304.442596, "cg_iu_a": 118.270874, "cg_iv_a": 183.802765, "cg_iw_a": -302.073639, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 9637463, "cg_sample_valid": 1, "cg_theta_rad": 0.621659279, "cg_vd_req_v": 8.03738689, "cg_vd_v": 8.03738689, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8521328, "cg_vq_v": -26.8521328, "cg_vu_v": 109.533249, "cg_vv_v": 71.7024918, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": 74.5690689, "dclink_p_w": 11185.6113, "enc_isr_hz": 5002, "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": 63.162384, "temp_inv2_c": 61.4842529, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1523.950562, "values": {"Elec_RPM": -12987.0518, "EncoderCos": 48892, "EncoderSin": 45954, "GapTicks": 38521, "Mech_RPM": -2597.4104, "cg_du": 39.745697, "cg_dv": 35.0193367, "cg_dw": 64.9806671, "cg_id_a": 10.4820566, "cg_id_raw_a": 14.4130478, "cg_iq_a": 307.372375, "cg_iq_raw_a": 314.486237, "cg_iu_a": -33.0108871, "cg_iv_a": 277.638062, "cg_iw_a": -244.627167, "cg_sample_age_us": 23.4272728, "cg_sample_seq": 9642562, "cg_sample_valid": 1, "cg_theta_rad": 0.713241577, "cg_vd_req_v": 7.96560907, "cg_vd_v": 7.96560907, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7394028, "cg_vq_v": -26.7394028, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 40.4701157, "control_outputs_enabled": 1, "dclink_i_a": 75.6201401, "dclink_p_w": 11343.2764, "enc_isr_hz": 4998, "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": 63.2564392, "temp_inv2_c": 61.4814758, "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": 0.139130235, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1524.968018, "values": {"Elec_RPM": -12990.2129, "EncoderCos": 53361, "EncoderSin": 29989, "GapTicks": 37774, "Mech_RPM": -2598.04248, "cg_du": 65.6598129, "cg_dv": 43.2529373, "cg_dw": 34.3401871, "cg_id_a": 12.8758736, "cg_id_raw_a": 8.96993732, "cg_iq_a": 312.504913, "cg_iq_raw_a": 316.922913, "cg_iu_a": -218.869263, "cg_iv_a": -78.6026001, "cg_iw_a": 297.471863, "cg_sample_age_us": 24.136364, "cg_sample_seq": 9647562, "cg_sample_valid": 1, "cg_theta_rad": 6.19495869, "cg_vd_req_v": 7.86346388, "cg_vd_v": 7.86346388, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.9072762, "cg_vq_v": -26.9072762, "cg_vu_v": 65.1041031, "cg_vv_v": 51.9073219, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.9387589, "dclink_p_w": 11241.0664, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 63.1154175, "temp_inv2_c": 61.4786377, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.137216747, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1525.985352, "values": {"Elec_RPM": -12988.6914, "EncoderCos": 12582, "EncoderSin": 26670, "GapTicks": 37827, "Mech_RPM": -2597.73828, "cg_du": 65.6109161, "cg_dv": 34.3890877, "cg_dw": 55.9723358, "cg_id_a": -10.4315128, "cg_id_raw_a": -9.09184837, "cg_iq_a": 288.617737, "cg_iq_raw_a": 286.979248, "cg_iu_a": -281.462372, "cg_iv_a": 187.862076, "cg_iw_a": 93.600296, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 9652713, "cg_sample_valid": 1, "cg_theta_rad": 3.46519184, "cg_vd_req_v": 8.3244648, "cg_vd_v": 8.3244648, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4103813, "cg_vq_v": -26.4103813, "cg_vu_v": 151.762939, "cg_vv_v": 130.208206, "cg_vw_v": 110.852921, "control_outputs_enabled": 1, "dclink_i_a": 74.5437012, "dclink_p_w": 11214.5967, "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": 63.2093811, "temp_inv2_c": 61.5094604, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132533759, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1527.002808, "values": {"Elec_RPM": -12987.7725, "EncoderCos": 13369, "EncoderSin": 24561, "GapTicks": 38326, "Mech_RPM": -2597.55444, "cg_du": 65.1575775, "cg_dv": 34.8424225, "cg_dw": 41.1583176, "cg_id_a": -19.5358849, "cg_id_raw_a": -16.8121738, "cg_iq_a": 290.472382, "cg_iq_raw_a": 293.070038, "cg_iu_a": -280.954956, "cg_iv_a": 59.5226746, "cg_iw_a": 221.432281, "cg_sample_age_us": 24.0563641, "cg_sample_seq": 9657812, "cg_sample_valid": 1, "cg_theta_rad": 3.56920815, "cg_vd_req_v": 8.48910236, "cg_vd_v": 8.48910236, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4557991, "cg_vq_v": -26.4557991, "cg_vu_v": 43.9892578, "cg_vv_v": 4.83881807, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.6035004, "dclink_p_w": 11223.5928, "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": 63.3507996, "temp_inv2_c": 61.5515442, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136159301, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1528.030151, "values": {"Elec_RPM": -12983.832, "EncoderCos": 53541, "EncoderSin": 32072, "GapTicks": 37872, "Mech_RPM": -2596.76636, "cg_du": 65.5704498, "cg_dv": 57.0791702, "cg_dw": 34.4295502, "cg_id_a": 9.76895618, "cg_id_raw_a": 13.9489079, "cg_iq_a": 308.773682, "cg_iq_raw_a": 313.580078, "cg_iu_a": -100.351929, "cg_iv_a": -202.520264, "cg_iw_a": 302.872192, "cg_sample_age_us": 24.0854549, "cg_sample_seq": 9662863, "cg_sample_valid": 1, "cg_theta_rad": 0.0128359562, "cg_vd_req_v": 7.91566277, "cg_vd_v": 7.91566277, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8211651, "cg_vq_v": -26.8211651, "cg_vu_v": 149.563477, "cg_vv_v": 151.762939, "cg_vw_v": 89.2981949, "control_outputs_enabled": 1, "dclink_i_a": 75.0547409, "dclink_p_w": 11324.4951, "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": 63.2564392, "temp_inv2_c": 61.5263062, "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": 0.135051504, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1529.014282, "values": {"Elec_RPM": -12994.6328, "EncoderCos": 13469, "EncoderSin": 41148, "GapTicks": 39138, "Mech_RPM": -2598.92651, "cg_du": 38.1999741, "cg_dv": 64.4198761, "cg_dw": 35.5801201, "cg_id_a": -3.6247952, "cg_id_raw_a": -10.6712246, "cg_iq_a": 290.049652, "cg_iq_raw_a": 285.594177, "cg_iu_a": 234.976013, "cg_iv_a": -266.418152, "cg_iw_a": 31.4421234, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9667913, "cg_sample_valid": 1, "cg_theta_rad": 2.75839019, "cg_vd_req_v": 8.24622154, "cg_vd_v": 8.24622154, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3642483, "cg_vq_v": -26.3642483, "cg_vu_v": 80.5003433, "cg_vv_v": 151.323044, "cg_vw_v": 135.926804, "control_outputs_enabled": 1, "dclink_i_a": 75.0710526, "dclink_p_w": 11293.9336, "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": 63.2564392, "temp_inv2_c": 61.4170837, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133289069, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1530.031738, "values": {"Elec_RPM": -12997.1826, "EncoderCos": 25516, "EncoderSin": 52467, "GapTicks": 39346, "Mech_RPM": -2599.43652, "cg_du": 37.250267, "cg_dv": 35.7699966, "cg_dw": 64.2300034, "cg_id_a": 5.83444691, "cg_id_raw_a": -7.33657026, "cg_iq_a": 300.37561, "cg_iq_raw_a": 295.10144, "cg_iu_a": 6.27742767, "cg_iv_a": 255.021881, "cg_iw_a": -261.299316, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 9672913, "cg_sample_valid": 1, "cg_theta_rad": 1.9540422, "cg_vd_req_v": 8.10139465, "cg_vd_v": 8.10139465, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5412292, "cg_vq_v": -26.5412292, "cg_vu_v": 115.251846, "cg_vv_v": 86.6588287, "cg_vw_v": 151.762939, "control_outputs_enabled": 1, "dclink_i_a": 75.5150375, "dclink_p_w": 11360.7275, "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": 63.162384, "temp_inv2_c": 61.4170837, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135957882, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1531.049072, "values": {"Elec_RPM": -12993.7324, "EncoderCos": 48745, "EncoderSin": 19440, "GapTicks": 37456, "Mech_RPM": -2598.74658, "cg_du": 34.0513763, "cg_dv": 46.613781, "cg_dw": 65.9486237, "cg_id_a": 2.82968283, "cg_id_raw_a": 6.79790115, "cg_iq_a": 305.25885, "cg_iq_raw_a": 308.755096, "cg_iu_a": 137.77005, "cg_iv_a": 175.466675, "cg_iw_a": -313.236725, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9678062, "cg_sample_valid": 1, "cg_theta_rad": 5.64209938, "cg_vd_req_v": 8.0375042, "cg_vd_v": 8.0375042, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8158188, "cg_vq_v": -26.8158188, "cg_vu_v": 41.7897949, "cg_vv_v": 36.9509773, "cg_vw_v": 80.0604477, "control_outputs_enabled": 1, "dclink_i_a": 74.2211304, "dclink_p_w": 11133.4199, "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": 63.2093811, "temp_inv2_c": 61.5515442, "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": 0.13837491, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1532.08667, "values": {"Elec_RPM": -12982.6523, "EncoderCos": 12157, "EncoderSin": 36984, "GapTicks": 39086, "Mech_RPM": -2596.53052, "cg_du": 35.5329742, "cg_dv": 64.4670258, "cg_dw": 61.7429085, "cg_id_a": -7.93028259, "cg_id_raw_a": -18.7495098, "cg_iq_a": 294.940765, "cg_iq_raw_a": 291.359528, "cg_iu_a": 270.38623, "cg_iv_a": -28.7310638, "cg_iw_a": -241.655167, "cg_sample_age_us": 23.8490906, "cg_sample_seq": 9683212, "cg_sample_valid": 1, "cg_theta_rad": 2.98224258, "cg_vd_req_v": 8.33468246, "cg_vd_v": 8.33468246, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4734936, "cg_vq_v": -26.4734936, "cg_vu_v": 27.2733402, "cg_vv_v": 38.2706528, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 73.9348068, "dclink_p_w": 11155.5166, "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": 63.2093811, "temp_inv2_c": 61.6189575, "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": 0.131023124, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1532.927856, "values": {"Elec_RPM": -13002.6084, "EncoderCos": 34062, "EncoderSin": 53671, "GapTicks": 39128, "Mech_RPM": -2600.52173, "cg_du": 35.5716171, "cg_dv": 64.4283829, "cg_dw": 37.8256149, "cg_id_a": -1.22204578, "cg_id_raw_a": 7.72313833, "cg_iq_a": 299.522949, "cg_iq_raw_a": 305.101318, "cg_iu_a": 267.233032, "cg_iv_a": -246.085358, "cg_iw_a": -21.1476746, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 9687412, "cg_sample_valid": 1, "cg_theta_rad": 1.55230975, "cg_vd_req_v": 8.26000977, "cg_vd_v": 8.26000977, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5435009, "cg_vq_v": -26.5435009, "cg_vu_v": 5.27871037, "cg_vv_v": 60.7051735, "cg_vw_v": 76.1014175, "control_outputs_enabled": 1, "dclink_i_a": 74.8264008, "dclink_p_w": 11290.043, "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": 63.2093811, "temp_inv2_c": 61.5880432, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132634476, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1533.945435, "values": {"Elec_RPM": -12999.5322, "EncoderCos": 32956, "EncoderSin": 53734, "GapTicks": 37695, "Mech_RPM": -2599.90649, "cg_du": 34.2683678, "cg_dv": 65.731636, "cg_dw": 44.6871376, "cg_id_a": 2.3304286, "cg_id_raw_a": 2.06211376, "cg_iq_a": 298.885132, "cg_iq_raw_a": 299.003662, "cg_iu_a": 291.480164, "cg_iv_a": -192.408234, "cg_iw_a": -99.0719299, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9692512, "cg_sample_valid": 1, "cg_theta_rad": 1.59699595, "cg_vd_req_v": 8.15797234, "cg_vd_v": 8.15797234, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5360432, "cg_vq_v": -26.5360432, "cg_vu_v": 11.877099, "cg_vv_v": 52.3472176, "cg_vw_v": 78.7407684, "control_outputs_enabled": 1, "dclink_i_a": 74.6759949, "dclink_p_w": 11234.5, "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": 63.3035889, "temp_inv2_c": 61.6329956, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134648651, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1534.962769, "values": {"Elec_RPM": -12996.8066, "EncoderCos": 41936, "EncoderSin": 14037, "GapTicks": 37513, "Mech_RPM": -2599.36133, "cg_du": 46.8616371, "cg_dv": 65.8970032, "cg_dw": 34.1029968, "cg_id_a": 8.48117924, "cg_id_raw_a": 14.0180883, "cg_iq_a": 301.171692, "cg_iq_raw_a": 305.823395, "cg_iu_a": 100.982574, "cg_iv_a": -292.73114, "cg_iw_a": 191.748581, "cg_sample_age_us": 23.8454552, "cg_sample_seq": 9697662, "cg_sample_valid": 1, "cg_theta_rad": 5.17331409, "cg_vd_req_v": 7.91047478, "cg_vd_v": 7.91047478, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7299061, "cg_vq_v": -26.7299061, "cg_vu_v": 0, "cg_vv_v": 58.5057106, "cg_vw_v": 5.27871037, "control_outputs_enabled": 1, "dclink_i_a": 75.3628159, "dclink_p_w": 11337.8271, "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": 63.2564392, "temp_inv2_c": 61.5740051, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131375596, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1535.980103, "values": {"Elec_RPM": -12979.5127, "EncoderCos": 25480, "EncoderSin": 13055, "GapTicks": 37885, "Mech_RPM": -2595.90259, "cg_du": 34.4412117, "cg_dv": 43.4749146, "cg_dw": 65.5587921, "cg_id_a": -4.72334385, "cg_id_raw_a": -2.96807599, "cg_iq_a": 298.446167, "cg_iq_raw_a": 303.791626, "cg_iu_a": 95.3285294, "cg_iv_a": 201.707245, "cg_iw_a": -297.035767, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 9702662, "cg_sample_valid": 1, "cg_theta_rad": 4.411129, "cg_vd_req_v": 8.15596962, "cg_vd_v": 8.15596962, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6714115, "cg_vq_v": -26.6714115, "cg_vu_v": 62.0248489, "cg_vv_v": 37.3908691, "cg_vw_v": 83.1396942, "control_outputs_enabled": 1, "dclink_i_a": 74.3008652, "dclink_p_w": 11210.748, "enc_isr_hz": 4998, "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": 63.2093811, "temp_inv2_c": 61.5627747, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00100709544, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135706097, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1536.997559, "values": {"Elec_RPM": -12981.2217, "EncoderCos": 42875, "EncoderSin": 14529, "GapTicks": 38659, "Mech_RPM": -2596.24438, "cg_du": 39.9674072, "cg_dv": 64.8545532, "cg_dw": 35.1454468, "cg_id_a": 4.77619982, "cg_id_raw_a": 1.3584348, "cg_iq_a": 295.927582, "cg_iq_raw_a": 291.408936, "cg_iu_a": 224.537781, "cg_iv_a": -277.871185, "cg_iw_a": 53.3333969, "cg_sample_age_us": 23.9327278, "cg_sample_seq": 9707863, "cg_sample_valid": 1, "cg_theta_rad": 5.27267075, "cg_vd_req_v": 7.96880341, "cg_vd_v": 7.96880341, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6107254, "cg_vq_v": -26.6107254, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": 74.3697281, "dclink_p_w": 11188.4238, "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": 63.2093811, "temp_inv2_c": 61.641449, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131979853, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1538.020386, "values": {"Elec_RPM": -12978.041, "EncoderCos": 13435, "EncoderSin": 24445, "GapTicks": 38509, "Mech_RPM": -2595.60815, "cg_du": 64.9910278, "cg_dv": 35.008976, "cg_dw": 40.423912, "cg_id_a": -14.4940329, "cg_id_raw_a": -19.9555168, "cg_iq_a": 290.43988, "cg_iq_raw_a": 283.716034, "cg_iu_a": -268.01593, "cg_iv_a": 43.8291016, "cg_iw_a": 224.186829, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 9712763, "cg_sample_valid": 1, "cg_theta_rad": 3.59310627, "cg_vd_req_v": 8.38882923, "cg_vd_v": 8.38882923, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4585495, "cg_vq_v": -26.4585495, "cg_vu_v": 152.202835, "cg_vv_v": 149.123581, "cg_vw_v": 90.6178665, "control_outputs_enabled": 1, "dclink_i_a": 75.3320084, "dclink_p_w": 11333.1924, "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": 63.2093811, "temp_inv2_c": 61.7062378, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133138016, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1539.009155, "values": {"Elec_RPM": -12985.1709, "EncoderCos": 53493, "EncoderSin": 33385, "GapTicks": 39306, "Mech_RPM": -2597.03418, "cg_du": 62.8313446, "cg_dv": 64.267128, "cg_dw": 35.732872, "cg_id_a": 10.147913, "cg_id_raw_a": 15.7922888, "cg_iq_a": 307.611908, "cg_iq_raw_a": 312.289703, "cg_iu_a": -2.16738558, "cg_iv_a": -260.727844, "cg_iw_a": 262.895233, "cg_sample_age_us": 23.358181, "cg_sample_seq": 9717813, "cg_sample_valid": 1, "cg_theta_rad": 0.0753918588, "cg_vd_req_v": 7.92668533, "cg_vd_v": 7.92668533, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7778378, "cg_vq_v": -26.7778378, "cg_vu_v": 92.3774414, "cg_vv_v": 151.762939, "cg_vw_v": 111.292824, "control_outputs_enabled": 1, "dclink_i_a": 75.6002121, "dclink_p_w": 11373.542, "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": 63.2564392, "temp_inv2_c": 61.6189575, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1540.026489, "values": {"Elec_RPM": -12993.3691, "EncoderCos": 43959, "EncoderSin": 50395, "GapTicks": 37503, "Mech_RPM": -2598.67383, "cg_du": 65.9063644, "cg_dv": 34.0936394, "cg_dw": 45.1779213, "cg_id_a": -1.31664801, "cg_id_raw_a": 3.5914216, "cg_iq_a": 307.97525, "cg_iq_raw_a": 309.820679, "cg_iu_a": -302.121338, "cg_iv_a": 177.822525, "cg_iw_a": 124.298813, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 9723012, "cg_sample_valid": 1, "cg_theta_rad": 0.994037569, "cg_vd_req_v": 8.24127007, "cg_vd_v": 8.24127007, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7283745, "cg_vq_v": -26.7283745, "cg_vu_v": 41.7897949, "cg_vv_v": 0.43989256, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 75.0547409, "dclink_p_w": 11291.4795, "enc_isr_hz": 4998, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4998, "hz_app_loop": 2592, "hz_tim_isr": 4998, "hz_vsense": 2592, "pwm_moe": 1, "temp_inv1_c": 63.2564392, "temp_inv2_c": 61.65271, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129311055, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1541.043823, "values": {"Elec_RPM": -12985.9316, "EncoderCos": 53284, "EncoderSin": 35524, "GapTicks": 37354, "Mech_RPM": -2597.18628, "cg_du": 49.0340424, "cg_dv": 66.0409698, "cg_dw": 33.9590302, "cg_id_a": 10.3801756, "cg_id_raw_a": 16.3211346, "cg_iq_a": 306.44223, "cg_iq_raw_a": 304.234528, "cg_iu_a": 153.20993, "cg_iv_a": -300.813538, "cg_iw_a": 147.603607, "cg_sample_age_us": 23.5072727, "cg_sample_seq": 9728013, "cg_sample_valid": 1, "cg_theta_rad": 0.170532525, "cg_vd_req_v": 7.93976307, "cg_vd_v": 7.93976307, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7283726, "cg_vq_v": -26.7283726, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 91.0577545, "control_outputs_enabled": 1, "dclink_i_a": 74.9750061, "dclink_p_w": 11246.5039, "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": 63.1154175, "temp_inv2_c": 61.5010681, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13736783, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1542.061401, "values": {"Elec_RPM": -12990.7031, "EncoderCos": 53309, "EncoderSin": 35417, "GapTicks": 37383, "Mech_RPM": -2598.14063, "cg_du": 49.7260513, "cg_dv": 66.0150452, "cg_dw": 33.9849548, "cg_id_a": 9.96844292, "cg_id_raw_a": 19.041914, "cg_iq_a": 302.566772, "cg_iq_raw_a": 306.39682, "cg_iu_a": 214.498245, "cg_iv_a": -289.79541, "cg_iw_a": 75.2971649, "cg_sample_age_us": 23.4854546, "cg_sample_seq": 9733114, "cg_sample_valid": 1, "cg_theta_rad": 0.226506233, "cg_vd_req_v": 7.95961237, "cg_vd_v": 7.95961237, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6593189, "cg_vq_v": -26.6593189, "cg_vu_v": 109.533249, "cg_vv_v": 151.762939, "cg_vw_v": 149.563477, "control_outputs_enabled": 1, "dclink_i_a": 74.9025192, "dclink_p_w": 11268.5791, "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": 4999, "hz_vsense": 2593, "pwm_moe": 1, "temp_inv1_c": 63.162384, "temp_inv2_c": 61.6611633, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135101855, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1542.922607, "values": {"Elec_RPM": -13004.8496, "EncoderCos": 52286, "EncoderSin": 25869, "GapTicks": 37673, "Mech_RPM": -2600.96997, "cg_du": 65.7513428, "cg_dv": 34.2486534, "cg_dw": 55.8179207, "cg_id_a": 8.44510078, "cg_id_raw_a": 3.64543891, "cg_iq_a": 309.207306, "cg_iq_raw_a": 305.146637, "cg_iu_a": -306.07193, "cg_iv_a": 223.163574, "cg_iw_a": 82.9083557, "cg_sample_age_us": 24.1036358, "cg_sample_seq": 9737412, "cg_sample_valid": 1, "cg_theta_rad": 5.99355698, "cg_vd_req_v": 7.9618001, "cg_vd_v": 7.9618001, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8212318, "cg_vq_v": -26.8212318, "cg_vu_v": 47.9482918, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 74.6053162, "dclink_p_w": 11191.0488, "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": 63.3035889, "temp_inv2_c": 61.7062378, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132986948, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1543.940186, "values": {"Elec_RPM": -13000.1777, "EncoderCos": 41090, "EncoderSin": 13657, "GapTicks": 37524, "Mech_RPM": -2600.03564, "cg_du": 52.9601593, "cg_dv": 65.8867645, "cg_dw": 34.1132317, "cg_id_a": 6.48356724, "cg_id_raw_a": 6.49240685, "cg_iq_a": 299.629333, "cg_iq_raw_a": 302.5896, "cg_iu_a": 110.188507, "cg_iv_a": -301.538391, "cg_iw_a": 235.24118, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 9742412, "cg_sample_valid": 1, "cg_theta_rad": 5.16563988, "cg_vd_req_v": 7.96597958, "cg_vd_v": 7.96597958, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6743221, "cg_vq_v": -26.6743221, "cg_vu_v": 0, "cg_vv_v": 60.2652817, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 74.5020218, "dclink_p_w": 11175.5547, "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": 63.2564392, "temp_inv2_c": 61.5852356, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132735178, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1544.95752, "values": {"Elec_RPM": -12987.1924, "EncoderCos": 16276, "EncoderSin": 45742, "GapTicks": 37727, "Mech_RPM": -2597.43848, "cg_du": 65.701889, "cg_dv": 55.5774307, "cg_dw": 34.2981071, "cg_id_a": -8.93842316, "cg_id_raw_a": -13.6525488, "cg_iq_a": 296.99057, "cg_iq_raw_a": 294.633972, "cg_iu_a": -88.173996, "cg_iv_a": -198.859634, "cg_iw_a": 287.03363, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 9747562, "cg_sample_valid": 1, "cg_theta_rad": 2.51328158, "cg_vd_req_v": 8.34086514, "cg_vd_v": 8.34086514, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4805717, "cg_vq_v": -26.4805717, "cg_vu_v": 40.0302238, "cg_vv_v": 78.7407684, "cg_vw_v": 38.7105446, "control_outputs_enabled": 1, "dclink_i_a": 74.5237656, "dclink_p_w": 11244.3799, "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": 63.2564392, "temp_inv2_c": 61.641449, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13485007, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1545.974976, "values": {"Elec_RPM": -12990.5029, "EncoderCos": 16294, "EncoderSin": 45785, "GapTicks": 37675, "Mech_RPM": -2598.10059, "cg_du": 65.7499084, "cg_dv": 55.1712494, "cg_dw": 34.2500954, "cg_id_a": -2.82492542, "cg_id_raw_a": 1.98808622, "cg_iq_a": 298.573456, "cg_iq_raw_a": 302.454742, "cg_iu_a": -110.02903, "cg_iv_a": -184.978241, "cg_iw_a": 295.007263, "cg_sample_age_us": 23.8527279, "cg_sample_seq": 9752663, "cg_sample_valid": 1, "cg_theta_rad": 2.5063622, "cg_vd_req_v": 8.2323103, "cg_vd_v": 8.2323103, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5176201, "cg_vq_v": -26.5176201, "cg_vu_v": 114.811958, "cg_vv_v": 151.323044, "cg_vw_v": 109.973145, "control_outputs_enabled": 1, "dclink_i_a": 75.8593521, "dclink_p_w": 11412.5273, "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": 63.2093811, "temp_inv2_c": 61.5515442, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134195477, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1546.992432, "values": {"Elec_RPM": -12987.7979, "EncoderCos": 42871, "EncoderSin": 14584, "GapTicks": 38685, "Mech_RPM": -2597.55957, "cg_du": 39.8394356, "cg_dv": 64.8318024, "cg_dw": 35.1681938, "cg_id_a": 6.32186794, "cg_id_raw_a": 1.39609635, "cg_iq_a": 296.331299, "cg_iq_raw_a": 293.539948, "cg_iu_a": 226.603699, "cg_iv_a": -276.167725, "cg_iw_a": 49.5640335, "cg_sample_age_us": 23.954546, "cg_sample_seq": 9757713, "cg_sample_valid": 1, "cg_theta_rad": 5.26834011, "cg_vd_req_v": 7.95544052, "cg_vd_v": 7.95544052, "cg_vdc_v": 150.883148, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6253395, "cg_vq_v": -26.6253395, "cg_vu_v": 73.9019547, "cg_vv_v": 113.932175, "cg_vw_v": 110.413033, "control_outputs_enabled": 1, "dclink_i_a": 75.0221176, "dclink_p_w": 11319.5732, "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": 63.2564392, "temp_inv2_c": 61.5178833, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135454327, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1548.01062, "values": {"Elec_RPM": -12982.2559, "EncoderCos": 26549, "EncoderSin": 12753, "GapTicks": 39524, "Mech_RPM": -2596.45117, "cg_du": 35.931694, "cg_dv": 36.7683144, "cg_dw": 64.068306, "cg_id_a": 6.10573626, "cg_id_raw_a": -6.34559536, "cg_iq_a": 299.139282, "cg_iq_raw_a": 292.496948, "cg_iu_a": 25.994072, "cg_iv_a": 242.916473, "cg_iw_a": -268.910553, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 9762713, "cg_sample_valid": 1, "cg_theta_rad": 4.44693565, "cg_vd_req_v": 7.94841146, "cg_vd_v": 7.94841146, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6496239, "cg_vq_v": -26.6496239, "cg_vu_v": 114.811958, "cg_vv_v": 87.9785156, "cg_vw_v": 152.642715, "control_outputs_enabled": 1, "dclink_i_a": 74.1105881, "dclink_p_w": 11149.4375, "enc_isr_hz": 5000, "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": 63.2564392, "temp_inv2_c": 61.6499023, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129260689, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1549.003906, "values": {"Elec_RPM": -12983.5918, "EncoderCos": 28641, "EncoderSin": 12244, "GapTicks": 37404, "Mech_RPM": -2596.71826, "cg_du": 49.2818489, "cg_dv": 34.0038147, "cg_dw": 65.9961853, "cg_id_a": -0.359730244, "cg_id_raw_a": 4.37760592, "cg_iq_a": 296.149475, "cg_iq_raw_a": 296.853912, "cg_iu_a": -143.627075, "cg_iv_a": 291.193268, "cg_iw_a": -147.566193, "cg_sample_age_us": 23.9618187, "cg_sample_seq": 9767812, "cg_sample_valid": 1, "cg_theta_rad": 4.56312513, "cg_vd_req_v": 8.08264542, "cg_vd_v": 8.08264542, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5963726, "cg_vq_v": -26.5963726, "cg_vu_v": 58.5057106, "cg_vv_v": 0, "cg_vw_v": 8.35795879, "control_outputs_enabled": 1, "dclink_i_a": 74.9876862, "dclink_p_w": 11281.3916, "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": 63.2564392, "temp_inv2_c": 61.5066833, "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": 0.135756463, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1550.02124, "values": {"Elec_RPM": -12987.5586, "EncoderCos": 28566, "EncoderSin": 12267, "GapTicks": 37504, "Mech_RPM": -2597.51172, "cg_du": 48.7057915, "cg_dv": 34.0952034, "cg_dw": 65.9048004, "cg_id_a": 3.74489927, "cg_id_raw_a": 9.60604572, "cg_iq_a": 293.626007, "cg_iq_raw_a": 294.781738, "cg_iu_a": -125.976318, "cg_iv_a": 297.934601, "cg_iw_a": -171.958282, "cg_sample_age_us": 23.9145451, "cg_sample_seq": 9772913, "cg_sample_valid": 1, "cg_theta_rad": 4.54883051, "cg_vd_req_v": 8.01051807, "cg_vd_v": 8.01051807, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.5589275, "cg_vq_v": -26.5589275, "cg_vu_v": 151.762939, "cg_vv_v": 98.9758301, "cg_vw_v": 150.883148, "control_outputs_enabled": 1, "dclink_i_a": 74.7231064, "dclink_p_w": 11208.7178, "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": 63.2093811, "temp_inv2_c": 61.6808777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133591205, "tim_isr_running": 1, "vdc_v": 150.883148}}
{"type": "telemetry", "t": 1551.038818, "values": {"Elec_RPM": -12994.8057, "EncoderCos": 29579, "EncoderSin": 12088, "GapTicks": 37734, "Mech_RPM": -2598.96118, "cg_du": 55.5823364, "cg_dv": 34.3044815, "cg_dw": 65.6955185, "cg_id_a": 0.286468506, "cg_id_raw_a": 5.81709433, "cg_iq_a": 297.608093, "cg_iq_raw_a": 300.840027, "cg_iu_a": -191.360199, "cg_iv_a": 296.919769, "cg_iw_a": -163.404724, "cg_sample_age_us": 23.7981815, "cg_sample_seq": 9778013, "cg_sample_valid": 1, "cg_theta_rad": 4.59751987, "cg_vd_req_v": 8.08984184, "cg_vd_v": 8.08984184, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6331253, "cg_vq_v": -26.6331253, "cg_vu_v": 121.410347, "cg_vv_v": 72.5822754, "cg_vw_v": 75.6615219, "control_outputs_enabled": 1, "dclink_i_a": 74.5400772, "dclink_p_w": 11181.2627, "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": 63.2564392, "temp_inv2_c": 61.6105042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133591205, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1552.056152, "values": {"Elec_RPM": -12991.5713, "EncoderCos": 43080, "EncoderSin": 50825, "GapTicks": 38719, "Mech_RPM": -2598.31421, "cg_du": 64.8001175, "cg_dv": 35.1998825, "cg_dw": 39.0347824, "cg_id_a": 2.19897485, "cg_id_raw_a": -2.82838869, "cg_iq_a": 309.701141, "cg_iq_raw_a": 305.052246, "cg_iu_a": -284.68808, "cg_iv_a": 47.3809814, "cg_iw_a": 237.307098, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 9783063, "cg_sample_valid": 1, "cg_theta_rad": 1.09051812, "cg_vd_req_v": 8.1952219, "cg_vd_v": 8.1952219, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7358551, "cg_vq_v": -26.7358551, "cg_vu_v": 115.251846, "cg_vv_v": 111.292824, "cg_vw_v": 70.3828125, "control_outputs_enabled": 1, "dclink_i_a": 75.1036682, "dclink_p_w": 11298.8398, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 63.2564392, "temp_inv2_c": 61.6640015, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.14240329, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1552.917603, "values": {"Elec_RPM": -12983.1006, "EncoderCos": 11949, "EncoderSin": 30807, "GapTicks": 37755, "Mech_RPM": -2596.62012, "cg_du": 45.1359215, "cg_dv": 34.3234253, "cg_dw": 65.6765747, "cg_id_a": -0.624221802, "cg_id_raw_a": -0.448982328, "cg_iq_a": 288.617432, "cg_iq_raw_a": 293.749939, "cg_iu_a": -100.678116, "cg_iv_a": 277.819275, "cg_iw_a": -245.641998, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9787312, "cg_sample_valid": 1, "cg_theta_rad": 3.26311421, "cg_vd_req_v": 8.16354465, "cg_vd_v": 8.16354465, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3498611, "cg_vq_v": -26.3498611, "cg_vu_v": 76.5413055, "cg_vv_v": 26.8334465, "cg_vw_v": 65.9838867, "control_outputs_enabled": 1, "dclink_i_a": 75.368248, "dclink_p_w": 11338.6445, "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": 63.2564392, "temp_inv2_c": 61.6640015, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13056992, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1553.934937, "values": {"Elec_RPM": -12994.5176, "EncoderCos": 50066, "EncoderSin": 44064, "GapTicks": 37443, "Mech_RPM": -2598.90356, "cg_du": 34.0396271, "cg_dv": 45.9979172, "cg_dw": 65.9603729, "cg_id_a": 5.47176695, "cg_id_raw_a": 7.67576647, "cg_iq_a": 312.106598, "cg_iq_raw_a": 318.586945, "cg_iu_a": 134.036926, "cg_iv_a": 183.947754, "cg_iw_a": -317.98468, "cg_sample_age_us": 23.5036373, "cg_sample_seq": 9792462, "cg_sample_valid": 1, "cg_theta_rad": 0.620720208, "cg_vd_req_v": 8.08651638, "cg_vd_v": 8.08651638, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.8224392, "cg_vq_v": -26.8224392, "cg_vu_v": 42.2296829, "cg_vv_v": 35.6312981, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": 75.5585251, "dclink_p_w": 11367.2705, "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": 63.2564392, "temp_inv2_c": 61.641449, "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": 0.134447247, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1554.952393, "values": {"Elec_RPM": -13007.7529, "EncoderCos": 12019, "EncoderSin": 29883, "GapTicks": 37584, "Mech_RPM": -2601.55054, "cg_du": 51.2908173, "cg_dv": 34.1681442, "cg_dw": 65.8318558, "cg_id_a": -2.79093599, "cg_id_raw_a": 5.97341776, "cg_iq_a": 285.198181, "cg_iq_raw_a": 290.015411, "cg_iu_a": -149.317352, "cg_iv_a": 287.786316, "cg_iw_a": -138.468979, "cg_sample_age_us": 24.2672729, "cg_sample_seq": 9797513, "cg_sample_valid": 1, "cg_theta_rad": 3.31732821, "cg_vd_req_v": 8.22720432, "cg_vd_v": 8.22720432, "cg_vdc_v": 150.443253, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.2751331, "cg_vq_v": -26.2751331, "cg_vu_v": 135.926804, "cg_vv_v": 73.0221634, "cg_vw_v": 83.5795898, "control_outputs_enabled": 1, "dclink_i_a": 74.8155289, "dclink_p_w": 11255.4912, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 63.3035889, "temp_inv2_c": 61.641449, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130066365, "tim_isr_running": 1, "vdc_v": 150.443253}}
{"type": "telemetry", "t": 1555.969849, "values": {"Elec_RPM": -12988.4414, "EncoderCos": 12404, "EncoderSin": 27771, "GapTicks": 39446, "Mech_RPM": -2597.68823, "cg_du": 64.139389, "cg_dv": 35.8606148, "cg_dw": 62.7401886, "cg_id_a": -11.3297329, "cg_id_raw_a": -20.8930607, "cg_iq_a": 285.630524, "cg_iq_raw_a": 280.49527, "cg_iu_a": -254.895645, "cg_iv_a": 244.54744, "cg_iw_a": 10.3482056, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 9802612, "cg_sample_valid": 1, "cg_theta_rad": 3.4197557, "cg_vd_req_v": 8.38220882, "cg_vd_v": 8.38220882, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.3030796, "cg_vq_v": -26.3030796, "cg_vu_v": 74.7817383, "cg_vv_v": 36.9509773, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 74.9478226, "dclink_p_w": 11275.3945, "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": 63.2564392, "temp_inv2_c": 61.5908508, "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": 0.137518883, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1556.987183, "values": {"Elec_RPM": -13000.5273, "EncoderCos": 48907, "EncoderSin": 45743, "GapTicks": 38787, "Mech_RPM": -2600.10547, "cg_du": 38.7199173, "cg_dv": 35.2609367, "cg_dw": 64.7390594, "cg_id_a": 9.13020229, "cg_id_raw_a": -4.7754941, "cg_iq_a": 308.758301, "cg_iq_raw_a": 301.632721, "cg_iu_a": -11.8082447, "cg_iv_a": 273.759979, "cg_iw_a": -261.951721, "cg_sample_age_us": 23.4236355, "cg_sample_seq": 9807763, "cg_sample_valid": 1, "cg_theta_rad": 0.717721224, "cg_vd_req_v": 8.02548409, "cg_vd_v": 8.02548409, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7317562, "cg_vq_v": -26.7317562, "cg_vu_v": 120.970459, "cg_vv_v": 97.2162552, "cg_vw_v": 152.202835, "control_outputs_enabled": 1, "dclink_i_a": 73.8296967, "dclink_p_w": 11074.7031, "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": 63.2564392, "temp_inv2_c": 61.6386414, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135252923, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1558.005493, "values": {"Elec_RPM": -12988.3906, "EncoderCos": 48247, "EncoderSin": 46524, "GapTicks": 37530, "Mech_RPM": -2597.67822, "cg_du": 45.2452278, "cg_dv": 34.118454, "cg_dw": 65.881546, "cg_id_a": 9.93472672, "cg_id_raw_a": 5.10122013, "cg_iq_a": 308.891449, "cg_iq_raw_a": 307.559631, "cg_iu_a": -90.8560486, "cg_iv_a": 270.715485, "cg_iw_a": -262.314148, "cg_sample_age_us": 23.51091, "cg_sample_seq": 9812863, "cg_sample_valid": 1, "cg_theta_rad": 0.74903971, "cg_vd_req_v": 8.01060009, "cg_vd_v": 8.01060009, "cg_vdc_v": 150.003372, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7421741, "cg_vq_v": -26.7421741, "cg_vu_v": 116.131638, "cg_vv_v": 71.7024918, "cg_vw_v": 95.4566803, "control_outputs_enabled": 1, "dclink_i_a": 74.6542435, "dclink_p_w": 11198.3887, "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": 63.3035889, "temp_inv2_c": 61.6724243, "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": 0.137518883, "tim_isr_running": 1, "vdc_v": 150.003372}}
{"type": "telemetry", "t": 1559.007813, "values": {"Elec_RPM": -12987.6514, "EncoderCos": 12663, "EncoderSin": 26867, "GapTicks": 38172, "Mech_RPM": -2597.53027, "cg_du": 65.297821, "cg_dv": 34.702179, "cg_dw": 57.7893753, "cg_id_a": -11.6397829, "cg_id_raw_a": -9.23282146, "cg_iq_a": 260.408142, "cg_iq_raw_a": 261.267853, "cg_iu_a": -271.096619, "cg_iv_a": 172.748383, "cg_iw_a": 80.4800339, "cg_sample_age_us": 23.7000008, "cg_sample_seq": 9817913, "cg_sample_valid": 1, "cg_theta_rad": 3.50772524, "cg_vd_req_v": 7.48968172, "cg_vd_v": 7.48968172, "cg_vdc_v": 149.563477, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.4151878, "cg_vq_v": -26.4151878, "cg_vu_v": 40.0302238, "cg_vv_v": 0, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 71.1005402, "dclink_p_w": 10602.7676, "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": 63.2093811, "temp_inv2_c": 61.6611633, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133994043, "tim_isr_running": 1, "vdc_v": 149.123581}}
{"type": "telemetry", "t": 1560.025146, "values": {"Elec_RPM": -12990.9961, "EncoderCos": 19635, "EncoderSin": 49060, "GapTicks": 37432, "Mech_RPM": -2598.19922, "cg_du": 65.9703674, "cg_dv": 34.0296326, "cg_dw": 49.6087456, "cg_id_a": -6.39186096, "cg_id_raw_a": -3.12942767, "cg_iq_a": 223.939026, "cg_iq_raw_a": 219.874756, "cg_iu_a": -218.796783, "cg_iv_a": 81.1239929, "cg_iw_a": 137.672791, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 9822913, "cg_sample_valid": 1, "cg_theta_rad": 2.28725982, "cg_vd_req_v": 5.48438549, "cg_vd_v": 5.48438549, "cg_vdc_v": 148.24379, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.7846413, "cg_vq_v": -26.7846413, "cg_vu_v": 128.008743, "cg_vv_v": 110.413033, "cg_vw_v": 106.893898, "control_outputs_enabled": 1, "dclink_i_a": 61.1642952, "dclink_p_w": 9121.03906, "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": 63.3035889, "temp_inv2_c": 61.7315979, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129814595, "tim_isr_running": 1, "vdc_v": 148.24379}}
{"type": "telemetry", "t": 1561.042603, "values": {"Elec_RPM": -13005.0088, "EncoderCos": 40497, "EncoderSin": 13491, "GapTicks": 38851, "Mech_RPM": -2601.00171, "cg_du": 62.0285568, "cg_dv": 64.680481, "cg_dw": 35.319519, "cg_id_a": 9.13886833, "cg_id_raw_a": 10.5604792, "cg_iq_a": 174.081543, "cg_iq_raw_a": 178.913025, "cg_iu_a": 38.9331207, "cg_iv_a": -162.362091, "cg_iw_a": 123.428963, "cg_sample_age_us": 23.823637, "cg_sample_seq": 9828063, "cg_sample_valid": 1, "cg_theta_rad": 5.1450901, "cg_vd_req_v": 2.79211855, "cg_vd_v": 2.79211855, "cg_vdc_v": 145.604446, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0785732, "cg_vq_v": -27.0785732, "cg_vu_v": 83.1396942, "cg_vv_v": 145.604446, "cg_vw_v": 106.014107, "control_outputs_enabled": 1, "dclink_i_a": 48.9555588, "dclink_p_w": 7106.61182, "enc_isr_hz": 5002, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2588, "hz_tim_isr": 5000, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 63.3035889, "temp_inv2_c": 61.6977844, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130418867, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1562.080078, "values": {"Elec_RPM": -13022.8848, "EncoderCos": 16157, "EncoderSin": 20051, "GapTicks": 37857, "Mech_RPM": -2604.5769, "cg_du": 65.5840759, "cg_dv": 57.1680641, "cg_dw": 34.4159241, "cg_id_a": -4.05895281, "cg_id_raw_a": -0.24499242, "cg_iq_a": 119.053795, "cg_iq_raw_a": 120.779251, "cg_iu_a": 106.020462, "cg_iv_a": -101.798645, "cg_iw_a": -4.22181702, "cg_sample_age_us": 23.863636, "cg_sample_seq": 9833167, "cg_sample_valid": 1, "cg_theta_rad": 4.05143118, "cg_vd_req_v": 0.510252476, "cg_vd_v": 0.510252476, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0228558, "cg_vq_v": -27.0228558, "cg_vu_v": 105.574219, "cg_vv_v": 146.484222, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 37.9301834, "dclink_p_w": 5489.43262, "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": 63.3035889, "temp_inv2_c": 61.7033997, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.137720302, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1562.921509, "values": {"Elec_RPM": -13009.6572, "EncoderCos": 35856, "EncoderSin": 53368, "GapTicks": 37554, "Mech_RPM": -2601.9314, "cg_du": 55.8696632, "cg_dv": 65.8597488, "cg_dw": 34.1402512, "cg_id_a": 3.62091613, "cg_id_raw_a": 4.03725147, "cg_iq_a": 83.3727722, "cg_iq_raw_a": 83.3099747, "cg_iu_a": 47.5953979, "cg_iv_a": -80.7772141, "cg_iw_a": 51.8836365, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 9837362, "cg_sample_valid": 1, "cg_theta_rad": 1.44201756, "cg_vd_req_v": -1.83409643, "cg_vd_v": -1.83409643, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.0399647, "cg_vq_v": -27.0399647, "cg_vu_v": 25.0738773, "cg_vv_v": 75.2216263, "cg_vw_v": 47.0685043, "control_outputs_enabled": 1, "dclink_i_a": 24.9567032, "dclink_p_w": 3611.85034, "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": 63.3507996, "temp_inv2_c": 61.6133423, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136763558, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1563.938843, "values": {"Elec_RPM": -13010.8828, "EncoderCos": 11930, "EncoderSin": 31671, "GapTicks": 37110, "Mech_RPM": -2602.17651, "cg_du": 33.7367477, "cg_dv": 44.6631813, "cg_dw": 66.2632523, "cg_id_a": -3.68289208, "cg_id_raw_a": -3.39735579, "cg_iq_a": 29.768219, "cg_iq_raw_a": 33.1815491, "cg_iu_a": 1.34826636, "cg_iv_a": 23.7500038, "cg_iw_a": -24.3009071, "cg_sample_age_us": 23.9254551, "cg_sample_seq": 9842512, "cg_sample_valid": 1, "cg_theta_rad": 3.22026682, "cg_vd_req_v": -4.78837061, "cg_vd_v": -4.78837061, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.2439919, "cg_vq_v": -27.2439919, "cg_vu_v": 21.9946289, "cg_vv_v": 0, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 13.1611481, "dclink_p_w": 1904.74268, "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": 63.2093811, "temp_inv2_c": 61.5431213, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132533759, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1564.956299, "values": {"Elec_RPM": -13024.4912, "EncoderCos": 43225, "EncoderSin": 50700, "GapTicks": 36531, "Mech_RPM": -2604.89819, "cg_du": 66.789093, "cg_dv": 33.210907, "cg_dw": 55.4765472, "cg_id_a": 1.31937099, "cg_id_raw_a": 4.31938553, "cg_iq_a": 3.89413738, "cg_iq_raw_a": 0.891394138, "cg_iu_a": -3.39967585, "cg_iv_a": -2.41804361, "cg_iw_a": 5.81771946, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 9847613, "cg_sample_valid": 1, "cg_theta_rad": 1.07161248, "cg_vd_req_v": -6.99894953, "cg_vd_v": -6.99894953, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7684174, "cg_vq_v": -27.7684174, "cg_vu_v": 117.011421, "cg_vv_v": 85.7790527, "cg_vw_v": 90.6178665, "control_outputs_enabled": 1, "dclink_i_a": 1.49788213, "dclink_p_w": 216.780472, "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": 63.1154175, "temp_inv2_c": 61.3835754, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132130921, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1565.973633, "values": {"Elec_RPM": -13017.9824, "EncoderCos": 30649, "EncoderSin": 53529, "GapTicks": 36463, "Mech_RPM": -2603.59644, "cg_du": 33.1489105, "cg_dv": 66.8510895, "cg_dw": 44.6048508, "cg_id_a": -1.77235103, "cg_id_raw_a": 3.1848979, "cg_iq_a": 0.375983119, "cg_iq_raw_a": -1.74031651, "cg_iu_a": 1.16704726, "cg_iv_a": 0.735170126, "cg_iw_a": -1.90221739, "cg_sample_age_us": 23.8381824, "cg_sample_seq": 9852662, "cg_sample_valid": 1, "cg_theta_rad": 1.66225111, "cg_vd_req_v": -6.92774963, "cg_vd_v": -6.92774963, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6972275, "cg_vq_v": -27.6972275, "cg_vu_v": 0, "cg_vv_v": 33.871727, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 1.90562522, "dclink_p_w": 274.952667, "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": 63.021698, "temp_inv2_c": 61.3026428, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127699703, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1566.990967, "values": {"Elec_RPM": -13025.8008, "EncoderCos": 50938, "EncoderSin": 22942, "GapTicks": 38302, "Mech_RPM": -2605.16016, "cg_du": 36.3549118, "cg_dv": 34.8202934, "cg_dw": 65.1797104, "cg_id_a": 6.34134865, "cg_id_raw_a": 12.4525003, "cg_iq_a": 0.587364316, "cg_iq_raw_a": 2.48469138, "cg_iu_a": 1.85568011, "cg_iv_a": -0.932046294, "cg_iw_a": -0.923633814, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 9857762, "cg_sample_valid": 1, "cg_theta_rad": 5.83992577, "cg_vd_req_v": -7.17819309, "cg_vd_v": -7.17819309, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7537785, "cg_vq_v": -27.7537785, "cg_vu_v": 36.5110817, "cg_vv_v": 0, "cg_vw_v": 39.1504402, "control_outputs_enabled": 1, "dclink_i_a": 1.5794307, "dclink_p_w": 228.582565, "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": 62.8349915, "temp_inv2_c": 61.1025085, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133389801, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1568.004761, "values": {"Elec_RPM": -13014.3125, "EncoderCos": 12985, "EncoderSin": 39461, "GapTicks": 37191, "Mech_RPM": -2602.86255, "cg_du": 40.9213829, "cg_dv": 66.1893311, "cg_dw": 33.8106689, "cg_id_a": -8.40724087, "cg_id_raw_a": -0.656108022, "cg_iq_a": -4.0631547, "cg_iq_raw_a": -2.00874615, "cg_iu_a": -3.58089495, "cg_iv_a": 7.69398642, "cg_iw_a": -4.11309147, "cg_sample_age_us": 23.9909096, "cg_sample_seq": 9862762, "cg_sample_valid": 1, "cg_theta_rad": 2.84478855, "cg_vd_req_v": -6.81827068, "cg_vd_v": -6.81827068, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6077442, "cg_vq_v": -27.6077442, "cg_vu_v": 0, "cg_vv_v": 40.0302238, "cg_vw_v": 4.83881807, "control_outputs_enabled": 1, "dclink_i_a": 1.65010619, "dclink_p_w": 238.81105, "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": 62.6492615, "temp_inv2_c": 60.7851868, "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": 0.133339435, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1569.002563, "values": {"Elec_RPM": -13017.2373, "EncoderCos": 12290, "EncoderSin": 28803, "GapTicks": 36776, "Mech_RPM": -2603.44751, "cg_du": 43.1222191, "cg_dv": 33.4335709, "cg_dw": 66.5664291, "cg_id_a": -5.67924929, "cg_id_raw_a": -6.55485868, "cg_iq_a": -5.1509285, "cg_iq_raw_a": -5.71762133, "cg_iu_a": 1.6019733, "cg_iv_a": -2.09184909, "cg_iw_a": 0.489875793, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 9867813, "cg_sample_valid": 1, "cg_theta_rad": 3.3675518, "cg_vd_req_v": -6.90123272, "cg_vd_v": -6.90123272, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6198158, "cg_vq_v": -27.6198158, "cg_vu_v": 127.568848, "cg_vv_v": 88.8582916, "cg_vw_v": 145.164551, "control_outputs_enabled": 1, "dclink_i_a": 1.34022141, "dclink_p_w": 194.552643, "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": 62.3724976, "temp_inv2_c": 60.6207275, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000604257279, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13636072, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1570.019897, "values": {"Elec_RPM": -13020.2852, "EncoderCos": 40499, "EncoderSin": 52064, "GapTicks": 38489, "Mech_RPM": -2604.05713, "cg_du": 65.0096512, "cg_dv": 35.7087631, "cg_dw": 34.9903526, "cg_id_a": 2.62433076, "cg_id_raw_a": -3.02958179, "cg_iq_a": 1.85865021, "cg_iq_raw_a": 1.79308212, "cg_iu_a": -2.45733595, "cg_iv_a": -0.569607973, "cg_iw_a": 3.02694392, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 9872913, "cg_sample_valid": 1, "cg_theta_rad": 1.21750772, "cg_vd_req_v": -7.01494741, "cg_vd_v": -7.01494741, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7503529, "cg_vq_v": -27.7503529, "cg_vu_v": 145.164551, "cg_vv_v": 144.28476, "cg_vw_v": 80.5003433, "control_outputs_enabled": 1, "dclink_i_a": 1.43083096, "dclink_p_w": 207.076523, "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": 62.0978394, "temp_inv2_c": 60.3346863, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129764244, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1571.037354, "values": {"Elec_RPM": -13026.1318, "EncoderCos": 44259, "EncoderSin": 15516, "GapTicks": 36692, "Mech_RPM": -2605.22632, "cg_du": 43.0718918, "cg_dv": 66.6430664, "cg_dw": 33.3569374, "cg_id_a": 4.26742077, "cg_id_raw_a": -1.42766666, "cg_iq_a": 1.37979066, "cg_iq_raw_a": 1.72351694, "cg_iu_a": 1.34826648, "cg_iv_a": -1.62067914, "cg_iw_a": 0.272412658, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 9878013, "cg_sample_valid": 1, "cg_theta_rad": 5.34404898, "cg_vd_req_v": -7.15290546, "cg_vd_v": -7.15290546, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.785841, "cg_vq_v": -27.785841, "cg_vu_v": 72.1423798, "cg_vv_v": 108.653458, "cg_vw_v": 105.574219, "control_outputs_enabled": 1, "dclink_i_a": 1.39639938, "dclink_p_w": 202.093414, "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": 61.7800293, "temp_inv2_c": 60.0616455, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135555044, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1572.054688, "values": {"Elec_RPM": -13023.2666, "EncoderCos": 51752, "EncoderSin": 24693, "GapTicks": 36134, "Mech_RPM": -2604.65332, "cg_du": 49.651432, "cg_dv": 32.8491516, "cg_dw": 67.1508484, "cg_id_a": 2.7177999, "cg_id_raw_a": 2.66961122, "cg_iq_a": 1.12241805, "cg_iq_raw_a": -0.641181111, "cg_iu_a": 4.39274836, "cg_iv_a": 7.98393679, "cg_iw_a": -12.3766851, "cg_sample_age_us": 23.7036362, "cg_sample_seq": 9883063, "cg_sample_valid": 1, "cg_theta_rad": 5.93382549, "cg_vd_req_v": -7.09375715, "cg_vd_v": -7.09375715, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7717094, "cg_vq_v": -27.7717094, "cg_vu_v": 43.549366, "cg_vv_v": 0, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.939727068, "dclink_p_w": 136.828445, "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": 61.4650269, "temp_inv2_c": 59.7879639, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13233234, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1572.916138, "values": {"Elec_RPM": -13012.8613, "EncoderCos": 48229, "EncoderSin": 46520, "GapTicks": 37261, "Mech_RPM": -2602.57227, "cg_du": 33.8739853, "cg_dv": 40.2636566, "cg_dw": 66.1260147, "cg_id_a": 5.77748823, "cg_id_raw_a": -3.77274656, "cg_iq_a": 1.01306438, "cg_iq_raw_a": 1.45958769, "cg_iu_a": 1.8919239, "cg_iv_a": -0.859558582, "cg_iw_a": -1.03236532, "cg_sample_age_us": 23.5400009, "cg_sample_seq": 9887413, "cg_sample_valid": 1, "cg_theta_rad": 0.761141419, "cg_vd_req_v": -7.10286283, "cg_vd_v": -7.10286283, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7306709, "cg_vq_v": -27.7306709, "cg_vu_v": 144.724655, "cg_vv_v": 84.4593658, "cg_vw_v": 145.164551, "control_outputs_enabled": 1, "dclink_i_a": 0.651588559, "dclink_p_w": 94.5875626, "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": 61.1972046, "temp_inv2_c": 59.5614319, "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": 0.131174177, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1573.933594, "values": {"Elec_RPM": -13031.7715, "EncoderCos": 35289, "EncoderSin": 12071, "GapTicks": 36180, "Mech_RPM": -2606.35425, "cg_du": 67.1089172, "cg_dv": 32.8910789, "cg_dw": 50.2497902, "cg_id_a": 0.937104702, "cg_id_raw_a": -1.11375225, "cg_iq_a": 0.441608906, "cg_iq_raw_a": -1.77402103, "cg_iu_a": 3.88533473, "cg_iv_a": -4.48394203, "cg_iw_a": 0.598607183, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 9892513, "cg_sample_valid": 1, "cg_theta_rad": 4.88045979, "cg_vd_req_v": -7.1048069, "cg_vd_v": -7.1048069, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.785284, "cg_vq_v": -27.785284, "cg_vu_v": 145.604446, "cg_vv_v": 114.811958, "cg_vw_v": 93.6971207, "control_outputs_enabled": 1, "dclink_i_a": 1.85850823, "dclink_p_w": 268.971954, "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": 60.8431702, "temp_inv2_c": 59.2835693, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132835895, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1574.95105, "values": {"Elec_RPM": -13020.1348, "EncoderCos": 25488, "EncoderSin": 52373, "GapTicks": 36276, "Mech_RPM": -2604.02686, "cg_du": 32.978611, "cg_dv": 48.7301369, "cg_dw": 67.0213928, "cg_id_a": -2.95284891, "cg_id_raw_a": -1.87971735, "cg_iq_a": 0.737494469, "cg_iq_raw_a": 0.27437669, "cg_iu_a": 6.49489117, "cg_iv_a": -2.67175055, "cg_iw_a": -3.82314062, "cg_sample_age_us": 23.8600006, "cg_sample_seq": 9897512, "cg_sample_valid": 1, "cg_theta_rad": 1.95065737, "cg_vd_req_v": -6.89574194, "cg_vd_v": -6.89574194, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7129326, "cg_vq_v": -27.7129326, "cg_vu_v": 7.03828096, "cg_vv_v": 0, "cg_vw_v": 51.0275345, "control_outputs_enabled": 1, "dclink_i_a": 1.78964496, "dclink_p_w": 259.792999, "enc_isr_hz": 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": 60.4925537, "temp_inv2_c": 58.9946899, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134950787, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1575.968506, "values": {"Elec_RPM": -13012.3623, "EncoderCos": 12202, "EncoderSin": 29182, "GapTicks": 37298, "Mech_RPM": -2602.47241, "cg_du": 40.4565315, "cg_dv": 33.9075317, "cg_dw": 66.0924683, "cg_id_a": -4.17210293, "cg_id_raw_a": 1.76847613, "cg_iq_a": -3.98624396, "cg_iq_raw_a": -2.54597187, "cg_iu_a": -4.7769413, "cg_iv_a": -4.7738924, "cg_iw_a": 9.5508337, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 9902662, "cg_sample_valid": 1, "cg_theta_rad": 3.3570745, "cg_vd_req_v": -6.94718981, "cg_vd_v": -6.94718981, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6524487, "cg_vq_v": -27.6524487, "cg_vu_v": 73.462059, "cg_vv_v": 36.5110817, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 1.09195113, "dclink_p_w": 158.992935, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4997, "hz_app_loop": 2603, "hz_tim_isr": 4997, "hz_vsense": 2603, "pwm_moe": 1, "temp_inv1_c": 60.1453247, "temp_inv2_c": 58.8276367, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134547949, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1576.985718, "values": {"Elec_RPM": -13005.9336, "EncoderCos": 17399, "EncoderSin": 18640, "GapTicks": 38099, "Mech_RPM": -2601.18677, "cg_du": 65.3642426, "cg_dv": 62.7177048, "cg_dw": 34.6357574, "cg_id_a": -2.74084902, "cg_id_raw_a": -8.92799664, "cg_iq_a": -4.1639204, "cg_iq_raw_a": -3.03675961, "cg_iu_a": 3.30543327, "cg_iv_a": 4.46828556, "cg_iw_a": -7.77371883, "cg_sample_age_us": 23.863636, "cg_sample_seq": 9907712, "cg_sample_valid": 1, "cg_theta_rad": 3.92467856, "cg_vd_req_v": -7.02216816, "cg_vd_v": -7.02216816, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.6663494, "cg_vq_v": -27.6663494, "cg_vu_v": 34.3116188, "cg_vv_v": 63.7844238, "cg_vw_v": 0, "control_outputs_enabled": 1, "dclink_i_a": 0.483054757, "dclink_p_w": 70.1224289, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 59.7585449, "temp_inv2_c": 58.428772, "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": 0.138576329, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1578.004028, "values": {"Elec_RPM": -13001.2998, "EncoderCos": 27473, "EncoderSin": 12585, "GapTicks": 36545, "Mech_RPM": -2600.26001, "cg_du": 33.2229614, "cg_dv": 44.576088, "cg_dw": 66.7770386, "cg_id_a": -2.32262611, "cg_id_raw_a": 0.044438187, "cg_iq_a": -0.604906857, "cg_iq_raw_a": 2.80339408, "cg_iu_a": 3.55914021, "cg_iv_a": -3.10667658, "cg_iw_a": -0.452463746, "cg_sample_age_us": 23.7945461, "cg_sample_seq": 9912762, "cg_sample_valid": 1, "cg_theta_rad": 4.49927044, "cg_vd_req_v": -7.02952576, "cg_vd_v": -7.02952576, "cg_vdc_v": 145.604446, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7305183, "cg_vq_v": -27.7305183, "cg_vu_v": 36.0711899, "cg_vv_v": 0, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": 1.45620167, "dclink_p_w": 210.748291, "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": 59.4181824, "temp_inv2_c": 58.2206726, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134195477, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1578.997314, "values": {"Elec_RPM": -13001.4854, "EncoderCos": 38158, "EncoderSin": 12666, "GapTicks": 37306, "Mech_RPM": -2600.29712, "cg_du": 66.0852051, "cg_dv": 39.9455986, "cg_dw": 33.9147987, "cg_id_a": -0.39940685, "cg_id_raw_a": -3.31978536, "cg_iq_a": 0.84351337, "cg_iq_raw_a": 1.20133507, "cg_iu_a": -3.90708923, "cg_iv_a": -1.0770216, "cg_iw_a": 4.98411083, "cg_sample_age_us": 23.9981823, "cg_sample_seq": 9917813, "cg_sample_valid": 1, "cg_theta_rad": 5.01778126, "cg_vd_req_v": -7.08123636, "cg_vd_v": -7.08123636, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -27.7758617, "cg_vq_v": -27.7758617, "cg_vu_v": 145.164551, "cg_vv_v": 145.164551, "cg_vw_v": 99.8556061, "control_outputs_enabled": 1, "dclink_i_a": 0.258342981, "dclink_p_w": 37.3885994, "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": 59.1229248, "temp_inv2_c": 58.0239563, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130217448, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1580.014771, "values": {"Elec_RPM": -12938.4775, "EncoderCos": 30625, "EncoderSin": 53529, "GapTicks": 37225, "Mech_RPM": -2587.69556, "cg_du": 33.8411407, "cg_dv": 66.1588593, "cg_dw": 45.9021149, "cg_id_a": -1.74974203, "cg_id_raw_a": -0.0765534267, "cg_iq_a": 0.379689544, "cg_iq_raw_a": -1.3014828, "cg_iu_a": -1.40626502, "cg_iv_a": 6.49794006, "cg_iw_a": -5.0916748, "cg_sample_age_us": 23.8927269, "cg_sample_seq": 9922862, "cg_sample_valid": 1, "cg_theta_rad": 1.70470786, "cg_vd_req_v": -5.84633255, "cg_vd_v": -5.84633255, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -26.6580181, "cg_vq_v": -26.6580181, "cg_vu_v": 29.0329094, "cg_vv_v": 55.8663559, "cg_vw_v": 50.5876465, "control_outputs_enabled": 1, "dclink_i_a": 1.12094617, "dclink_p_w": 162.228546, "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": 58.7467651, "temp_inv2_c": 57.6966858, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132382691, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1581.032104, "values": {"Elec_RPM": -12311.3135, "EncoderCos": 42814, "EncoderSin": 14634, "GapTicks": 38996, "Mech_RPM": -2462.2627, "cg_du": 51.4988976, "cg_dv": 64.5486526, "cg_dw": 35.4513512, "cg_id_a": 1.02348423, "cg_id_raw_a": 2.98538327, "cg_iq_a": 0.0848678648, "cg_iq_raw_a": -2.60221744, "cg_iu_a": 2.25436234, "cg_iv_a": -0.279657364, "cg_iw_a": -1.97470498, "cg_sample_age_us": 23.9509087, "cg_sample_seq": 9928013, "cg_sample_valid": 1, "cg_theta_rad": 5.25481749, "cg_vd_req_v": -3.91390443, "cg_vd_v": -3.91390443, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -24.1142197, "cg_vq_v": -24.1142197, "cg_vu_v": 106.893898, "cg_vv_v": 145.164551, "cg_vw_v": 132.847549, "control_outputs_enabled": 1, "dclink_i_a": 0.352576971, "dclink_p_w": 51.0265808, "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": 58.4155884, "temp_inv2_c": 57.4976807, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135504693, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1582.049438, "values": {"Elec_RPM": -10992.1426, "EncoderCos": 14212, "EncoderSin": 42302, "GapTicks": 41188, "Mech_RPM": -2198.42847, "cg_du": 55.3333244, "cg_dv": 62.5561829, "cg_dw": 37.4438171, "cg_id_a": -3.63287592, "cg_id_raw_a": -5.77854061, "cg_iq_a": -2.19945502, "cg_iq_raw_a": -2.14181805, "cg_iu_a": 2.79801989, "cg_iv_a": 1.53253412, "cg_iw_a": -4.33055401, "cg_sample_age_us": 23.8781815, "cg_sample_seq": 9933062, "cg_sample_valid": 1, "cg_theta_rad": 2.69326973, "cg_vd_req_v": -2.5184083, "cg_vd_v": -2.5184083, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -21.4575577, "cg_vq_v": -21.4575577, "cg_vu_v": 29.4728031, "cg_vv_v": 73.0221634, "cg_vw_v": 38.2706528, "control_outputs_enabled": 1, "dclink_i_a": 0.526547313, "dclink_p_w": 76.2043762, "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": 58.1691284, "temp_inv2_c": 57.324707, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131425947, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1583.067017, "values": {"Elec_RPM": -9325.22461, "EncoderCos": 36940, "EncoderSin": 12456, "GapTicks": 43373, "Mech_RPM": -1865.04492, "cg_du": 60.5691185, "cg_dv": 42.4858665, "cg_dw": 39.4308815, "cg_id_a": 0.619060874, "cg_id_raw_a": 2.15676141, "cg_iq_a": -0.39318642, "cg_iq_raw_a": 1.15908575, "cg_iu_a": -0.282706022, "cg_iv_a": 1.78624129, "cg_iw_a": -1.50353527, "cg_sample_age_us": 24.0963631, "cg_sample_seq": 9938162, "cg_sample_valid": 1, "cg_theta_rad": 4.95540476, "cg_vd_req_v": -2.09429359, "cg_vd_v": -2.09429359, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -19.0356426, "cg_vq_v": -19.0356426, "cg_vu_v": 114.811958, "cg_vv_v": 115.251846, "cg_vw_v": 109.093361, "control_outputs_enabled": 1, "dclink_i_a": -0.0968465805, "dclink_p_w": -14.0586901, "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": 57.8024902, "temp_inv2_c": 57.0729675, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132181272, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1583.928345, "values": {"Elec_RPM": -8748.87598, "EncoderCos": 38023, "EncoderSin": 53008, "GapTicks": 44629, "Mech_RPM": -1749.77527, "cg_du": 59.4280739, "cg_dv": 57.4876175, "cg_dw": 40.5719261, "cg_id_a": 0.0175192356, "cg_id_raw_a": -1.79583204, "cg_iq_a": 2.13537431, "cg_iq_raw_a": 2.17285705, "cg_iu_a": -4.4145031, "cg_iv_a": 0.735169888, "cg_iw_a": 3.67933321, "cg_sample_age_us": 23.8018188, "cg_sample_seq": 9942413, "cg_sample_valid": 1, "cg_theta_rad": 1.33720207, "cg_vd_req_v": -1.25234509, "cg_vd_v": -1.25234509, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": -17.2875919, "cg_vq_v": -17.2875919, "cg_vu_v": 108.21357, "cg_vv_v": 108.21357, "cg_vw_v": 72.1423798, "control_outputs_enabled": 1, "dclink_i_a": 0.213038206, "dclink_p_w": 30.8318806, "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": 57.6003418, "temp_inv2_c": 56.8204346, "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": 0.137972072, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1584.945801, "values": {"Elec_RPM": -8448.02832, "EncoderCos": 47377, "EncoderSin": 18206, "GapTicks": 46182, "Mech_RPM": -1689.60559, "cg_du": 41.9836617, "cg_dv": 57.6583405, "cg_dw": 58.0163383, "cg_id_a": 3.1436398, "cg_id_raw_a": 0.542178154, "cg_iq_a": -0.00576718152, "cg_iq_raw_a": 0.66481626, "cg_iu_a": 1.7831924, "cg_iv_a": -4.8101368, "cg_iw_a": 3.02694416, "cg_sample_age_us": 23.8199997, "cg_sample_seq": 9947512, "cg_sample_valid": 1, "cg_theta_rad": 5.50858879, "cg_vd_req_v": -0.561152458, "cg_vd_v": -0.561152458, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -15.3352814, "cg_vq_v": -15.3352814, "cg_vu_v": 36.5110817, "cg_vv_v": 44.4291458, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": -0.232761025, "dclink_p_w": -33.6862602, "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": 57.3191528, "temp_inv2_c": 56.6358032, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136713207, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1585.963135, "values": {"Elec_RPM": -7764.25488, "EncoderCos": 30444, "EncoderSin": 53520, "GapTicks": 46513, "Mech_RPM": -1552.85095, "cg_du": 42.2850838, "cg_dv": 57.7149162, "cg_dw": 53.9162903, "cg_id_a": -0.810587347, "cg_id_raw_a": -0.878921628, "cg_iq_a": 1.67409563, "cg_iq_raw_a": -0.658026934, "cg_iu_a": 2.29060602, "cg_iv_a": 0.735170126, "cg_iw_a": -3.02577615, "cg_sample_age_us": 23.8345451, "cg_sample_seq": 9952662, "cg_sample_valid": 1, "cg_theta_rad": 1.69592285, "cg_vd_req_v": 0.121939547, "cg_vd_v": 0.121939547, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -13.4344273, "cg_vq_v": -13.4344273, "cg_vu_v": 36.5110817, "cg_vv_v": 50.5876465, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": -0.312497377, "dclink_p_w": -45.3635406, "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": 57.0400696, "temp_inv2_c": 56.4276428, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134296179, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1586.980713, "values": {"Elec_RPM": -5905.07227, "EncoderCos": 53188, "EncoderSin": 30388, "GapTicks": 47548, "Mech_RPM": -1181.0144, "cg_du": 56.7738495, "cg_dv": 47.2865829, "cg_dw": 43.2261505, "cg_id_a": 2.27433252, "cg_id_raw_a": 1.52032435, "cg_iq_a": 3.08773303, "cg_iq_raw_a": 3.48113751, "cg_iu_a": -4.233284, "cg_iv_a": 4.28706598, "cg_iw_a": -0.053781867, "cg_sample_age_us": 24.0490913, "cg_sample_seq": 9957712, "cg_sample_valid": 1, "cg_theta_rad": 6.19085503, "cg_vd_req_v": -0.127132401, "cg_vd_v": -0.127132401, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -11.6534367, "cg_vq_v": -11.6534367, "cg_vu_v": 43.549366, "cg_vv_v": 44.4291458, "cg_vw_v": 40.0302238, "control_outputs_enabled": 1, "dclink_i_a": -0.28531456, "dclink_p_w": -41.4175606, "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": 56.7236328, "temp_inv2_c": 56.2133484, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130116731, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1587.994263, "values": {"Elec_RPM": -5162.24365, "EncoderCos": 53040, "EncoderSin": 36140, "GapTicks": 48411, "Mech_RPM": -1032.44873, "cg_du": 48.4555435, "cg_dv": 55.9898643, "cg_dw": 44.0101357, "cg_id_a": 3.88351059, "cg_id_raw_a": 4.15659523, "cg_iq_a": -1.24697518, "cg_iq_raw_a": -0.684021413, "cg_iu_a": -3.25470042, "cg_iv_a": 1.42380285, "cg_iw_a": 1.83089757, "cg_sample_age_us": 23.51091, "cg_sample_seq": 9962513, "cg_sample_valid": 1, "cg_theta_rad": 0.181199983, "cg_vd_req_v": 0.0112175643, "cg_vd_v": 0.0112175643, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -10.120182, "cg_vq_v": -10.120182, "cg_vu_v": 116.571533, "cg_vv_v": 144.724655, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": -0.580701828, "dclink_p_w": -84.2973175, "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": 56.5271912, "temp_inv2_c": 55.9906006, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13233234, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1588.992065, "values": {"Elec_RPM": -4603.55078, "EncoderCos": 27705, "EncoderSin": 12574, "GapTicks": 49458, "Mech_RPM": -920.710144, "cg_du": 47.6022301, "cg_dv": 44.9618301, "cg_dw": 55.0381699, "cg_id_a": -0.00822022557, "cg_id_raw_a": -1.71348643, "cg_iq_a": 1.35726929, "cg_iq_raw_a": -0.447345167, "cg_iu_a": 1.20329118, "cg_iv_a": 0.735169888, "cg_iw_a": -1.93846107, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9967812, "cg_sample_valid": 1, "cg_theta_rad": 4.48181772, "cg_vd_req_v": 0.247403428, "cg_vd_v": 0.247403428, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -8.75456715, "cg_vq_v": -8.75456715, "cg_vu_v": 22.8744144, "cg_vv_v": 0, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": -0.221887827, "dclink_p_w": -32.210247, "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": 56.2538757, "temp_inv2_c": 55.8268127, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133641571, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1590.009521, "values": {"Elec_RPM": -4019.31006, "EncoderCos": 52731, "EncoderSin": 37734, "GapTicks": 50524, "Mech_RPM": -803.862, "cg_du": 45.9315147, "cg_dv": 54.0684853, "cg_dw": 46.7355576, "cg_id_a": 1.45570362, "cg_id_raw_a": 1.06429827, "cg_iq_a": 0.547019899, "cg_iq_raw_a": 0.509778976, "cg_iu_a": -0.391437531, "cg_iv_a": -1.0407778, "cg_iw_a": 1.43221533, "cg_sample_age_us": 23.5181828, "cg_sample_seq": 9972913, "cg_sample_valid": 1, "cg_theta_rad": 0.25580138, "cg_vd_req_v": 0.305543065, "cg_vd_v": 0.305543065, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -7.50966311, "cg_vq_v": -7.50966311, "cg_vu_v": 98.0960464, "cg_vv_v": 103.814644, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.38136065, "dclink_p_w": -55.3600464, "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": 55.9825439, "temp_inv2_c": 55.6062927, "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": 0.139079884, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1591.026855, "values": {"Elec_RPM": -3747.8894, "EncoderCos": 18519, "EncoderSin": 47972, "GapTicks": 51252, "Mech_RPM": -749.577881, "cg_du": 53.4066277, "cg_dv": 46.8100815, "cg_dw": 46.5933723, "cg_id_a": -1.48300564, "cg_id_raw_a": -1.03243399, "cg_iq_a": -0.311367989, "cg_iq_raw_a": -0.887078345, "cg_iu_a": 0.00724458694, "cg_iv_a": -1.18575311, "cg_iw_a": 1.17850852, "cg_sample_age_us": 23.994545, "cg_sample_seq": 9977913, "cg_sample_valid": 1, "cg_theta_rad": 2.32820702, "cg_vd_req_v": 0.49401319, "cg_vd_v": 0.49401319, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -6.45274639, "cg_vq_v": -6.45274639, "cg_vu_v": 127.568848, "cg_vv_v": 124.929489, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": -0.738362432, "dclink_p_w": -107.184052, "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": 55.7131042, "temp_inv2_c": 55.4250793, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134044394, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1592.064453, "values": {"Elec_RPM": -3616.07324, "EncoderCos": 48462, "EncoderSin": 19397, "GapTicks": 51436, "Mech_RPM": -723.214661, "cg_du": 46.760025, "cg_dv": 49.1729507, "cg_dw": 53.239975, "cg_id_a": 2.2519989, "cg_id_raw_a": 2.06798363, "cg_iq_a": -2.09405255, "cg_iq_raw_a": -1.06934249, "cg_iu_a": -1.94992232, "cg_iv_a": -0.0259504318, "cg_iw_a": 1.97587276, "cg_sample_age_us": 25.863636, "cg_sample_seq": 9983116, "cg_sample_valid": 1, "cg_theta_rad": 5.64885235, "cg_vd_req_v": 0.435559511, "cg_vd_v": 0.435559511, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -5.45556641, "cg_vq_v": -5.45556641, "cg_vu_v": 125.809273, "cg_vv_v": 143.404984, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.0986588001, "dclink_p_w": -14.2783604, "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": 55.4455566, "temp_inv2_c": 55.2542114, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136008233, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1593.081787, "values": {"Elec_RPM": -3253.198, "EncoderCos": 48485, "EncoderSin": 46126, "GapTicks": 52019, "Mech_RPM": -650.639587, "cg_du": 49.2712402, "cg_dv": 47.2903214, "cg_dw": 52.7096786, "cg_id_a": -0.965177655, "cg_id_raw_a": -0.725235343, "cg_iq_a": 0.100721553, "cg_iq_raw_a": 0.146028325, "cg_iu_a": 0.369682908, "cg_iv_a": 0.952633023, "cg_iw_a": -1.32231593, "cg_sample_age_us": 26.40909, "cg_sample_seq": 9988166, "cg_sample_valid": 1, "cg_theta_rad": 0.740395606, "cg_vd_req_v": 0.539757311, "cg_vd_v": 0.539757311, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -4.5646348, "cg_vq_v": -4.5646348, "cg_vu_v": 16.2760258, "cg_vv_v": 0.43989256, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": -0.531772614, "dclink_p_w": -77.1945343, "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": 55.1798706, "temp_inv2_c": 55.0958862, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133238718, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1593.922974, "values": {"Elec_RPM": -1905.5249, "EncoderCos": 32361, "EncoderSin": 11977, "GapTicks": 52519, "Mech_RPM": -381.10498, "cg_du": 52.254631, "cg_dv": 47.745369, "cg_dw": 50.0928078, "cg_id_a": -0.600331366, "cg_id_raw_a": -0.835167348, "cg_iq_a": 0.821786582, "cg_iq_raw_a": 0.647543073, "cg_iu_a": -0.971338987, "cg_iv_a": 0.191512525, "cg_iw_a": 0.34490037, "cg_sample_age_us": 24.1145458, "cg_sample_seq": 9992363, "cg_sample_valid": 1, "cg_theta_rad": 4.70467901, "cg_vd_req_v": 0.358353436, "cg_vd_v": 0.358353436, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -3.75178194, "cg_vq_v": -3.75178194, "cg_vu_v": 135.486908, "cg_vv_v": 139.445938, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.0370442867, "dclink_p_w": -5.37751722, "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": 54.9912109, "temp_inv2_c": 54.9476013, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135907531, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1594.940552, "values": {"Elec_RPM": -858.381836, "EncoderCos": 11969, "EncoderSin": 32966, "GapTicks": 53297, "Mech_RPM": -171.676361, "cg_du": 48.4524765, "cg_dv": 48.5142174, "cg_dw": 51.5475235, "cg_id_a": 0.903059781, "cg_id_raw_a": 1.09134364, "cg_iq_a": 0.58222723, "cg_iq_raw_a": -0.298982918, "cg_iu_a": 1.49324179, "cg_iv_a": -0.0984381437, "cg_iw_a": -1.39480364, "cg_sample_age_us": 23.9290905, "cg_sample_seq": 9997513, "cg_sample_valid": 1, "cg_theta_rad": 3.13595819, "cg_vd_req_v": 0.224261791, "cg_vd_v": 0.224261791, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -2.95735908, "cg_vq_v": -2.95735908, "cg_vu_v": 17.1558094, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.66043818, "dclink_p_w": -95.8722153, "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": 54.7660217, "temp_inv2_c": 54.7367249, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130267799, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1595.957886, "values": {"Elec_RPM": -364.441833, "EncoderCos": 12456, "EncoderSin": 37312, "GapTicks": 53662, "Mech_RPM": -72.8883667, "cg_du": 48.7838554, "cg_dv": 51.2161446, "cg_dw": 51.177906, "cg_id_a": 0.0647952408, "cg_id_raw_a": 0.132302791, "cg_iq_a": 0.204748601, "cg_iq_raw_a": -0.0185336862, "cg_iu_a": 0.115976095, "cg_iv_a": -0.352144957, "cg_iw_a": 0.236168861, "cg_sample_age_us": 23.9181824, "cg_sample_seq": 10002612, "cg_sample_valid": 1, "cg_theta_rad": 2.91702127, "cg_vd_req_v": 0.170627609, "cg_vd_v": 0.170627609, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -2.32935715, "cg_vq_v": -2.32935715, "cg_vu_v": 2.63935518, "cg_vv_v": 0.43989256, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.0497295856, "dclink_p_w": -7.21897316, "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": 54.5049438, "temp_inv2_c": 54.5153809, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132130921, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1596.975464, "values": {"Elec_RPM": -142.749969, "EncoderCos": 16495, "EncoderSin": 45758, "GapTicks": 53934, "Mech_RPM": -28.5499954, "cg_du": 50.9683762, "cg_dv": 50.6573448, "cg_dw": 49.0316238, "cg_id_a": -0.51044184, "cg_id_raw_a": -0.129617184, "cg_iq_a": -1.50074899, "cg_iq_raw_a": -0.651864767, "cg_iu_a": 1.38451028, "cg_iv_a": 0.33648777, "cg_iw_a": -1.72099805, "cg_sample_age_us": 23.9218178, "cg_sample_seq": 10007713, "cg_sample_valid": 1, "cg_theta_rad": 2.46855927, "cg_vd_req_v": 0.191351995, "cg_vd_v": 0.191351995, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -1.7328825, "cg_vq_v": -1.7328825, "cg_vu_v": 106.893898, "cg_vv_v": 103.374756, "cg_vw_v": 89.2981949, "control_outputs_enabled": 1, "dclink_i_a": -0.348741293, "dclink_p_w": -50.4714622, "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": 54.2825623, "temp_inv2_c": 54.3716125, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134648651, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1597.984375, "values": {"Elec_RPM": -61.8081436, "EncoderCos": 36933, "EncoderSin": 53050, "GapTicks": 54173, "Mech_RPM": -12.3616285, "cg_du": 49.9245071, "cg_dv": 50.751339, "cg_dw": 49.248661, "cg_id_a": 0.17274949, "cg_id_raw_a": 0.710291684, "cg_iq_a": 0.623929024, "cg_iq_raw_a": 1.53582644, "cg_iu_a": 0.297195196, "cg_iv_a": -0.497120321, "cg_iw_a": 0.199925125, "cg_sample_age_us": 23.8090916, "cg_sample_seq": 10012612, "cg_sample_valid": 1, "cg_theta_rad": 1.36090732, "cg_vd_req_v": 0.0806262419, "cg_vd_v": 0.0806262419, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -1.25894725, "cg_vq_v": -1.25894725, "cg_vu_v": 144.28476, "cg_vv_v": 144.28476, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": 0.0898091793, "dclink_p_w": 12.9976025, "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": 54.0614624, "temp_inv2_c": 54.1891785, "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": 0.13887845, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1598.986816, "values": {"Elec_RPM": -24.4342823, "EncoderCos": 19760, "EncoderSin": 16535, "GapTicks": 54520, "Mech_RPM": -4.88685656, "cg_du": 49.5642014, "cg_dv": 50.4357986, "cg_dw": 49.8834267, "cg_id_a": 0.171824917, "cg_id_raw_a": 0.446825683, "cg_iq_a": 0.353437603, "cg_iq_raw_a": 0.724426866, "cg_iu_a": 0.115976095, "cg_iv_a": -0.315901101, "cg_iw_a": 0.199925005, "cg_sample_age_us": 23.9690914, "cg_sample_seq": 10017712, "cg_sample_valid": 1, "cg_theta_rad": 4.04013109, "cg_vd_req_v": 0.0550891124, "cg_vd_v": 0.0550891124, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.73709476, "cg_vq_v": -0.73709476, "cg_vu_v": 0.43989256, "cg_vv_v": 1.31967759, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.27102828, "dclink_p_w": 39.3437004, "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": 53.8781433, "temp_inv2_c": 54.0167847, "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": 0.133238718, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1600.004272, "values": {"Elec_RPM": -8.72026253, "EncoderCos": 24978, "EncoderSin": 13512, "GapTicks": 54867, "Mech_RPM": -1.74405241, "cg_du": 49.8796349, "cg_dv": 49.9313011, "cg_dw": 50.1203651, "cg_id_a": 0.679400563, "cg_id_raw_a": 0.395104259, "cg_iq_a": -0.154683977, "cg_iq_raw_a": -0.191260904, "cg_iu_a": 0.369682968, "cg_iv_a": -0.605851769, "cg_iw_a": 0.236168832, "cg_sample_age_us": 23.8272724, "cg_sample_seq": 10022812, "cg_sample_valid": 1, "cg_theta_rad": 4.33245087, "cg_vd_req_v": 0.0261698179, "cg_vd_v": 0.0261698179, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": -0.210162178, "cg_vq_v": -0.210162178, "cg_vu_v": 35.1914063, "cg_vv_v": 33.4318352, "cg_vw_v": 29.912693, "control_outputs_enabled": 1, "dclink_i_a": -0.183831811, "dclink_p_w": -26.6049957, "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": 53.6229248, "temp_inv2_c": 53.8337097, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133289069, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1601.021606, "values": {"Elec_RPM": -3.11214185, "EncoderCos": 24918, "EncoderSin": 51965, "GapTicks": 54838, "Mech_RPM": -0.622428358, "cg_du": 49.9429512, "cg_dv": 50.1465302, "cg_dw": 49.8534698, "cg_id_a": 0.3962349, "cg_id_raw_a": 0.375627637, "cg_iq_a": 0.0451451987, "cg_iq_raw_a": -0.380292773, "cg_iu_a": 0.913340449, "cg_iv_a": 0.119024873, "cg_iw_a": -1.03236532, "cg_sample_age_us": 23.8309097, "cg_sample_seq": 10027963, "cg_sample_valid": 1, "cg_theta_rad": 1.95013487, "cg_vd_req_v": -0.100540899, "cg_vd_v": -0.100540899, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.230797499, "cg_vq_v": 0.230797499, "cg_vu_v": 109.533249, "cg_vv_v": 111.292824, "cg_vw_v": 116.571533, "control_outputs_enabled": 1, "dclink_i_a": -0.102283239, "dclink_p_w": -14.8479004, "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": 53.4055176, "temp_inv2_c": 53.6401672, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133691922, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1602.039185, "values": {"Elec_RPM": -1.13334763, "EncoderCos": 23647, "EncoderSin": 51415, "GapTicks": 54788, "Mech_RPM": -0.22666952, "cg_du": 49.8076248, "cg_dv": 50.1923752, "cg_dw": 49.902298, "cg_id_a": -0.0993386433, "cg_id_raw_a": -0.050143104, "cg_iq_a": -0.164833456, "cg_iq_raw_a": 0.108149789, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.408975542, "cg_iw_a": -0.416220129, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10032962, "cg_sample_valid": 1, "cg_theta_rad": 2.01894236, "cg_vd_req_v": -0.194428593, "cg_vd_v": -0.194428593, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.274077028, "cg_vq_v": 0.274077028, "cg_vu_v": 106.014107, "cg_vv_v": 100.295509, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": 0.171357751, "dclink_p_w": 24.8750706, "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": 53.18927, "temp_inv2_c": 53.490509, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129159987, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1603.076538, "values": {"Elec_RPM": -0.396386743, "EncoderCos": 23648, "EncoderSin": 51435, "GapTicks": 54788, "Mech_RPM": -0.0792773515, "cg_du": 49.8079758, "cg_dv": 50.1920242, "cg_dw": 49.9970512, "cg_id_a": -0.0338021666, "cg_id_raw_a": 0.292662501, "cg_iq_a": 0.221832246, "cg_iq_raw_a": 1.22146034, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.735170007, "cg_iw_a": -0.77865839, "cg_sample_age_us": 26.6090908, "cg_sample_seq": 10038166, "cg_sample_valid": 1, "cg_theta_rad": 2.01924706, "cg_vd_req_v": -0.250506818, "cg_vd_v": -0.250506818, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.200576454, "cg_vq_v": 0.200576454, "cg_vu_v": 23.3143044, "cg_vv_v": 1.75957024, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.325182676, "dclink_p_w": -46.9189034, "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": 52.9384766, "temp_inv2_c": 53.343689, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132130921, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1603.917969, "values": {"Elec_RPM": -0.166280121, "EncoderCos": 23654, "EncoderSin": 51398, "GapTicks": 54779, "Mech_RPM": -0.0332560241, "cg_du": 49.7991638, "cg_dv": 50.2008362, "cg_dw": 49.9672089, "cg_id_a": -0.0169851817, "cg_id_raw_a": 0.123621061, "cg_iq_a": -0.230087683, "cg_iq_raw_a": 0.29422915, "cg_iu_a": -0.173974514, "cg_iv_a": -0.207169622, "cg_iw_a": 0.381144136, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10042412, "cg_sample_valid": 1, "cg_theta_rad": 2.01901531, "cg_vd_req_v": -0.24443163, "cg_vd_v": -0.24443163, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.233644143, "cg_vq_v": 0.233644143, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": -0.0587905645, "dclink_p_w": -8.53430557, "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": 52.7602844, "temp_inv2_c": 53.1884155, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135101855, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1604.935303, "values": {"Elec_RPM": -0.0605541766, "EncoderCos": 23650, "EncoderSin": 51452, "GapTicks": 54774, "Mech_RPM": -0.0121108349, "cg_du": 49.7954292, "cg_dv": 50.2045708, "cg_dw": 49.8903046, "cg_id_a": 0.282529861, "cg_id_raw_a": 0.091474466, "cg_iq_a": 0.249161869, "cg_iq_raw_a": 0.595032692, "cg_iu_a": 0.2609514, "cg_iv_a": 0.155268729, "cg_iw_a": -0.416220129, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10047412, "cg_sample_valid": 1, "cg_theta_rad": 2.01777601, "cg_vd_req_v": -0.204594523, "cg_vd_v": -0.204594523, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.294947654, "cg_vq_v": 0.294947654, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": -0.0751003027, "dclink_p_w": -10.9019012, "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": 52.5475159, "temp_inv2_c": 53.0561523, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136864275, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1605.952637, "values": {"Elec_RPM": -0.0211787373, "EncoderCos": 23643, "EncoderSin": 51393, "GapTicks": 54771, "Mech_RPM": -0.00423574727, "cg_du": 49.7923775, "cg_dv": 50.2076225, "cg_dw": 49.8302002, "cg_id_a": -0.434162349, "cg_id_raw_a": 0.222752616, "cg_iq_a": -0.397297263, "cg_iq_raw_a": 0.215726167, "cg_iu_a": -0.898851275, "cg_iv_a": -0.31590116, "cg_iw_a": 1.21475244, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10052613, "cg_sample_valid": 1, "cg_theta_rad": 2.01872587, "cg_vd_req_v": -0.169616446, "cg_vd_v": -0.169616446, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.344174176, "cg_vq_v": 0.344174176, "cg_vu_v": 120.090675, "cg_vv_v": 142.085297, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.205578089, "dclink_p_w": -29.7522182, "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": 52.335907, "temp_inv2_c": 52.8641052, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13485007, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1606.970093, "values": {"Elec_RPM": -0.0077126543, "EncoderCos": 23656, "EncoderSin": 51410, "GapTicks": 54777, "Mech_RPM": -0.00154253084, "cg_du": 49.7973595, "cg_dv": 50.2026405, "cg_dw": 49.8453026, "cg_id_a": -0.420428604, "cg_id_raw_a": -0.84250772, "cg_iq_a": 0.204490498, "cg_iq_raw_a": -0.0522570722, "cg_iu_a": -0.572656751, "cg_iv_a": 0.553950846, "cg_iw_a": 0.0187058896, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10057662, "cg_sample_valid": 1, "cg_theta_rad": 2.01838851, "cg_vd_req_v": -0.174203515, "cg_vd_v": -0.174203515, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.327786624, "cg_vq_v": 0.327786624, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": -0.591574907, "dclink_p_w": -85.8757019, "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": 52.1954346, "temp_inv2_c": 52.7240295, "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": 0.142604709, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1607.983765, "values": {"Elec_RPM": -0.00275254063, "EncoderCos": 23623, "EncoderSin": 51431, "GapTicks": 54775, "Mech_RPM": -0.00055050815, "cg_du": 49.7956429, "cg_dv": 50.2043571, "cg_dw": 49.8425713, "cg_id_a": -0.0569288135, "cg_id_raw_a": 0.0139630139, "cg_iq_a": -0.142376333, "cg_iq_raw_a": 0.289217442, "cg_iu_a": -0.427681446, "cg_iv_a": -0.170925796, "cg_iw_a": 0.598607242, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10062712, "cg_sample_valid": 1, "cg_theta_rad": 2.01938748, "cg_vd_req_v": -0.173171416, "cg_vd_v": -0.173171416, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.332510263, "cg_vq_v": 0.332510263, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": 0.36163795, "dclink_p_w": 52.3379288, "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": 51.9856567, "temp_inv2_c": 52.5402222, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133138016, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1608.981567, "values": {"Elec_RPM": -0.00100239192, "EncoderCos": 23609, "EncoderSin": 51456, "GapTicks": 54771, "Mech_RPM": -0.000200478375, "cg_du": 49.791832, "cg_dv": 50.208168, "cg_dw": 49.8304672, "cg_id_a": -0.409415334, "cg_id_raw_a": -0.959625065, "cg_iq_a": 0.151680604, "cg_iq_raw_a": -0.0936186314, "cg_iu_a": -0.282706022, "cg_iv_a": 0.0827810168, "cg_iw_a": 0.199925005, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 10067763, "cg_sample_valid": 1, "cg_theta_rad": 2.0197475, "cg_vd_req_v": -0.170719594, "cg_vd_v": -0.170719594, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.345728248, "cg_vq_v": 0.345728248, "cg_vu_v": 107.333786, "cg_vv_v": 104.254532, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": -0.129466057, "dclink_p_w": -18.7938824, "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": 51.7422791, "temp_inv2_c": 52.3990479, "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": 0.131627366, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1609.999023, "values": {"Elec_RPM": -0.000365040789, "EncoderCos": 23611, "EncoderSin": 51398, "GapTicks": 54778, "Mech_RPM": -7.30081592e-05, "cg_du": 49.7988815, "cg_dv": 50.2011185, "cg_dw": 49.8726616, "cg_id_a": -0.0717733353, "cg_id_raw_a": -0.510700405, "cg_iq_a": 0.149393141, "cg_iq_raw_a": -0.264164269, "cg_iu_a": 0.115976155, "cg_iv_a": -0.0984381288, "cg_iw_a": 0.0911935419, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10072762, "cg_sample_valid": 1, "cg_theta_rad": 2.0186007, "cg_vd_req_v": -0.185190871, "cg_vd_v": -0.185190871, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.307471097, "cg_vq_v": 0.307471097, "cg_vu_v": 106.453995, "cg_vv_v": 102.055069, "cg_vw_v": 90.6178665, "control_outputs_enabled": 1, "dclink_i_a": -0.256319404, "dclink_p_w": -37.2084923, "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": 51.5693359, "temp_inv2_c": 52.2474365, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132281989, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1611.016357, "values": {"Elec_RPM": -0.000127672494, "EncoderCos": 23652, "EncoderSin": 51381, "GapTicks": 54775, "Mech_RPM": -2.55344985e-05, "cg_du": 49.7955475, "cg_dv": 50.2044525, "cg_dw": 49.8473434, "cg_id_a": 0.314078212, "cg_id_raw_a": 1.18348563, "cg_iq_a": 0.456380695, "cg_iq_raw_a": 1.25783122, "cg_iu_a": 0.115976095, "cg_iv_a": -0.0984381139, "cg_iw_a": -0.0175379813, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 10077963, "cg_sample_valid": 1, "cg_theta_rad": 2.02014875, "cg_vd_req_v": -0.176528201, "cg_vd_v": -0.176528201, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.328801334, "cg_vq_v": 0.328801334, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": -0.0424808264, "dclink_p_w": -6.1667099, "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": 51.4315186, "temp_inv2_c": 52.0876465, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13233234, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1612.033813, "values": {"Elec_RPM": -4.55645641e-05, "EncoderCos": 23637, "EncoderSin": 51407, "GapTicks": 54767, "Mech_RPM": -9.11291318e-06, "cg_du": 49.7885628, "cg_dv": 50.2114372, "cg_dw": 49.8210602, "cg_id_a": -0.120365888, "cg_id_raw_a": -0.215993568, "cg_iq_a": 0.00228352472, "cg_iq_raw_a": -0.2688981, "cg_iu_a": -0.173974633, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.272412777, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10083013, "cg_sample_valid": 1, "cg_theta_rad": 2.01928997, "cg_vd_req_v": -0.169685006, "cg_vd_v": -0.169685006, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.356099755, "cg_vq_v": 0.356099755, "cg_vu_v": 124.489601, "cg_vv_v": 144.28476, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.294586778, "dclink_p_w": 42.7635574, "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": 51.225647, "temp_inv2_c": 51.9263, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132433042, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1613.05127, "values": {"Elec_RPM": -1.62613705e-05, "EncoderCos": 23650, "EncoderSin": 51398, "GapTicks": 54774, "Mech_RPM": -3.25227415e-06, "cg_du": 49.7952347, "cg_dv": 50.2047653, "cg_dw": 49.8927803, "cg_id_a": 0.61352253, "cg_id_raw_a": 0.424335271, "cg_iq_a": 0.193528786, "cg_iq_raw_a": 0.842123985, "cg_iu_a": -0.028999269, "cg_iv_a": -0.460876435, "cg_iw_a": 0.489875704, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10088112, "cg_sample_valid": 1, "cg_theta_rad": 2.01971078, "cg_vd_req_v": -0.204058364, "cg_vd_v": -0.204058364, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.293523371, "cg_vq_v": 0.293523371, "cg_vu_v": 38.2706528, "cg_vv_v": 41.3499031, "cg_vw_v": 51.4674301, "control_outputs_enabled": 1, "dclink_i_a": -0.787291646, "dclink_p_w": -114.286835, "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": 51.0548706, "temp_inv2_c": 51.7764282, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132433042, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1614.068604, "values": {"Elec_RPM": -5.92189781e-06, "EncoderCos": 23639, "EncoderSin": 51423, "GapTicks": 54775, "Mech_RPM": -1.18437958e-06, "cg_du": 49.796257, "cg_dv": 50.203743, "cg_dw": 49.8548698, "cg_id_a": -0.117053561, "cg_id_raw_a": -0.0743833333, "cg_iq_a": 0.149423704, "cg_iq_raw_a": -0.0574282371, "cg_iu_a": -0.173974633, "cg_iv_a": 0.119024843, "cg_iw_a": 0.0549497902, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10093162, "cg_sample_valid": 1, "cg_theta_rad": 2.01885819, "cg_vd_req_v": -0.180626735, "cg_vd_v": -0.180626735, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.322079003, "cg_vq_v": 0.322079003, "cg_vu_v": 103.374756, "cg_vv_v": 94.1370087, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.669499278, "dclink_p_w": -96.8930511, "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": 50.8508911, "temp_inv2_c": 51.6358032, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134497598, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1614.930054, "values": {"Elec_RPM": -2.48417564e-06, "EncoderCos": 23617, "EncoderSin": 51405, "GapTicks": 54789, "Mech_RPM": -4.96835128e-07, "cg_du": 49.8087769, "cg_dv": 50.1912231, "cg_dw": 49.8693123, "cg_id_a": -0.113804542, "cg_id_raw_a": 0.320791155, "cg_iq_a": 0.0439603776, "cg_iq_raw_a": 0.369182408, "cg_iu_a": -0.173974514, "cg_iv_a": 0.51770699, "cg_iw_a": -0.343732506, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 10097412, "cg_sample_valid": 1, "cg_theta_rad": 2.0196867, "cg_vd_req_v": -0.170854822, "cg_vd_v": -0.170854822, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.299240947, "cg_vq_v": 0.299240947, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.434125543, "dclink_p_w": 63.0196381, "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": 50.7492981, "temp_inv2_c": 51.5343933, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135152206, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1615.94751, "values": {"Elec_RPM": -9.04661647e-07, "EncoderCos": 23648, "EncoderSin": 51396, "GapTicks": 54786, "Mech_RPM": -1.80932332e-07, "cg_du": 49.8061714, "cg_dv": 50.1938286, "cg_dw": 49.8896942, "cg_id_a": 0.217477545, "cg_id_raw_a": 1.03353071, "cg_iq_a": 0.370049357, "cg_iq_raw_a": 0.498037845, "cg_iu_a": -0.246462226, "cg_iv_a": 0.445219368, "cg_iw_a": -0.198757142, "cg_sample_age_us": 23.6272736, "cg_sample_seq": 10102463, "cg_sample_valid": 1, "cg_theta_rad": 2.01880598, "cg_vd_req_v": -0.188265622, "cg_vd_v": -0.188265622, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.285499424, "cg_vq_v": 0.285499424, "cg_vu_v": 104.254532, "cg_vv_v": 96.3364716, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 0.372511029, "dclink_p_w": 53.9115295, "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": 50.5131531, "temp_inv2_c": 51.4203491, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131274894, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1616.964844, "values": {"Elec_RPM": -3.16404112e-07, "EncoderCos": 23627, "EncoderSin": 51395, "GapTicks": 54778, "Mech_RPM": -6.32808224e-08, "cg_du": 49.7990494, "cg_dv": 50.2009506, "cg_dw": 49.8606339, "cg_id_a": 0.111438587, "cg_id_raw_a": 0.395334721, "cg_iq_a": 0.0271216035, "cg_iq_raw_a": -0.34042868, "cg_iu_a": -0.536412954, "cg_iv_a": 0.300244033, "cg_iw_a": 0.236168921, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10107662, "cg_sample_valid": 1, "cg_theta_rad": 2.01828098, "cg_vd_req_v": -0.178671464, "cg_vd_v": -0.178671464, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.315791696, "cg_vq_v": 0.315791696, "cg_vu_v": 7.47817326, "cg_vv_v": 21.5547352, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 0.249282002, "dclink_p_w": 36.0772514, "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": 50.3453369, "temp_inv2_c": 51.2423706, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135001153, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1617.973877, "values": {"Elec_RPM": -1.17576313e-07, "EncoderCos": 23639, "EncoderSin": 51416, "GapTicks": 54778, "Mech_RPM": -2.35152626e-08, "cg_du": 49.7989044, "cg_dv": 50.2010956, "cg_dw": 49.8497467, "cg_id_a": 0.134199247, "cg_id_raw_a": 0.218528554, "cg_iq_a": 0.0547068007, "cg_iq_raw_a": -0.0583395921, "cg_iu_a": -0.0289993286, "cg_iv_a": -0.0984381139, "cg_iw_a": 0.127437443, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10112512, "cg_sample_valid": 1, "cg_theta_rad": 2.01879001, "cg_vd_req_v": -0.173831701, "cg_vd_v": -0.173831701, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.323338062, "cg_vq_v": 0.323338062, "cg_vu_v": 25.953661, "cg_vv_v": 9.23774433, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.189479709, "dclink_p_w": 27.4223862, "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": 50.1781921, "temp_inv2_c": 51.1227722, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131526664, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1618.97644, "values": {"Elec_RPM": -4.11221421e-08, "EncoderCos": 23665, "EncoderSin": 51394, "GapTicks": 54779, "Mech_RPM": -8.22442825e-09, "cg_du": 49.799839, "cg_dv": 50.200161, "cg_dw": 49.8453445, "cg_id_a": 0.035760399, "cg_id_raw_a": 0.673095882, "cg_iq_a": 0.191450909, "cg_iq_raw_a": 0.0459866636, "cg_iu_a": -0.137730718, "cg_iv_a": 0.336487889, "cg_iw_a": -0.198757172, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10117712, "cg_sample_valid": 1, "cg_theta_rad": 2.01902199, "cg_vd_req_v": -0.170538694, "cg_vd_v": -0.170538694, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.324143201, "cg_vq_v": 0.324143201, "cg_vu_v": 38.2706528, "cg_vv_v": 42.2296829, "cg_vw_v": 52.7871094, "control_outputs_enabled": 1, "dclink_i_a": 0.562791169, "dclink_p_w": 81.6973267, "enc_isr_hz": 5001, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5002, "hz_app_loop": 2598, "hz_tim_isr": 5002, "hz_vsense": 2598, "pwm_moe": 1, "temp_inv1_c": 49.9784546, "temp_inv2_c": 50.9779663, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132533759, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1619.993774, "values": {"Elec_RPM": -1.46759271e-08, "EncoderCos": 23654, "EncoderSin": 51368, "GapTicks": 54775, "Mech_RPM": -2.93518543e-09, "cg_du": 49.7961578, "cg_dv": 50.2038422, "cg_dw": 49.8424072, "cg_id_a": 0.357407153, "cg_id_raw_a": 0.216611564, "cg_iq_a": 0.583022356, "cg_iq_raw_a": 0.174287483, "cg_iu_a": 0.297195196, "cg_iv_a": 0.807657719, "cg_iw_a": -1.10485291, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 10122813, "cg_sample_valid": 1, "cg_theta_rad": 2.01758146, "cg_vd_req_v": -0.171927765, "cg_vd_v": -0.171927765, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.331060797, "cg_vq_v": 0.331060797, "cg_vu_v": 115.69175, "cg_vv_v": 128.888519, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.522922993, "dclink_p_w": 75.6798477, "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": 49.8458862, "temp_inv2_c": 50.8506165, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130368501, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1621.011108, "values": {"Elec_RPM": -5.34452749e-09, "EncoderCos": 23636, "EncoderSin": 51381, "GapTicks": 54766, "Mech_RPM": -1.06890552e-09, "cg_du": 49.7874908, "cg_dv": 50.2125092, "cg_dw": 49.8295898, "cg_id_a": 0.133322328, "cg_id_raw_a": 0.438341707, "cg_iq_a": -0.189587981, "cg_iq_raw_a": 0.182403445, "cg_iu_a": 0.297195315, "cg_iv_a": -1.00453401, "cg_iw_a": 0.707338631, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10127812, "cg_sample_valid": 1, "cg_theta_rad": 2.01840973, "cg_vd_req_v": -0.175195277, "cg_vd_v": -0.175195277, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.351269007, "cg_vq_v": 0.351269007, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.0390677452, "dclink_p_w": 5.65406609, "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": 49.6806946, "temp_inv2_c": 50.7427063, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135353625, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1622.028687, "values": {"Elec_RPM": -1.86924076e-09, "EncoderCos": 23623, "EncoderSin": 51385, "GapTicks": 54762, "Mech_RPM": -3.73848175e-10, "cg_du": 49.7844734, "cg_dv": 50.2155266, "cg_dw": 49.8417854, "cg_id_a": 0.0841154754, "cg_id_raw_a": 0.535337329, "cg_iq_a": 0.0837517679, "cg_iq_raw_a": 0.568723023, "cg_iu_a": -0.753875911, "cg_iv_a": 0.0465371609, "cg_iw_a": 0.70733875, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10133013, "cg_sample_valid": 1, "cg_theta_rad": 2.01944089, "cg_vd_req_v": -0.185683817, "cg_vd_v": -0.185683817, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.345659256, "cg_vq_v": 0.345659256, "cg_vu_v": 109.533249, "cg_vv_v": 110.413033, "cg_vw_v": 114.37207, "control_outputs_enabled": 1, "dclink_i_a": -0.674935699, "dclink_p_w": -97.976738, "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": 49.5490723, "temp_inv2_c": 50.5971069, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132886246, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1623.046021, "values": {"Elec_RPM": -6.67106426e-10, "EncoderCos": 23611, "EncoderSin": 51444, "GapTicks": 54775, "Mech_RPM": -1.33421288e-10, "cg_du": 49.7963257, "cg_dv": 50.2036743, "cg_dw": 49.8325653, "cg_id_a": 0.25692603, "cg_id_raw_a": 0.202884868, "cg_iq_a": 0.200268865, "cg_iq_raw_a": 0.324224591, "cg_iu_a": 0.297195256, "cg_iv_a": -0.31590113, "cg_iw_a": 0.0187058747, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10138113, "cg_sample_valid": 1, "cg_theta_rad": 2.01894593, "cg_vd_req_v": -0.165314108, "cg_vd_v": -0.165314108, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338555068, "cg_vq_v": 0.338555068, "cg_vu_v": 109.093361, "cg_vv_v": 109.533249, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": -0.326994896, "dclink_p_w": -47.4680672, "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": 49.3850403, "temp_inv2_c": 50.4793701, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133691922, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1624.063477, "values": {"Elec_RPM": -2.4293989e-10, "EncoderCos": 23637, "EncoderSin": 51384, "GapTicks": 54770, "Mech_RPM": -4.85879809e-11, "cg_du": 49.7909508, "cg_dv": 50.2090492, "cg_dw": 49.8611488, "cg_id_a": 0.361035943, "cg_id_raw_a": 0.757619858, "cg_iq_a": 0.682191491, "cg_iq_raw_a": 0.113065563, "cg_iu_a": -0.717632055, "cg_iv_a": 0.191512585, "cg_iw_a": 0.526119471, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10143112, "cg_sample_valid": 1, "cg_theta_rad": 2.0179379, "cg_vd_req_v": -0.189336568, "cg_vd_v": -0.189336568, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.322712064, "cg_vq_v": 0.322712064, "cg_vu_v": 26.8334465, "cg_vv_v": 11.4372072, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.571852148, "dclink_p_w": 82.7611084, "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": 49.2216797, "temp_inv2_c": 50.3786621, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13233234, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1624.924805, "values": {"Elec_RPM": -1.0399058e-10, "EncoderCos": 23640, "EncoderSin": 51394, "GapTicks": 54782, "Mech_RPM": -2.07981167e-11, "cg_du": 49.8021355, "cg_dv": 50.1978645, "cg_dw": 49.8520432, "cg_id_a": 0.0500740707, "cg_id_raw_a": 0.700868309, "cg_iq_a": 0.225543663, "cg_iq_raw_a": 0.715278268, "cg_iu_a": 0.115976095, "cg_iv_a": 0.119024873, "cg_iw_a": -0.235000968, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 10147362, "cg_sample_valid": 1, "cg_theta_rad": 2.01915288, "cg_vd_req_v": -0.170307934, "cg_vd_v": -0.170307934, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.318585783, "cg_vq_v": 0.318585783, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": -0.519087195, "dclink_p_w": -75.3530579, "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": 49.1239929, "temp_inv2_c": 50.2928772, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132382691, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1625.942261, "values": {"Elec_RPM": -3.63705489e-11, "EncoderCos": 23638, "EncoderSin": 51354, "GapTicks": 54778, "Mech_RPM": -7.2741097e-12, "cg_du": 49.7986984, "cg_dv": 50.2013016, "cg_dw": 49.8355064, "cg_id_a": -0.0393519253, "cg_id_raw_a": 0.893509686, "cg_iq_a": 0.110749736, "cg_iq_raw_a": 0.513374448, "cg_iu_a": -0.318949819, "cg_iv_a": 0.119024873, "cg_iw_a": 0.199924946, "cg_sample_age_us": 23.6709099, "cg_sample_seq": 10152512, "cg_sample_valid": 1, "cg_theta_rad": 2.0203445, "cg_vd_req_v": -0.162806451, "cg_vd_v": -0.162806451, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.334441632, "cg_vq_v": 0.334441632, "cg_vu_v": 106.893898, "cg_vv_v": 103.374756, "cg_vw_v": 94.5769043, "control_outputs_enabled": 1, "dclink_i_a": -0.368675351, "dclink_p_w": -53.5185928, "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": 48.9616089, "temp_inv2_c": 50.1238708, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129361406, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1626.959717, "values": {"Elec_RPM": -1.32450518e-11, "EncoderCos": 23663, "EncoderSin": 51358, "GapTicks": 54761, "Mech_RPM": -2.64901035e-12, "cg_du": 49.7831688, "cg_dv": 50.2168312, "cg_dw": 49.8241119, "cg_id_a": 0.207798809, "cg_id_raw_a": -0.652261794, "cg_iq_a": -0.0836452097, "cg_iq_raw_a": -0.986923575, "cg_iu_a": 0.188463807, "cg_iv_a": -0.895802438, "cg_iw_a": 0.707338631, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 10157562, "cg_sample_valid": 1, "cg_theta_rad": 2.01954031, "cg_vd_req_v": -0.178257674, "cg_vd_v": -0.178257674, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.358226985, "cg_vq_v": 0.358226985, "cg_vu_v": 37.830761, "cg_vv_v": 40.0302238, "cg_vw_v": 47.0685043, "control_outputs_enabled": 1, "dclink_i_a": -0.749235511, "dclink_p_w": -108.432854, "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": 48.7998962, "temp_inv2_c": 50.009552, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.137972072, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1627.94397, "values": {"Elec_RPM": -5.02233151e-12, "EncoderCos": 23648, "EncoderSin": 51417, "GapTicks": 54781, "Mech_RPM": -1.00446626e-12, "cg_du": 49.801281, "cg_dv": 50.198719, "cg_dw": 49.8407822, "cg_id_a": -0.188268751, "cg_id_raw_a": -0.0535151511, "cg_iq_a": 0.219447419, "cg_iq_raw_a": -0.166284725, "cg_iu_a": -0.137730718, "cg_iv_a": 0.264000207, "cg_iw_a": -0.12626946, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 10162363, "cg_sample_valid": 1, "cg_theta_rad": 2.02003384, "cg_vd_req_v": -0.165497616, "cg_vd_v": -0.165497616, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.326329023, "cg_vq_v": 0.326329023, "cg_vu_v": 104.254532, "cg_vv_v": 96.3364716, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": 0.202165008, "dclink_p_w": 29.2582607, "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": 48.670929, "temp_inv2_c": 49.8913574, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129462123, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1628.971191, "values": {"Elec_RPM": -1.72142227e-12, "EncoderCos": 23641, "EncoderSin": 51417, "GapTicks": 54781, "Mech_RPM": -3.44284443e-13, "cg_du": 49.8016396, "cg_dv": 50.1983604, "cg_dw": 49.8301468, "cg_id_a": 0.230682939, "cg_id_raw_a": 0.0193452872, "cg_iq_a": 0.325392604, "cg_iq_raw_a": 0.330655694, "cg_iu_a": 0.0797322392, "cg_iv_a": 0.264000207, "cg_iw_a": -0.343732446, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 10167662, "cg_sample_valid": 1, "cg_theta_rad": 2.0188961, "cg_vd_req_v": -0.158157602, "cg_vd_v": -0.158157602, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.334252387, "cg_vq_v": 0.334252387, "cg_vu_v": 2.63935518, "cg_vv_v": 0.43989256, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.102283239, "dclink_p_w": -14.8479004, "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": 48.5423889, "temp_inv2_c": 49.7735291, "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": 0.140590534, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1629.988647, "values": {"Elec_RPM": -6.14352102e-13, "EncoderCos": 23651, "EncoderSin": 51379, "GapTicks": 54778, "Mech_RPM": -1.22870423e-13, "cg_du": 49.7982521, "cg_dv": 50.2017479, "cg_dw": 49.8308678, "cg_id_a": -0.361000121, "cg_id_raw_a": 0.19378835, "cg_iq_a": -0.0119019048, "cg_iq_raw_a": -0.224187866, "cg_iu_a": -0.282706022, "cg_iv_a": 0.155268699, "cg_iw_a": 0.127437323, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10172762, "cg_sample_valid": 1, "cg_theta_rad": 2.02052808, "cg_vd_req_v": -0.162424728, "cg_vd_v": -0.162424728, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337511212, "cg_vq_v": 0.337511212, "cg_vu_v": 25.0738773, "cg_vv_v": 7.03828096, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.323581815, "dclink_p_w": 46.9726105, "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": 48.3822327, "temp_inv2_c": 49.6642151, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132735178, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1631.005859, "values": {"Elec_RPM": -2.14868799e-13, "EncoderCos": 23636, "EncoderSin": 51390, "GapTicks": 54773, "Mech_RPM": -4.29737592e-14, "cg_du": 49.793911, "cg_dv": 50.206089, "cg_dw": 49.8301506, "cg_id_a": -0.519226015, "cg_id_raw_a": -0.240111277, "cg_iq_a": -0.456753165, "cg_iq_raw_a": -0.66700083, "cg_iu_a": -0.355193734, "cg_iv_a": -0.279657304, "cg_iw_a": 0.634851038, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10177912, "cg_sample_valid": 1, "cg_theta_rad": 2.01877165, "cg_vd_req_v": -0.167456493, "cg_vd_v": -0.167456493, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343967378, "cg_vq_v": 0.343967378, "cg_vu_v": 37.3908691, "cg_vv_v": 39.590332, "cg_vw_v": 45.7488289, "control_outputs_enabled": 1, "dclink_i_a": -0.209202409, "dclink_p_w": -30.3687744, "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": 48.2864075, "temp_inv2_c": 49.4629211, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134547949, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1632.023438, "values": {"Elec_RPM": -7.98456082e-14, "EncoderCos": 23662, "EncoderSin": 51379, "GapTicks": 54775, "Mech_RPM": -1.59691223e-14, "cg_du": 49.7961998, "cg_dv": 50.2038002, "cg_dw": 49.8154907, "cg_id_a": -0.220893383, "cg_id_raw_a": 0.0837090239, "cg_iq_a": -0.61198169, "cg_iq_raw_a": -0.228662834, "cg_iu_a": 0.00724458694, "cg_iv_a": -0.859558582, "cg_iw_a": 1.17850852, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10182863, "cg_sample_valid": 1, "cg_theta_rad": 2.01918483, "cg_vd_req_v": -0.156722307, "cg_vd_v": -0.156722307, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.350885808, "cg_vq_v": 0.350885808, "cg_vu_v": 144.28476, "cg_vv_v": 142.525192, "cg_vw_v": 139.885834, "control_outputs_enabled": 1, "dclink_i_a": -0.856154799, "dclink_p_w": -124.283325, "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": 48.1589966, "temp_inv2_c": 49.4178772, "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": 0.135957882, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1633.040771, "values": {"Elec_RPM": -2.79258902e-14, "EncoderCos": 23652, "EncoderSin": 51472, "GapTicks": 54781, "Mech_RPM": -5.58517813e-15, "cg_du": 49.8015251, "cg_dv": 50.1984749, "cg_dw": 49.8075714, "cg_id_a": -0.0781132132, "cg_id_raw_a": 0.391406208, "cg_iq_a": -0.309081316, "cg_iq_raw_a": 0.130875602, "cg_iu_a": -0.427681327, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.526119471, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10188062, "cg_sample_valid": 1, "cg_theta_rad": 2.02059126, "cg_vd_req_v": -0.148085132, "cg_vd_v": -0.148085132, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.351328999, "cg_vq_v": 0.351328999, "cg_vu_v": 109.093361, "cg_vv_v": 109.533249, "cg_vw_v": 112.612495, "control_outputs_enabled": 1, "dclink_i_a": -0.259943843, "dclink_p_w": -37.7346306, "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": 47.9685669, "temp_inv2_c": 49.3197021, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131073475, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1634.058228, "values": {"Elec_RPM": -9.96637092e-15, "EncoderCos": 23680, "EncoderSin": 51410, "GapTicks": 54781, "Mech_RPM": -1.99327414e-15, "cg_du": 49.8011932, "cg_dv": 50.1988068, "cg_dw": 49.8165932, "cg_id_a": -0.112327352, "cg_id_raw_a": -1.51468861, "cg_iq_a": 0.306056321, "cg_iq_raw_a": -0.681370616, "cg_iu_a": -0.246462226, "cg_iv_a": 0.119024873, "cg_iw_a": 0.127437353, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10193163, "cg_sample_valid": 1, "cg_theta_rad": 2.01828599, "cg_vd_req_v": -0.15330334, "cg_vd_v": -0.15330334, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343789905, "cg_vq_v": 0.343789905, "cg_vu_v": 140.325729, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": -0.0551661253, "dclink_p_w": -7.98389864, "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": 47.8421021, "temp_inv2_c": 49.1729126, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132181272, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1635.075684, "values": {"Elec_RPM": -3.55686118e-15, "EncoderCos": 23639, "EncoderSin": 51380, "GapTicks": 54764, "Mech_RPM": -7.11372203e-16, "cg_du": 49.7916756, "cg_dv": 50.2143478, "cg_dw": 49.7856522, "cg_id_a": -0.373931319, "cg_id_raw_a": -0.200056836, "cg_iq_a": -0.340095907, "cg_iq_raw_a": -0.884659708, "cg_iu_a": -0.21021831, "cg_iv_a": -0.0621942878, "cg_iw_a": 0.272412598, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10198212, "cg_sample_valid": 1, "cg_theta_rad": 2.01960468, "cg_vd_req_v": -0.145496473, "cg_vd_v": -0.145496473, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.385445774, "cg_vq_v": 0.385445774, "cg_vu_v": 29.4728031, "cg_vv_v": 17.5957031, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.0388563871, "dclink_p_w": -5.62347746, "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": 47.7160034, "temp_inv2_c": 49.0753479, "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": 0.134245828, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1635.937012, "values": {"Elec_RPM": -1.52251652e-15, "EncoderCos": 23664, "EncoderSin": 51387, "GapTicks": 54756, "Mech_RPM": -3.04503315e-16, "cg_du": 49.778904, "cg_dv": 50.221096, "cg_dw": 49.8100739, "cg_id_a": 0.402230024, "cg_id_raw_a": 0.0307517257, "cg_iq_a": 0.201387331, "cg_iq_raw_a": 0.41352421, "cg_iu_a": 0.840852737, "cg_iv_a": -0.460876435, "cg_iw_a": -0.379976302, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 10202462, "cg_sample_valid": 1, "cg_theta_rad": 2.01783848, "cg_vd_req_v": -0.17663008, "cg_vd_v": -0.17663008, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.372691363, "cg_vq_v": 0.372691363, "cg_vu_v": 35.1914063, "cg_vv_v": 33.4318352, "cg_vw_v": 28.1531239, "control_outputs_enabled": 1, "dclink_i_a": 0.111555457, "dclink_p_w": 16.144825, "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": 47.6216736, "temp_inv2_c": 49.0185242, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130066365, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1636.954346, "values": {"Elec_RPM": -5.4336523e-16, "EncoderCos": 23637, "EncoderSin": 51360, "GapTicks": 54761, "Mech_RPM": -1.08673043e-16, "cg_du": 49.7834549, "cg_dv": 50.2165451, "cg_dw": 49.8078957, "cg_id_a": -0.0154771879, "cg_id_raw_a": 0.0883803144, "cg_iq_a": -0.15065439, "cg_iq_raw_a": -0.187917247, "cg_iu_a": -0.246462345, "cg_iv_a": -0.0621942878, "cg_iw_a": 0.308656633, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10207563, "cg_sample_valid": 1, "cg_theta_rad": 2.01918936, "cg_vd_req_v": -0.166124478, "cg_vd_v": -0.166124478, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.371092737, "cg_vq_v": 0.371092737, "cg_vu_v": 144.28476, "cg_vv_v": 142.965088, "cg_vw_v": 140.765625, "control_outputs_enabled": 1, "dclink_i_a": 0.394257307, "dclink_p_w": 57.2321854, "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": 47.4648743, "temp_inv2_c": 48.8646851, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131929502, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1637.958862, "values": {"Elec_RPM": -2.01915476e-16, "EncoderCos": 23633, "EncoderSin": 51388, "GapTicks": 54764, "Mech_RPM": -4.03830965e-17, "cg_du": 49.7858582, "cg_dv": 50.2141418, "cg_dw": 49.8106689, "cg_id_a": 0.0373689905, "cg_id_raw_a": 0.294999063, "cg_iq_a": -0.354555786, "cg_iq_raw_a": 0.204228133, "cg_iu_a": 0.115976095, "cg_iv_a": 0.336487889, "cg_iw_a": -0.452463984, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10212416, "cg_sample_valid": 1, "cg_theta_rad": 2.01890612, "cg_vd_req_v": -0.165925011, "cg_vd_v": -0.165925011, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.36726591, "cg_vq_v": 0.36726591, "cg_vu_v": 40.0302238, "cg_vv_v": 46.1887207, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": -0.147588015, "dclink_p_w": -21.4245472, "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": 47.3398438, "temp_inv2_c": 48.7678223, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134044394, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1638.965942, "values": {"Elec_RPM": -7.06196448e-17, "EncoderCos": 23637, "EncoderSin": 51466, "GapTicks": 54769, "Mech_RPM": -1.41239286e-17, "cg_du": 49.7903023, "cg_dv": 50.2096977, "cg_dw": 49.8120995, "cg_id_a": 0.577376723, "cg_id_raw_a": 0.254310399, "cg_iq_a": 0.257420599, "cg_iq_raw_a": 0.191284746, "cg_iu_a": -0.21021843, "cg_iv_a": 0.0827810317, "cg_iw_a": 0.127437398, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10217663, "cg_sample_valid": 1, "cg_theta_rad": 2.01976156, "cg_vd_req_v": -0.164224058, "cg_vd_v": -0.164224058, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.360068798, "cg_vq_v": 0.360068798, "cg_vu_v": 104.254532, "cg_vv_v": 96.7763672, "cg_vw_v": 73.9019547, "control_outputs_enabled": 1, "dclink_i_a": -0.571640849, "dclink_p_w": -82.981987, "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": 47.2463074, "temp_inv2_c": 48.6450195, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131274894, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1639.983276, "values": {"Elec_RPM": -2.52031775e-17, "EncoderCos": 23663, "EncoderSin": 51386, "GapTicks": 54773, "Mech_RPM": -5.04063558e-18, "cg_du": 49.7940521, "cg_dv": 50.2059479, "cg_dw": 49.7959328, "cg_id_a": -0.184550434, "cg_id_raw_a": -0.48992759, "cg_iq_a": 0.0764382556, "cg_iq_raw_a": -0.145054698, "cg_iu_a": -0.608900547, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.707338691, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10222712, "cg_sample_valid": 1, "cg_theta_rad": 2.01817417, "cg_vd_req_v": -0.148631617, "cg_vd_v": -0.148631617, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.368892401, "cg_vq_v": 0.368892401, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": -0.307060838, "dclink_p_w": -44.4392738, "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": 47.0908508, "temp_inv2_c": 48.5366211, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133540854, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1641.000854, "values": {"Elec_RPM": -8.99467016e-18, "EncoderCos": 23678, "EncoderSin": 51368, "GapTicks": 54775, "Mech_RPM": -1.79893399e-18, "cg_du": 49.7957115, "cg_dv": 50.2042885, "cg_dw": 49.8075371, "cg_id_a": 0.0295888558, "cg_id_raw_a": -0.0502411388, "cg_iq_a": -0.105141349, "cg_iq_raw_a": -0.399356633, "cg_iu_a": 0.152219951, "cg_iv_a": -0.315901101, "cg_iw_a": 0.163681149, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10227862, "cg_sample_valid": 1, "cg_theta_rad": 2.02035284, "cg_vd_req_v": -0.153441966, "cg_vd_v": -0.153441966, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357055128, "cg_vq_v": 0.357055128, "cg_vu_v": 118.3311, "cg_vv_v": 137.246475, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.336267233, "dclink_p_w": 48.6661606, "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": 46.9668884, "temp_inv2_c": 48.4444885, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134447247, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1642.018188, "values": {"Elec_RPM": -3.21007454e-18, "EncoderCos": 23650, "EncoderSin": 51389, "GapTicks": 54767, "Mech_RPM": -6.42014888e-19, "cg_du": 49.7868042, "cg_dv": 50.2131958, "cg_dw": 49.8167877, "cg_id_a": 0.0291253775, "cg_id_raw_a": 0.830827653, "cg_iq_a": -0.289794445, "cg_iq_raw_a": 0.612396419, "cg_iu_a": -0.0289992094, "cg_iv_a": -0.642095625, "cg_iw_a": 0.671094835, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10232912, "cg_sample_valid": 1, "cg_theta_rad": 2.01908827, "cg_vd_req_v": -0.161540359, "cg_vd_v": -0.161540359, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.369626373, "cg_vq_v": 0.369626373, "cg_vu_v": 36.0711899, "cg_vv_v": 34.3116188, "cg_vw_v": 31.6722641, "control_outputs_enabled": 1, "dclink_i_a": -0.964886308, "dclink_p_w": -140.067291, "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": 46.8741455, "temp_inv2_c": 48.344574, "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": 0.133389801, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1643.035767, "values": {"Elec_RPM": -1.14563171e-18, "EncoderCos": 23653, "EncoderSin": 51389, "GapTicks": 54773, "Mech_RPM": -2.29126341e-19, "cg_du": 49.7943916, "cg_dv": 50.2056084, "cg_dw": 49.8010902, "cg_id_a": -0.143080756, "cg_id_raw_a": 0.980677843, "cg_iq_a": 0.030660592, "cg_iq_raw_a": -0.107221954, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.336487859, "cg_iw_a": -0.343732446, "cg_sample_age_us": 23.5581818, "cg_sample_seq": 10238012, "cg_sample_valid": 1, "cg_theta_rad": 2.01826382, "cg_vd_req_v": -0.150596336, "cg_vd_v": -0.150596336, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.364904583, "cg_vq_v": 0.364904583, "cg_vu_v": 37.3908691, "cg_vv_v": 38.2706528, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": -0.533584833, "dclink_p_w": -77.4576035, "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": 46.7507935, "temp_inv2_c": 48.2070618, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133188367, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1644.053101, "values": {"Elec_RPM": -4.08860358e-19, "EncoderCos": 23641, "EncoderSin": 51398, "GapTicks": 54776, "Mech_RPM": -8.17720704e-20, "cg_du": 49.7970657, "cg_dv": 50.2029343, "cg_dw": 49.8404579, "cg_id_a": 0.108589515, "cg_id_raw_a": 0.536096036, "cg_iq_a": -0.132502645, "cg_iq_raw_a": 0.10552723, "cg_iu_a": 0.115976095, "cg_iv_a": 0.372731686, "cg_iw_a": 0.52611959, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10243162, "cg_sample_valid": 1, "cg_theta_rad": 2.01851344, "cg_vd_req_v": -0.169671819, "cg_vd_v": -0.169671819, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.331536561, "cg_vq_v": 0.331536561, "cg_vu_v": 12.7568836, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 0.437749922, "dclink_p_w": 63.3532066, "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": 46.5970764, "temp_inv2_c": 48.0799255, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129210338, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1645.070435, "values": {"Elec_RPM": -1.45916663e-19, "EncoderCos": 23651, "EncoderSin": 51372, "GapTicks": 54784, "Mech_RPM": -2.91833327e-20, "cg_du": 49.8040657, "cg_dv": 50.1959343, "cg_dw": 49.8524666, "cg_id_a": -0.47325629, "cg_id_raw_a": -1.49774826, "cg_iq_a": 0.049669385, "cg_iq_raw_a": -1.2406044, "cg_iu_a": -0.246462226, "cg_iv_a": -0.207169622, "cg_iw_a": 0.453631848, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10248212, "cg_sample_valid": 1, "cg_theta_rad": 2.01834083, "cg_vd_req_v": -0.16806592, "cg_vd_v": -0.16806592, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.316237271, "cg_vq_v": 0.316237271, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": -0.455660582, "dclink_p_w": -66.1457672, "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": 46.4744873, "temp_inv2_c": 47.9848022, "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": 0.133238718, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1645.931885, "values": {"Elec_RPM": -6.24597489e-20, "EncoderCos": 23622, "EncoderSin": 51372, "GapTicks": 54778, "Mech_RPM": -1.24919491e-20, "cg_du": 49.7983818, "cg_dv": 50.2016182, "cg_dw": 49.8397331, "cg_id_a": -0.242871761, "cg_id_raw_a": -0.425106108, "cg_iq_a": -0.432962477, "cg_iq_raw_a": -1.12454462, "cg_iu_a": 0.297195256, "cg_iv_a": 0.0827810466, "cg_iw_a": -0.379976302, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10252414, "cg_sample_valid": 1, "cg_theta_rad": 2.02022529, "cg_vd_req_v": -0.165240362, "cg_vd_v": -0.165240362, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.33185482, "cg_vq_v": 0.33185482, "cg_vu_v": 144.28476, "cg_vv_v": 142.525192, "cg_vw_v": 139.885834, "control_outputs_enabled": 1, "dclink_i_a": 0.265591741, "dclink_p_w": 38.4376717, "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": 46.3827515, "temp_inv2_c": 47.9333496, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1646.949219, "values": {"Elec_RPM": -2.22910231e-20, "EncoderCos": 23701, "EncoderSin": 51388, "GapTicks": 54771, "Mech_RPM": -4.45820462e-21, "cg_du": 49.7921562, "cg_dv": 50.2078438, "cg_dw": 49.8364334, "cg_id_a": 0.496128261, "cg_id_raw_a": -0.147596762, "cg_iq_a": 0.196354061, "cg_iq_raw_a": -0.597193718, "cg_iu_a": 0.804609001, "cg_iv_a": 0.191512525, "cg_iw_a": -0.996121526, "cg_sample_age_us": 23.7654552, "cg_sample_seq": 10257563, "cg_sample_valid": 1, "cg_theta_rad": 2.01860261, "cg_vd_req_v": -0.178299472, "cg_vd_v": -0.178299472, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338591218, "cg_vq_v": 0.338591218, "cg_vu_v": 104.694435, "cg_vv_v": 97.6561432, "cg_vw_v": 77.4210892, "control_outputs_enabled": 1, "dclink_i_a": -0.203765869, "dclink_p_w": -29.4899445, "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": 46.2607422, "temp_inv2_c": 47.816864, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130720988, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1647.924316, "values": {"Elec_RPM": -8.452432e-21, "EncoderCos": 23669, "EncoderSin": 51384, "GapTicks": 54773, "Mech_RPM": -1.69048646e-21, "cg_du": 49.7940445, "cg_dv": 50.2059555, "cg_dw": 49.8475723, "cg_id_a": -0.0711314604, "cg_id_raw_a": -0.38519302, "cg_iq_a": -0.349522591, "cg_iq_raw_a": -0.689260423, "cg_iu_a": 0.369682968, "cg_iv_a": -0.134682, "cg_iw_a": -0.235000968, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 10262314, "cg_sample_valid": 1, "cg_theta_rad": 2.02121043, "cg_vd_req_v": -0.177653313, "cg_vd_v": -0.177653313, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.329436034, "cg_vq_v": 0.329436034, "cg_vu_v": 135.926804, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": -0.75467217, "dclink_p_w": -109.219673, "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": 46.1998596, "temp_inv2_c": 47.7243042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128001824, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1648.960815, "values": {"Elec_RPM": -2.95622598e-21, "EncoderCos": 23629, "EncoderSin": 51416, "GapTicks": 54771, "Mech_RPM": -5.91245215e-22, "cg_du": 49.7919502, "cg_dv": 50.2080498, "cg_dw": 49.820076, "cg_id_a": -0.259429097, "cg_id_raw_a": -0.490544081, "cg_iq_a": -0.257290393, "cg_iq_raw_a": -0.14295651, "cg_iu_a": -0.137730718, "cg_iv_a": 0.0827810466, "cg_iw_a": 0.054949671, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10267513, "cg_sample_valid": 1, "cg_theta_rad": 2.01871848, "cg_vd_req_v": -0.163865983, "cg_vd_v": -0.163865983, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.352369815, "cg_vq_v": 0.352369815, "cg_vu_v": 144.28476, "cg_vv_v": 143.404984, "cg_vw_v": 142.085297, "control_outputs_enabled": 1, "dclink_i_a": -0.966698527, "dclink_p_w": -139.905106, "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": 46.0177002, "temp_inv2_c": 47.6201477, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131677717, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1649.978149, "values": {"Elec_RPM": -1.03393588e-21, "EncoderCos": 23670, "EncoderSin": 51376, "GapTicks": 54774, "Mech_RPM": -2.06787176e-22, "cg_du": 49.7953491, "cg_dv": 50.2046509, "cg_dw": 49.8414917, "cg_id_a": 0.328914583, "cg_id_raw_a": -0.866566122, "cg_iq_a": 0.501236916, "cg_iq_raw_a": -0.21751079, "cg_iu_a": -0.0652430654, "cg_iv_a": 0.0102934241, "cg_iw_a": 0.0549496412, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 10272712, "cg_sample_valid": 1, "cg_theta_rad": 2.01902199, "cg_vd_req_v": -0.174400538, "cg_vd_v": -0.174400538, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.33285135, "cg_vq_v": 0.33285135, "cg_vu_v": 117.891212, "cg_vv_v": 135.047012, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.359614372, "dclink_p_w": -52.0450668, "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": 45.9269104, "temp_inv2_c": 47.5220947, "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": 0.13056992, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1650.995605, "values": {"Elec_RPM": -3.76528182e-22, "EncoderCos": 23681, "EncoderSin": 51370, "GapTicks": 54778, "Mech_RPM": -7.53056339e-23, "cg_du": 49.7984657, "cg_dv": 50.2015343, "cg_dw": 49.8288689, "cg_id_a": 0.123678818, "cg_id_raw_a": -0.339614004, "cg_iq_a": -0.144361228, "cg_iq_raw_a": -0.632704377, "cg_iu_a": 0.514658272, "cg_iv_a": 0.155268729, "cg_iw_a": -0.669927001, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10277763, "cg_sample_valid": 1, "cg_theta_rad": 2.01872253, "cg_vd_req_v": -0.163339183, "cg_vd_v": -0.163339183, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338919669, "cg_vq_v": 0.338919669, "cg_vu_v": 107.333786, "cg_vv_v": 104.254532, "cg_vw_v": 97.2162552, "control_outputs_enabled": 1, "dclink_i_a": 0.0318189859, "dclink_p_w": 4.61898899, "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": 45.8363037, "temp_inv2_c": 47.3637695, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1652.012939, "values": {"Elec_RPM": -1.31690168e-22, "EncoderCos": 23637, "EncoderSin": 51360, "GapTicks": 54786, "Mech_RPM": -2.63380335e-23, "cg_du": 49.8055344, "cg_dv": 50.1944656, "cg_dw": 49.838131, "cg_id_a": -0.0384516269, "cg_id_raw_a": 0.425951153, "cg_iq_a": 0.560980678, "cg_iq_raw_a": 0.0988097936, "cg_iu_a": -0.68138814, "cg_iv_a": -0.13468194, "cg_iw_a": 0.81607008, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10282913, "cg_sample_valid": 1, "cg_theta_rad": 2.01888752, "cg_vd_req_v": -0.155617565, "cg_vd_v": -0.155617565, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.325244159, "cg_vq_v": 0.325244159, "cg_vu_v": 117.011421, "cg_vv_v": 132.847549, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.0354434252, "dclink_p_w": 5.12953758, "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": 45.6556091, "temp_inv2_c": 47.3403625, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130972773, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1653.030518, "values": {"Elec_RPM": -4.69984048e-23, "EncoderCos": 23633, "EncoderSin": 51357, "GapTicks": 54777, "Mech_RPM": -9.39968079e-24, "cg_du": 49.7980652, "cg_dv": 50.2019348, "cg_dw": 49.8532066, "cg_id_a": 0.172428951, "cg_id_raw_a": 0.217607126, "cg_iq_a": 0.174742177, "cg_iq_raw_a": 0.173042908, "cg_iu_a": 0.152219892, "cg_iv_a": -0.497120261, "cg_iw_a": -0.524951696, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10288012, "cg_sample_valid": 1, "cg_theta_rad": 2.02071071, "cg_vd_req_v": -0.174077034, "cg_vd_v": -0.174077034, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.321921766, "cg_vq_v": 0.321921766, "cg_vu_v": 39.590332, "cg_vv_v": 45.7488289, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": 0.242033243, "dclink_p_w": 35.0281792, "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": 45.5655212, "temp_inv2_c": 47.2449036, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130620271, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1654.047852, "values": {"Elec_RPM": -1.71153928e-23, "EncoderCos": 23658, "EncoderSin": 51386, "GapTicks": 54783, "Mech_RPM": -3.42307849e-24, "cg_du": 49.8029633, "cg_dv": 50.1970367, "cg_dw": 49.8551407, "cg_id_a": -0.00572443008, "cg_id_raw_a": -0.119337633, "cg_iq_a": 0.223679155, "cg_iq_raw_a": -0.114300974, "cg_iu_a": -0.355193734, "cg_iv_a": 0.0102934241, "cg_iw_a": 0.34490031, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 10293012, "cg_sample_valid": 1, "cg_theta_rad": 2.01891518, "cg_vd_req_v": -0.171541378, "cg_vd_v": -0.171541378, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.313892305, "cg_vq_v": 0.313892305, "cg_vu_v": 21.5547352, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 0.338079453, "dclink_p_w": 48.9284325, "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": 45.4756165, "temp_inv2_c": 47.1437988, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129965663, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1655.065186, "values": {"Elec_RPM": -6.1082482e-24, "EncoderCos": 23671, "EncoderSin": 51374, "GapTicks": 54798, "Mech_RPM": -1.22164962e-24, "cg_du": 49.8170204, "cg_dv": 50.1829796, "cg_dw": 49.8642921, "cg_id_a": -0.242941618, "cg_id_raw_a": -0.387724757, "cg_iq_a": 0.527843058, "cg_iq_raw_a": 0.558798254, "cg_iu_a": -0.536412835, "cg_iv_a": 0.191512525, "cg_iw_a": 0.34490031, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 10298163, "cg_sample_valid": 1, "cg_theta_rad": 2.01992559, "cg_vd_req_v": -0.159058914, "cg_vd_v": -0.159058914, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.292143911, "cg_vq_v": 0.292143911, "cg_vu_v": 130.648087, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": 0.715015292, "dclink_p_w": 103.480339, "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": 45.3859253, "temp_inv2_c": 47.0759277, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133037299, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1655.926636, "values": {"Elec_RPM": -2.56234683e-24, "EncoderCos": 23599, "EncoderSin": 51373, "GapTicks": 54776, "Mech_RPM": -5.12469386e-25, "cg_du": 49.7964325, "cg_dv": 50.2035675, "cg_dw": 49.8370056, "cg_id_a": 0.303942978, "cg_id_raw_a": 1.04576325, "cg_iq_a": 0.137362644, "cg_iq_raw_a": 0.292775899, "cg_iu_a": -0.246462226, "cg_iv_a": 0.0102933645, "cg_iw_a": 0.236168861, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10302462, "cg_sample_valid": 1, "cg_theta_rad": 2.01939654, "cg_vd_req_v": -0.164971307, "cg_vd_v": -0.164971307, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337784171, "cg_vq_v": 0.337784171, "cg_vu_v": 20.6749516, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": 0.156860232, "dclink_p_w": 22.770546, "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": 45.2963562, "temp_inv2_c": 46.9984436, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129663542, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1656.94397, "values": {"Elec_RPM": -9.14466494e-25, "EncoderCos": 23632, "EncoderSin": 51414, "GapTicks": 54772, "Mech_RPM": -1.82893296e-25, "cg_du": 49.7935829, "cg_dv": 50.2064171, "cg_dw": 49.8222008, "cg_id_a": 0.0166398287, "cg_id_raw_a": -0.339094102, "cg_iq_a": -0.22309795, "cg_iq_raw_a": -0.356223613, "cg_iu_a": 0.550902069, "cg_iv_a": 0.0465372205, "cg_iw_a": -0.597439289, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10307513, "cg_sample_valid": 1, "cg_theta_rad": 2.02166557, "cg_vd_req_v": -0.163163587, "cg_vd_v": -0.163163587, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.348997295, "cg_vq_v": 0.348997295, "cg_vu_v": 120.090675, "cg_vv_v": 141.645401, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.134902596, "dclink_p_w": -19.5237312, "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": 45.1772461, "temp_inv2_c": 46.9017944, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132634476, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1657.923828, "values": {"Elec_RPM": -3.4675234e-25, "EncoderCos": 23615, "EncoderSin": 51366, "GapTicks": 54771, "Mech_RPM": -6.93504693e-26, "cg_du": 49.7919235, "cg_dv": 50.2080765, "cg_dw": 49.8271141, "cg_id_a": -0.00538796373, "cg_id_raw_a": 0.185813874, "cg_iq_a": 0.280822039, "cg_iq_raw_a": 0.43174684, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.119024873, "cg_iw_a": -0.162513256, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10312362, "cg_sample_valid": 1, "cg_theta_rad": 2.01830292, "cg_vd_req_v": -0.165753543, "cg_vd_v": -0.165753543, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.349523723, "cg_vq_v": 0.349523723, "cg_vu_v": 144.28476, "cg_vv_v": 143.404984, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": -0.171146393, "dclink_p_w": -24.7691021, "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": 45.0584412, "temp_inv2_c": 46.8130493, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1658.955566, "values": {"Elec_RPM": -1.21276148e-25, "EncoderCos": 23644, "EncoderSin": 51391, "GapTicks": 54772, "Mech_RPM": -2.42552295e-26, "cg_du": 49.7935944, "cg_dv": 50.2072563, "cg_dw": 49.7927437, "cg_id_a": -0.395395696, "cg_id_raw_a": -1.21111894, "cg_iq_a": 0.361884713, "cg_iq_raw_a": 0.429744244, "cg_iu_a": -0.0289993286, "cg_iv_a": 0.264000177, "cg_iw_a": -0.235000864, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10317563, "cg_sample_valid": 1, "cg_theta_rad": 2.02092624, "cg_vd_req_v": -0.146280169, "cg_vd_v": -0.146280169, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.373087496, "cg_vq_v": 0.373087496, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.932175, "control_outputs_enabled": 1, "dclink_i_a": -0.238197565, "dclink_p_w": -34.5778427, "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": 44.9695129, "temp_inv2_c": 46.7129822, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1659.973022, "values": {"Elec_RPM": -4.32818119e-26, "EncoderCos": 23660, "EncoderSin": 51368, "GapTicks": 54761, "Mech_RPM": -8.65636254e-27, "cg_du": 49.7832184, "cg_dv": 50.2167816, "cg_dw": 49.8017883, "cg_id_a": 0.195255637, "cg_id_raw_a": -0.588651955, "cg_iq_a": 0.0277149305, "cg_iq_raw_a": -0.0657785758, "cg_iu_a": -0.137730718, "cg_iv_a": -0.207169652, "cg_iw_a": 0.34490037, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 10322612, "cg_sample_valid": 1, "cg_theta_rad": 2.02020454, "cg_vd_req_v": -0.164943889, "cg_vd_v": -0.164943889, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.37497744, "cg_vq_v": 0.37497744, "cg_vu_v": 40.4701157, "cg_vv_v": 47.5083961, "cg_vw_v": 66.8636703, "control_outputs_enabled": 1, "dclink_i_a": -0.428477645, "dclink_p_w": -62.0112801, "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": 44.8512268, "temp_inv2_c": 46.655304, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131677717, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1660.990356, "values": {"Elec_RPM": -1.54466854e-26, "EncoderCos": 23635, "EncoderSin": 51363, "GapTicks": 54762, "Mech_RPM": -3.08933704e-27, "cg_du": 49.7839432, "cg_dv": 50.2160568, "cg_dw": 49.7956886, "cg_id_a": 0.0115546733, "cg_id_raw_a": -0.189641267, "cg_iq_a": -0.14941746, "cg_iq_raw_a": -0.801402986, "cg_iu_a": 0.2609514, "cg_iv_a": 0.0827810764, "cg_iw_a": -0.343732476, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10327762, "cg_sample_valid": 1, "cg_theta_rad": 2.01950812, "cg_vd_req_v": -0.158549741, "cg_vd_v": -0.158549741, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.380936861, "cg_vq_v": 0.380936861, "cg_vu_v": 117.451309, "cg_vv_v": 133.727341, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.189268351, "dclink_p_w": -27.3917961, "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": 44.6743774, "temp_inv2_c": 46.5057983, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13056992, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1662.007813, "values": {"Elec_RPM": -5.5127083e-27, "EncoderCos": 23659, "EncoderSin": 51368, "GapTicks": 54771, "Mech_RPM": -1.10254164e-27, "cg_du": 49.7918854, "cg_dv": 50.2081146, "cg_dw": 49.8383713, "cg_id_a": 0.516900778, "cg_id_raw_a": -0.0806707144, "cg_iq_a": 0.468769848, "cg_iq_raw_a": 0.641692817, "cg_iu_a": -0.0289992094, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.996121466, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10332862, "cg_sample_valid": 1, "cg_theta_rad": 2.01900721, "cg_vd_req_v": -0.175995886, "cg_vd_v": -0.175995886, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.339389712, "cg_vq_v": 0.339389712, "cg_vu_v": 35.1914063, "cg_vv_v": 33.4318352, "cg_vw_v": 28.1531239, "control_outputs_enabled": 1, "dclink_i_a": 0.338079453, "dclink_p_w": 48.9284325, "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": 44.6743774, "temp_inv2_c": 46.4694519, "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": 0.141698331, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1663.025269, "values": {"Elec_RPM": -1.96740966e-27, "EncoderCos": 23655, "EncoderSin": 51394, "GapTicks": 54760, "Mech_RPM": -3.93481932e-28, "cg_du": 49.7819557, "cg_dv": 50.2180443, "cg_dw": 49.8000374, "cg_id_a": 0.293713421, "cg_id_raw_a": 0.350978941, "cg_iq_a": -0.398838431, "cg_iq_raw_a": 0.345502466, "cg_iu_a": 0.0797322392, "cg_iv_a": -0.0984381363, "cg_iw_a": 0.018705897, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 10337963, "cg_sample_valid": 1, "cg_theta_rad": 2.02016234, "cg_vd_req_v": -0.16616039, "cg_vd_v": -0.16616039, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.37733981, "cg_vq_v": 0.37733981, "cg_vu_v": 107.333786, "cg_vv_v": 103.814644, "cg_vw_v": 95.8965836, "control_outputs_enabled": 1, "dclink_i_a": -0.413980126, "dclink_p_w": -60.0952377, "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": 44.5568542, "temp_inv2_c": 46.3834839, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134950787, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1664.042725, "values": {"Elec_RPM": -7.02141528e-28, "EncoderCos": 23659, "EncoderSin": 51369, "GapTicks": 54766, "Mech_RPM": -1.40428303e-28, "cg_du": 49.7878265, "cg_dv": 50.2121735, "cg_dw": 49.8096695, "cg_id_a": 0.0275016427, "cg_id_raw_a": 0.384505391, "cg_iq_a": -0.919902861, "cg_iq_raw_a": -0.421538234, "cg_iu_a": -0.21021831, "cg_iv_a": -1.51194775, "cg_iw_a": 1.72216606, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10343063, "cg_sample_valid": 1, "cg_theta_rad": 2.02207994, "cg_vd_req_v": -0.16359967, "cg_vd_v": -0.16359967, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.364251703, "cg_vq_v": 0.364251703, "cg_vu_v": 107.333786, "cg_vv_v": 104.694435, "cg_vw_v": 97.6561432, "control_outputs_enabled": 1, "dclink_i_a": -0.444787383, "dclink_p_w": -64.3717041, "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": 44.4396057, "temp_inv2_c": 46.2919617, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127750054, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1665.060181, "values": {"Elec_RPM": -2.50584647e-28, "EncoderCos": 23632, "EncoderSin": 51387, "GapTicks": 54783, "Mech_RPM": -5.01169282e-29, "cg_du": 49.8031425, "cg_dv": 50.1968575, "cg_dw": 49.8455544, "cg_id_a": 0.0796501786, "cg_id_raw_a": 0.164350957, "cg_iq_a": 0.177904665, "cg_iq_raw_a": 0.308716387, "cg_iu_a": 0.587145984, "cg_iv_a": -0.352144957, "cg_iw_a": -0.235001028, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10348112, "cg_sample_valid": 1, "cg_theta_rad": 2.0189786, "cg_vd_req_v": -0.16377838, "cg_vd_v": -0.16377838, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.321877688, "cg_vq_v": 0.321877688, "cg_vu_v": 41.7897949, "cg_vv_v": 51.9073219, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 0.0916212797, "dclink_p_w": 13.2598581, "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": 44.3518677, "temp_inv2_c": 46.1987, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131577015, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1666.077515, "values": {"Elec_RPM": -8.94302259e-29, "EncoderCos": 23643, "EncoderSin": 51372, "GapTicks": 54779, "Mech_RPM": -1.78860452e-29, "cg_du": 49.7996292, "cg_dv": 50.2003708, "cg_dw": 49.8443832, "cg_id_a": 0.356568187, "cg_id_raw_a": 1.12935686, "cg_iq_a": 0.491398364, "cg_iq_raw_a": 1.11499262, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.445219338, "cg_iw_a": -0.452463925, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10353263, "cg_sample_valid": 1, "cg_theta_rad": 2.01942086, "cg_vd_req_v": -0.167928055, "cg_vd_v": -0.167928055, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.326289594, "cg_vq_v": 0.326289594, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": 0.0281946659, "dclink_p_w": 4.09286594, "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": 44.2642822, "temp_inv2_c": 46.1493225, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131728083, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1666.938965, "values": {"Elec_RPM": -3.7515057e-29, "EncoderCos": 23615, "EncoderSin": 51374, "GapTicks": 54775, "Mech_RPM": -7.50301155e-30, "cg_du": 49.7963486, "cg_dv": 50.2036514, "cg_dw": 49.8083, "cg_id_a": -0.0361220837, "cg_id_raw_a": -0.289827913, "cg_iq_a": -0.0415168181, "cg_iq_raw_a": -0.488842219, "cg_iu_a": -0.717632174, "cg_iv_a": -0.13468194, "cg_iw_a": 0.852314115, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 10357512, "cg_sample_valid": 1, "cg_theta_rad": 2.02044344, "cg_vd_req_v": -0.148830682, "cg_vd_v": -0.148830682, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.358883113, "cg_vq_v": 0.358883113, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": 0.118804216, "dclink_p_w": 17.2461605, "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": 44.1768799, "temp_inv2_c": 46.0639648, "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": 0.133289069, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1667.91394, "values": {"Elec_RPM": -1.42251623e-29, "EncoderCos": 23633, "EncoderSin": 51370, "GapTicks": 54776, "Mech_RPM": -2.84503261e-30, "cg_du": 49.7971649, "cg_dv": 50.2028351, "cg_dw": 49.8292503, "cg_id_a": -0.740719914, "cg_id_raw_a": -0.359756321, "cg_iq_a": -0.222944736, "cg_iq_raw_a": -0.478824735, "cg_iu_a": -0.065243125, "cg_iv_a": 0.336487859, "cg_iw_a": -0.271244735, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 10362362, "cg_sample_valid": 1, "cg_theta_rad": 2.01899147, "cg_vd_req_v": -0.161712095, "cg_vd_v": -0.161712095, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.341689616, "cg_vq_v": 0.341689616, "cg_vu_v": 133.287445, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.905084014, "dclink_p_w": -130.987976, "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": 44.0606079, "temp_inv2_c": 45.9768982, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132584125, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1668.950317, "values": {"Elec_RPM": -4.97522962e-30, "EncoderCos": 23645, "EncoderSin": 51356, "GapTicks": 54779, "Mech_RPM": -9.95045906e-31, "cg_du": 49.7994995, "cg_dv": 50.2005005, "cg_dw": 49.8375244, "cg_id_a": -0.0278266221, "cg_id_raw_a": 0.00958827697, "cg_iq_a": -0.0481715873, "cg_iq_raw_a": 0.0147899818, "cg_iu_a": 0.115976095, "cg_iv_a": 0.191512525, "cg_iw_a": -0.30748862, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 10367563, "cg_sample_valid": 1, "cg_theta_rad": 2.02016997, "cg_vd_req_v": -0.164052054, "cg_vd_v": -0.164052054, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.332807451, "cg_vq_v": 0.332807451, "cg_vu_v": 103.814644, "cg_vv_v": 94.5769043, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.276253581, "dclink_p_w": -40.1022263, "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": 44.0025635, "temp_inv2_c": 45.8786316, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129713893, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1669.967773, "values": {"Elec_RPM": -1.77559118e-30, "EncoderCos": 23627, "EncoderSin": 51346, "GapTicks": 54776, "Mech_RPM": -3.5511823e-31, "cg_du": 49.7966423, "cg_dv": 50.2033577, "cg_dw": 49.838604, "cg_id_a": 0.0868633687, "cg_id_raw_a": -0.0232555792, "cg_iq_a": -0.373390764, "cg_iq_raw_a": -0.89099735, "cg_iu_a": -0.137730718, "cg_iv_a": -0.279657304, "cg_iw_a": 0.417388022, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10372663, "cg_sample_valid": 1, "cg_theta_rad": 2.02052402, "cg_vd_req_v": -0.166776955, "cg_vd_v": -0.166776955, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.335818529, "cg_vq_v": 0.335818529, "cg_vu_v": 119.210884, "cg_vv_v": 139.885834, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.214850426, "dclink_p_w": 31.0941544, "enc_isr_hz": 5002, "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": 43.8577576, "temp_inv2_c": 45.8126221, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133591205, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1670.985229, "values": {"Elec_RPM": -6.46616638e-31, "EncoderCos": 23630, "EncoderSin": 51369, "GapTicks": 54783, "Mech_RPM": -1.29323328e-31, "cg_du": 49.8031235, "cg_dv": 50.1968765, "cg_dw": 49.8940468, "cg_id_a": 0.421113312, "cg_id_raw_a": 0.563498855, "cg_iq_a": 0.125701249, "cg_iq_raw_a": -0.197979957, "cg_iu_a": 0.91334039, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.053781867, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10377663, "cg_sample_valid": 1, "cg_theta_rad": 2.02069831, "cg_vd_req_v": -0.192958534, "cg_vd_v": -0.192958534, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.286684871, "cg_vq_v": 0.286684871, "cg_vu_v": 106.453995, "cg_vv_v": 102.494972, "cg_vw_v": 91.4976578, "control_outputs_enabled": 1, "dclink_i_a": -0.468345881, "dclink_p_w": -67.9872208, "enc_isr_hz": 4998, "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": 43.7999573, "temp_inv2_c": 45.7410889, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1672.002563, "values": {"Elec_RPM": -2.26153311e-31, "EncoderCos": 23652, "EncoderSin": 51408, "GapTicks": 54772, "Mech_RPM": -4.52306599e-32, "cg_du": 49.7927589, "cg_dv": 50.2072411, "cg_dw": 49.8107376, "cg_id_a": -0.0583413355, "cg_id_raw_a": 0.429780275, "cg_iq_a": 0.428604722, "cg_iq_raw_a": 1.3915776, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.227756351, "cg_iw_a": 0.199925035, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10382863, "cg_sample_valid": 1, "cg_theta_rad": 2.02094078, "cg_vd_req_v": -0.158692971, "cg_vd_v": -0.158692971, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357918888, "cg_vq_v": 0.357918888, "cg_vu_v": 106.014107, "cg_vv_v": 100.735397, "cg_vw_v": 86.6588287, "control_outputs_enabled": 1, "dclink_i_a": -0.656813741, "dclink_p_w": -95.0571442, "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": 43.6846008, "temp_inv2_c": 45.65271, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133289069, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1673.02002, "values": {"Elec_RPM": -8.07110173e-32, "EncoderCos": 23659, "EncoderSin": 51396, "GapTicks": 54770, "Mech_RPM": -1.61422029e-32, "cg_du": 49.7913055, "cg_dv": 50.2086945, "cg_dw": 49.8000984, "cg_id_a": 0.179212734, "cg_id_raw_a": -0.583491266, "cg_iq_a": -0.0608459637, "cg_iq_raw_a": -1.04078245, "cg_iu_a": 0.260951459, "cg_iv_a": -0.533364117, "cg_iw_a": 0.272412658, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 10387913, "cg_sample_valid": 1, "cg_theta_rad": 2.02190995, "cg_vd_req_v": -0.154336244, "cg_vd_v": -0.154336244, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.367435604, "cg_vq_v": 0.367435604, "cg_vu_v": 132.407669, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.408543587, "dclink_p_w": -59.1263313, "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": 43.5982361, "temp_inv2_c": 45.5739136, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129713893, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1674.037354, "values": {"Elec_RPM": -2.88046603e-32, "EncoderCos": 23630, "EncoderSin": 51384, "GapTicks": 54769, "Mech_RPM": -5.76093214e-33, "cg_du": 49.7904587, "cg_dv": 50.2095413, "cg_dw": 49.8303871, "cg_id_a": 0.100442052, "cg_id_raw_a": -0.335014015, "cg_iq_a": -0.308724254, "cg_iq_raw_a": -0.0806298107, "cg_iu_a": -0.0652430058, "cg_iv_a": 0.010293372, "cg_iw_a": 0.0549496338, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10393063, "cg_sample_valid": 1, "cg_theta_rad": 2.01782489, "cg_vd_req_v": -0.170932114, "cg_vd_v": -0.170932114, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.346676379, "cg_vq_v": 0.346676379, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": -0.435726404, "dclink_p_w": -63.0603523, "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": 43.5120544, "temp_inv2_c": 45.4597168, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135051504, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1675.054932, "values": {"Elec_RPM": -1.02799876e-32, "EncoderCos": 23656, "EncoderSin": 51339, "GapTicks": 54770, "Mech_RPM": -2.05599748e-33, "cg_du": 49.7918015, "cg_dv": 50.2081985, "cg_dw": 49.8202553, "cg_id_a": -0.32828784, "cg_id_raw_a": -0.259647042, "cg_iq_a": -0.39948824, "cg_iq_raw_a": -0.790890217, "cg_iu_a": -0.0652430654, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.562363386, "cg_sample_age_us": 23.7327271, "cg_sample_seq": 10398162, "cg_sample_valid": 1, "cg_theta_rad": 2.01990271, "cg_vd_req_v": -0.163402379, "cg_vd_v": -0.163402379, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.352742851, "cg_vq_v": 0.352742851, "cg_vu_v": 1.31967759, "cg_vv_v": 3.07924795, "cg_vw_v": 8.79785156, "control_outputs_enabled": 1, "dclink_i_a": 0.667898297, "dclink_p_w": 96.6613541, "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": 45.3961792, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133087665, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1676.072266, "values": {"Elec_RPM": -3.74366151e-33, "EncoderCos": 23659, "EncoderSin": 51360, "GapTicks": 54773, "Mech_RPM": -7.48732321e-34, "cg_du": 49.7943649, "cg_dv": 50.2056351, "cg_dw": 49.8302078, "cg_id_a": 0.0450375229, "cg_id_raw_a": -0.508976102, "cg_iq_a": 0.125654489, "cg_iq_raw_a": -0.267471611, "cg_iu_a": 0.115976095, "cg_iv_a": 0.155268699, "cg_iw_a": -0.271244794, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10403162, "cg_sample_valid": 1, "cg_theta_rad": 2.01930189, "cg_vd_req_v": -0.167030185, "cg_vd_v": -0.167030185, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.342094213, "cg_vq_v": 0.342094213, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": -0.702118516, "dclink_p_w": -101.613861, "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": 43.3973694, "temp_inv2_c": 45.2675171, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130469218, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1676.933716, "values": {"Elec_RPM": -1.57042702e-33, "EncoderCos": 23657, "EncoderSin": 51384, "GapTicks": 54773, "Mech_RPM": -3.14085387e-34, "cg_du": 49.794281, "cg_dv": 50.205719, "cg_dw": 49.8493729, "cg_id_a": 0.311856896, "cg_id_raw_a": 0.117768131, "cg_iq_a": 0.388035238, "cg_iq_raw_a": 0.252723753, "cg_iu_a": 0.188463688, "cg_iv_a": 0.336487889, "cg_iw_a": -0.524951577, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10407463, "cg_sample_valid": 1, "cg_theta_rad": 2.01886272, "cg_vd_req_v": -0.179332495, "cg_vd_v": -0.179332495, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.32733807, "cg_vq_v": 0.32733807, "cg_vu_v": 140.325729, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": -0.368675351, "dclink_p_w": -53.5185928, "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": 45.2675171, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131577015, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1677.899536, "values": {"Elec_RPM": -5.83573252e-34, "EncoderCos": 23631, "EncoderSin": 51397, "GapTicks": 54768, "Mech_RPM": -1.1671465e-34, "cg_du": 49.7891464, "cg_dv": 50.2108536, "cg_dw": 49.8022156, "cg_id_a": -0.362682641, "cg_id_raw_a": -0.241702721, "cg_iq_a": -0.487428814, "cg_iq_raw_a": -0.433903575, "cg_iu_a": -0.173974633, "cg_iv_a": -0.424632668, "cg_iw_a": 0.598607302, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10412313, "cg_sample_valid": 1, "cg_theta_rad": 2.02206159, "cg_vd_req_v": -0.156226277, "cg_vd_v": -0.156226277, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.36901322, "cg_vq_v": 0.36901322, "cg_vu_v": 144.28476, "cg_vv_v": 142.965088, "cg_vw_v": 140.325729, "control_outputs_enabled": 1, "dclink_i_a": -0.587950587, "dclink_p_w": -85.0909424, "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": 43.1688232, "temp_inv2_c": 45.1188049, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132936597, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1678.945068, "values": {"Elec_RPM": -2.08269337e-34, "EncoderCos": 23622, "EncoderSin": 51329, "GapTicks": 54774, "Mech_RPM": -4.16538662e-35, "cg_du": 49.79533, "cg_dv": 50.20467, "cg_dw": 49.8293343, "cg_id_a": 0.470914364, "cg_id_raw_a": 1.10928583, "cg_iq_a": 0.308231622, "cg_iq_raw_a": 1.83013284, "cg_iu_a": 0.333439112, "cg_iv_a": 0.155268669, "cg_iw_a": -0.416220188, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10417463, "cg_sample_valid": 1, "cg_theta_rad": 2.01959896, "cg_vd_req_v": -0.161361173, "cg_vd_v": -0.161361173, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343600303, "cg_vq_v": 0.343600303, "cg_vu_v": 106.014107, "cg_vv_v": 101.615181, "cg_vw_v": 88.8582916, "control_outputs_enabled": 1, "dclink_i_a": -0.214639068, "dclink_p_w": -31.0635643, "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": 43.083374, "temp_inv2_c": 45.0705566, "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": 0.128152892, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1679.962524, "values": {"Elec_RPM": -7.43284478e-35, "EncoderCos": 23688, "EncoderSin": 51386, "GapTicks": 54781, "Mech_RPM": -1.48656901e-35, "cg_du": 49.8009338, "cg_dv": 50.1990662, "cg_dw": 49.8687286, "cg_id_a": 0.203655615, "cg_id_raw_a": 0.565954149, "cg_iq_a": 0.219639435, "cg_iq_raw_a": 0.59201014, "cg_iu_a": 0.0434884429, "cg_iv_a": 0.155268699, "cg_iw_a": -0.198757142, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10422563, "cg_sample_valid": 1, "cg_theta_rad": 2.01926351, "cg_vd_req_v": -0.183772668, "cg_vd_v": -0.183772668, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.303589284, "cg_vq_v": 0.303589284, "cg_vu_v": 36.0711899, "cg_vv_v": 34.7515144, "cg_vw_v": 32.9919434, "control_outputs_enabled": 1, "dclink_i_a": 0.019133687, "dclink_p_w": 2.76911616, "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": 42.9981079, "temp_inv2_c": 45.0464478, "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": 0.137921721, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1680.979858, "values": {"Elec_RPM": -2.59962785e-35, "EncoderCos": 23642, "EncoderSin": 51351, "GapTicks": 54783, "Mech_RPM": -5.19925585e-36, "cg_du": 49.8029137, "cg_dv": 50.1970863, "cg_dw": 49.840786, "cg_id_a": -0.270278484, "cg_id_raw_a": -0.503056407, "cg_iq_a": -0.306687027, "cg_iq_raw_a": -0.456750035, "cg_iu_a": -0.246462226, "cg_iv_a": -0.170925796, "cg_iw_a": 0.417388022, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10427713, "cg_sample_valid": 1, "cg_theta_rad": 2.02123785, "cg_vd_req_v": -0.161174029, "cg_vd_v": -0.161174029, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.326955259, "cg_vq_v": 0.326955259, "cg_vu_v": 106.453995, "cg_vv_v": 101.175293, "cg_vw_v": 88.4184036, "control_outputs_enabled": 1, "dclink_i_a": -0.390421629, "dclink_p_w": -56.6753807, "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": 42.8846436, "temp_inv2_c": 44.9557495, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129764244, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1681.997437, "values": {"Elec_RPM": -9.46705512e-36, "EncoderCos": 23685, "EncoderSin": 51371, "GapTicks": 54782, "Mech_RPM": -1.89341099e-36, "cg_du": 49.8021202, "cg_dv": 50.1978798, "cg_dw": 49.8419647, "cg_id_a": -0.499973238, "cg_id_raw_a": -0.61426729, "cg_iq_a": -0.217064917, "cg_iq_raw_a": -0.509333789, "cg_iu_a": -0.463925242, "cg_iv_a": 0.300244033, "cg_iw_a": 0.163681209, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10432763, "cg_sample_valid": 1, "cg_theta_rad": 2.01880217, "cg_vd_req_v": -0.166670099, "cg_vd_v": -0.166670099, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.325006664, "cg_vq_v": 0.325006664, "cg_vu_v": 136.806595, "cg_vv_v": 123.60981, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.587950587, "dclink_p_w": -85.0909424, "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": 42.7431641, "temp_inv2_c": 44.911377, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130167097, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1683.014771, "values": {"Elec_RPM": -3.31108899e-36, "EncoderCos": 23680, "EncoderSin": 51316, "GapTicks": 54758, "Mech_RPM": -6.62217826e-37, "cg_du": 49.7805061, "cg_dv": 50.2194939, "cg_dw": 49.8118896, "cg_id_a": 0.00801088661, "cg_id_raw_a": 0.0527805947, "cg_iq_a": -0.519628882, "cg_iq_raw_a": 0.304569215, "cg_iu_a": 0.478414476, "cg_iv_a": -1.07702172, "cg_iw_a": 1.14226484, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10437912, "cg_sample_valid": 1, "cg_theta_rad": 2.0206995, "cg_vd_req_v": -0.174156785, "cg_vd_v": -0.174156785, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.370347768, "cg_vq_v": 0.370347768, "cg_vu_v": 39.1504402, "cg_vv_v": 44.8690414, "cg_vw_v": 59.385498, "control_outputs_enabled": 1, "dclink_i_a": 0.64796418, "dclink_p_w": 93.7763901, "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": 42.7149048, "temp_inv2_c": 44.8080139, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1684.032104, "values": {"Elec_RPM": -1.20579827e-36, "EncoderCos": 23667, "EncoderSin": 51314, "GapTicks": 54761, "Mech_RPM": -2.41159654e-37, "cg_du": 49.7836266, "cg_dv": 50.2163734, "cg_dw": 49.8055611, "cg_id_a": -0.0929286182, "cg_id_raw_a": 0.0371146686, "cg_iq_a": 0.120805502, "cg_iq_raw_a": -0.285737872, "cg_iu_a": 0.188463807, "cg_iv_a": -0.0984381139, "cg_iw_a": -0.0900256932, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10442962, "cg_sample_valid": 1, "cg_theta_rad": 2.02046776, "cg_vd_req_v": -0.165139705, "cg_vd_v": -0.165139705, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.3723858, "cg_vq_v": 0.3723858, "cg_vu_v": 37.830761, "cg_vv_v": 40.0302238, "cg_vw_v": 47.5083961, "control_outputs_enabled": 1, "dclink_i_a": -0.00080037117, "dclink_p_w": -0.115833439, "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": 42.6584778, "temp_inv2_c": 44.7398376, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131778449, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1685.049561, "values": {"Elec_RPM": -4.30332884e-37, "EncoderCos": 23650, "EncoderSin": 51360, "GapTicks": 54777, "Mech_RPM": -8.60665746e-38, "cg_du": 49.7975693, "cg_dv": 50.2024307, "cg_dw": 49.823719, "cg_id_a": -0.153367043, "cg_id_raw_a": -0.463452667, "cg_iq_a": -0.0984381437, "cg_iq_raw_a": -1.41625535, "cg_iu_a": 0.623389781, "cg_iv_a": 0.69892627, "cg_iw_a": -1.32231605, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10448062, "cg_sample_valid": 1, "cg_theta_rad": 2.01980495, "cg_vd_req_v": -0.158272758, "cg_vd_v": -0.158272758, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343975395, "cg_vq_v": 0.343975395, "cg_vu_v": 120.970459, "cg_vv_v": 143.844864, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.247258544, "dclink_p_w": -35.7844086, "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": 42.5458069, "temp_inv2_c": 44.6699524, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133440152, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1686.067017, "values": {"Elec_RPM": -1.50508311e-37, "EncoderCos": 23632, "EncoderSin": 51345, "GapTicks": 54770, "Mech_RPM": -3.01016623e-38, "cg_du": 49.7910995, "cg_dv": 50.2089005, "cg_dw": 49.8426781, "cg_id_a": 0.532204032, "cg_id_raw_a": 0.361086458, "cg_iq_a": 0.258587807, "cg_iq_raw_a": 0.150253981, "cg_iu_a": 0.44217062, "cg_iv_a": 0.300244033, "cg_iw_a": -0.742414653, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10453213, "cg_sample_valid": 1, "cg_theta_rad": 2.01929188, "cg_vd_req_v": -0.176279962, "cg_vd_v": -0.176279962, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337397099, "cg_vq_v": 0.337397099, "cg_vu_v": 127.12896, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.770981908, "dclink_p_w": -111.580093, "enc_isr_hz": 4999, "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": 42.4614563, "temp_inv2_c": 44.5817871, "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": 0.132281989, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1686.928467, "values": {"Elec_RPM": -6.44251677e-38, "EncoderCos": 23633, "EncoderSin": 51341, "GapTicks": 54762, "Mech_RPM": -1.28850333e-38, "cg_du": 49.7836914, "cg_dv": 50.2163086, "cg_dw": 49.825386, "cg_id_a": 0.550581038, "cg_id_raw_a": 2.2616694, "cg_iq_a": 0.358974338, "cg_iq_raw_a": 0.804841638, "cg_iu_a": 0.115976095, "cg_iv_a": -0.352144957, "cg_iw_a": 0.236168861, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10457412, "cg_sample_valid": 1, "cg_theta_rad": 2.02084994, "cg_vd_req_v": -0.175359726, "cg_vd_v": -0.175359726, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.35819158, "cg_vq_v": 0.35819158, "cg_vu_v": 37.3908691, "cg_vv_v": 38.2706528, "cg_vw_v": 42.6695786, "control_outputs_enabled": 1, "dclink_i_a": -0.209202528, "dclink_p_w": -30.2767639, "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": 42.4052734, "temp_inv2_c": 44.5249634, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12830396, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1687.898926, "values": {"Elec_RPM": -2.44290743e-38, "EncoderCos": 23638, "EncoderSin": 51355, "GapTicks": 54757, "Mech_RPM": -4.88581487e-39, "cg_du": 49.787075, "cg_dv": 50.2209015, "cg_dw": 49.7790985, "cg_id_a": -0.341198266, "cg_id_raw_a": 0.523856401, "cg_iq_a": -0.308948427, "cg_iq_raw_a": 0.020041801, "cg_iu_a": -1.26128948, "cg_iv_a": 0.155268669, "cg_iw_a": 1.10602081, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10462212, "cg_sample_valid": 1, "cg_theta_rad": 2.01948667, "cg_vd_req_v": -0.147126362, "cg_vd_v": -0.147126362, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.397391945, "cg_vq_v": 0.397391945, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.129677296, "dclink_p_w": 18.8245468, "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": 42.321167, "temp_inv2_c": 44.4553833, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128404662, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1688.939819, "values": {"Elec_RPM": -8.37315769e-39, "EncoderCos": 23631, "EncoderSin": 51344, "GapTicks": 54774, "Mech_RPM": -1.67463154e-39, "cg_du": 49.7945671, "cg_dv": 50.2054329, "cg_dw": 49.81707, "cg_id_a": -0.0481061488, "cg_id_raw_a": 0.426066905, "cg_iq_a": 0.176884353, "cg_iq_raw_a": 0.796582758, "cg_iu_a": -0.246462226, "cg_iv_a": 0.626438558, "cg_iw_a": -0.379976332, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10467512, "cg_sample_valid": 1, "cg_theta_rad": 2.02060437, "cg_vd_req_v": -0.156136647, "cg_vd_v": -0.156136647, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353035122, "cg_vq_v": 0.353035122, "cg_vu_v": 7.47817326, "cg_vv_v": 21.9946289, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": -0.0279833078, "dclink_p_w": -4.04987478, "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": 42.2651978, "temp_inv2_c": 44.3822327, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1689.957275, "values": {"Elec_RPM": -3.04924648e-39, "EncoderCos": 23646, "EncoderSin": 51344, "GapTicks": 54774, "Mech_RPM": -6.09849296e-40, "cg_du": 49.7947884, "cg_dv": 50.2052116, "cg_dw": 49.8448639, "cg_id_a": 0.272343278, "cg_id_raw_a": -0.438533366, "cg_iq_a": 0.059285745, "cg_iq_raw_a": -0.276193559, "cg_iu_a": 1.20329118, "cg_iv_a": 0.553950787, "cg_iw_a": -1.75724196, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 10472562, "cg_sample_valid": 1, "cg_theta_rad": 2.02069807, "cg_vd_req_v": -0.173785567, "cg_vd_v": -0.173785567, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.331371456, "cg_vq_v": 0.331371456, "cg_vu_v": 41.7897949, "cg_vv_v": 51.0275345, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.0497295856, "dclink_p_w": -7.1970973, "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": 42.1533813, "temp_inv2_c": 44.323822, "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": 0.132130921, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1690.974731, "values": {"Elec_RPM": -1.08822737e-39, "EncoderCos": 23651, "EncoderSin": 51380, "GapTicks": 54775, "Mech_RPM": -2.17645474e-40, "cg_du": 49.7962227, "cg_dv": 50.2037773, "cg_dw": 49.8291054, "cg_id_a": 0.126440585, "cg_id_raw_a": 0.13275142, "cg_iq_a": 0.00162787735, "cg_iq_raw_a": 0.101955146, "cg_iu_a": 0.550902128, "cg_iv_a": -0.460876465, "cg_iw_a": -0.0900256634, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10477663, "cg_sample_valid": 1, "cg_theta_rad": 2.01975608, "cg_vd_req_v": -0.164271787, "cg_vd_v": -0.164271787, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.342113853, "cg_vq_v": 0.342113853, "cg_vu_v": 106.014107, "cg_vv_v": 100.295509, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": -0.19651711, "dclink_p_w": -28.527317, "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": 42.1533813, "temp_inv2_c": 44.2454224, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133339435, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1691.992188, "values": {"Elec_RPM": -3.88383882e-40, "EncoderCos": 23633, "EncoderSin": 51368, "GapTicks": 54765, "Mech_RPM": -7.76767765e-41, "cg_du": 49.7870216, "cg_dv": 50.2129784, "cg_dw": 49.8227348, "cg_id_a": 0.236605495, "cg_id_raw_a": -0.386112392, "cg_iq_a": 0.110187963, "cg_iq_raw_a": -0.411183298, "cg_iu_a": -0.137730718, "cg_iv_a": 0.0827810466, "cg_iw_a": 0.054949671, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10482762, "cg_sample_valid": 1, "cg_theta_rad": 2.02136612, "cg_vd_req_v": -0.170432866, "cg_vd_v": -0.170432866, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.356203586, "cg_vq_v": 0.356203586, "cg_vu_v": 42.2296829, "cg_vv_v": 53.666893, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.0134857893, "dclink_p_w": -1.9517262, "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": 41.986145, "temp_inv2_c": 44.1762695, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.135353625, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1693.009521, "values": {"Elec_RPM": -1.38588418e-40, "EncoderCos": 23672, "EncoderSin": 51345, "GapTicks": 54769, "Mech_RPM": -2.77176836e-41, "cg_du": 49.7903557, "cg_dv": 50.2096443, "cg_dw": 49.7933464, "cg_id_a": -0.468129337, "cg_id_raw_a": -0.455302209, "cg_iq_a": 0.0705626011, "cg_iq_raw_a": -0.402925372, "cg_iu_a": -0.645144343, "cg_iv_a": -0.243413448, "cg_iw_a": 0.888557792, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10487862, "cg_sample_valid": 1, "cg_theta_rad": 2.01925087, "cg_vd_req_v": -0.151075989, "cg_vd_v": -0.151075989, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.375047922, "cg_vq_v": 0.375047922, "cg_vu_v": 40.0302238, "cg_vv_v": 46.6286087, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": -0.683996797, "dclink_p_w": -99.2920914, "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": 41.9027405, "temp_inv2_c": 44.1017456, "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": 0.131123826, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1694.0271, "values": {"Elec_RPM": -4.94658358e-41, "EncoderCos": 23637, "EncoderSin": 51307, "GapTicks": 54766, "Mech_RPM": -9.89316716e-42, "cg_du": 49.788044, "cg_dv": 50.211956, "cg_dw": 49.8260574, "cg_id_a": 0.0338893794, "cg_id_raw_a": -0.146679416, "cg_iq_a": -0.384936929, "cg_iq_raw_a": -0.0450459346, "cg_iu_a": 0.0434883833, "cg_iv_a": -1.0770216, "cg_iw_a": 1.03353322, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10492963, "cg_sample_valid": 1, "cg_theta_rad": 2.01904917, "cg_vd_req_v": -0.169154733, "cg_vd_v": -0.169154733, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353577316, "cg_vq_v": 0.353577316, "cg_vu_v": 143.404984, "cg_vv_v": 143.404984, "cg_vw_v": 142.965088, "control_outputs_enabled": 1, "dclink_i_a": -0.488280058, "dclink_p_w": -70.4513702, "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": 41.847229, "temp_inv2_c": 44.0473022, "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": 0.132382691, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1695.044434, "values": {"Elec_RPM": -1.76563607e-41, "EncoderCos": 23628, "EncoderSin": 51349, "GapTicks": 54773, "Mech_RPM": -3.53127213e-42, "cg_du": 49.7939377, "cg_dv": 50.2060623, "cg_dw": 49.8080368, "cg_id_a": 0.0399469286, "cg_id_raw_a": -0.0489440821, "cg_iq_a": 0.095258832, "cg_iq_raw_a": 0.108697638, "cg_iu_a": 0.587145925, "cg_iv_a": 0.300244093, "cg_iw_a": -0.887390018, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10498062, "cg_sample_valid": 1, "cg_theta_rad": 2.02031302, "cg_vd_req_v": -0.15189074, "cg_vd_v": -0.15189074, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.361589074, "cg_vq_v": 0.361589074, "cg_vu_v": 39.1504402, "cg_vv_v": 43.9892578, "cg_vw_v": 57.6259232, "control_outputs_enabled": 1, "dclink_i_a": -0.366863132, "dclink_p_w": -53.2555199, "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": 41.7640381, "temp_inv2_c": 43.9802246, "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": 0.135202557, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1696.061768, "values": {"Elec_RPM": -6.31284958e-42, "EncoderCos": 23657, "EncoderSin": 51360, "GapTicks": 54776, "Mech_RPM": -1.26256992e-42, "cg_du": 49.7964859, "cg_dv": 50.2035141, "cg_dw": 49.83255, "cg_id_a": 0.369475603, "cg_id_raw_a": -0.0807305127, "cg_iq_a": 0.144011885, "cg_iq_raw_a": -0.0986201689, "cg_iu_a": 0.840852797, "cg_iv_a": -0.0984381437, "cg_iw_a": -0.742414653, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10503163, "cg_sample_valid": 1, "cg_theta_rad": 2.02143335, "cg_vd_req_v": -0.165514857, "cg_vd_v": -0.165514857, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338191897, "cg_vq_v": 0.338191897, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": -0.481031179, "dclink_p_w": -69.8286743, "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": 41.6809998, "temp_inv2_c": 43.913269, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134195477, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1696.923218, "values": {"Elec_RPM": -2.64144761e-42, "EncoderCos": 23646, "EncoderSin": 51344, "GapTicks": 54775, "Mech_RPM": -5.28289521e-43, "cg_du": 49.7956009, "cg_dv": 50.2043991, "cg_dw": 49.8080177, "cg_id_a": -0.171857283, "cg_id_raw_a": -0.333425492, "cg_iq_a": -0.153207451, "cg_iq_raw_a": -0.546422541, "cg_iu_a": -0.427681386, "cg_iv_a": -0.170925796, "cg_iw_a": 0.598607183, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10507462, "cg_sample_valid": 1, "cg_theta_rad": 2.02075076, "cg_vd_req_v": -0.150932103, "cg_vd_v": -0.150932103, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.359337956, "cg_vq_v": 0.359337956, "cg_vu_v": 40.4701157, "cg_vv_v": 47.5083961, "cg_vw_v": 67.303566, "control_outputs_enabled": 1, "dclink_i_a": 0.682395816, "dclink_p_w": 98.7594986, "enc_isr_hz": 4999, "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": 41.6257324, "temp_inv2_c": 43.8445435, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132735178, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1697.889038, "values": {"Elec_RPM": -1.02995437e-42, "EncoderCos": 23646, "EncoderSin": 51364, "GapTicks": 54776, "Mech_RPM": -2.05990874e-43, "cg_du": 49.7971916, "cg_dv": 50.2028084, "cg_dw": 49.8370628, "cg_id_a": 0.123092048, "cg_id_raw_a": -0.24936907, "cg_iq_a": 0.167946979, "cg_iq_raw_a": -0.242225647, "cg_iu_a": 0.44217062, "cg_iv_a": 0.191512525, "cg_iw_a": -0.633683145, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 10512112, "cg_sample_valid": 1, "cg_theta_rad": 2.01930761, "cg_vd_req_v": -0.167147502, "cg_vd_v": -0.167147502, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.335398018, "cg_vq_v": 0.335398018, "cg_vu_v": 7.03828096, "cg_vv_v": 19.3552723, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": -0.667687058, "dclink_p_w": -96.9244919, "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": 41.5429077, "temp_inv2_c": 43.7651672, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1698.934814, "values": {"Elec_RPM": -3.78350585e-43, "EncoderCos": 23641, "EncoderSin": 51375, "GapTicks": 54790, "Mech_RPM": -7.56701171e-44, "cg_du": 49.8099251, "cg_dv": 50.1900749, "cg_dw": 49.8582497, "cg_id_a": -0.194605783, "cg_id_raw_a": -0.362644017, "cg_iq_a": 0.431457102, "cg_iq_raw_a": 0.21939458, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.372731686, "cg_iw_a": -0.379976273, "cg_sample_age_us": 26.6163635, "cg_sample_seq": 10517416, "cg_sample_valid": 1, "cg_theta_rad": 2.02025223, "cg_vd_req_v": -0.162799284, "cg_vd_v": -0.162799284, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.305121213, "cg_vq_v": 0.305121213, "cg_vu_v": 25.0738773, "cg_vv_v": 7.03828096, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.0316077471, "dclink_p_w": -4.57442045, "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": 41.4602356, "temp_inv2_c": 43.7002869, "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": 0.131073475, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1699.952026, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23662, "EncoderSin": 51340, "GapTicks": 54786, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8059807, "cg_dv": 50.1940193, "cg_dw": 49.8282433, "cg_id_a": -0.318192959, "cg_id_raw_a": -0.406500131, "cg_iq_a": -0.0944860056, "cg_iq_raw_a": -0.0706226155, "cg_iu_a": -0.173974633, "cg_iv_a": 0.155268729, "cg_iw_a": 0.0187059045, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10522562, "cg_sample_valid": 1, "cg_theta_rad": 2.01933479, "cg_vd_req_v": -0.150638044, "cg_vd_v": -0.150638044, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.33272177, "cg_vq_v": 0.33272177, "cg_vu_v": 41.7897949, "cg_vv_v": 52.3472176, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.0515418053, "dclink_p_w": -7.48204279, "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": 41.3776855, "temp_inv2_c": 43.6390991, "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": 0.136813924, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1700.969482, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23656, "EncoderSin": 51340, "GapTicks": 54771, "Mech_RPM": -3.50324616e-44, "cg_du": 49.79245, "cg_dv": 50.20755, "cg_dw": 49.8197327, "cg_id_a": 0.143474251, "cg_id_raw_a": 0.147848681, "cg_iq_a": -0.0692157224, "cg_iq_raw_a": -0.281381726, "cg_iu_a": -1.08007038, "cg_iv_a": -0.0984381437, "cg_iw_a": 1.17850852, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 10527612, "cg_sample_valid": 1, "cg_theta_rad": 2.02011085, "cg_vd_req_v": -0.162771404, "cg_vd_v": -0.162771404, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353515953, "cg_vq_v": 0.353515953, "cg_vu_v": 106.893898, "cg_vv_v": 102.93486, "cg_vw_v": 92.8173294, "control_outputs_enabled": 1, "dclink_i_a": -0.355990052, "dclink_p_w": -51.6771355, "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": 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": 0.129411772, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1701.986938, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23599, "EncoderSin": 51374, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7823677, "cg_dv": 50.218029, "cg_dw": 49.781971, "cg_id_a": -0.021893464, "cg_id_raw_a": 0.318434447, "cg_iq_a": 0.0401819982, "cg_iq_raw_a": 0.791584373, "cg_iu_a": -0.318949938, "cg_iv_a": -0.0259504616, "cg_iw_a": 0.344900399, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10532763, "cg_sample_valid": 1, "cg_theta_rad": 2.02088261, "cg_vd_req_v": -0.149348825, "cg_vd_v": -0.149348825, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.393118918, "cg_vq_v": 0.393118918, "cg_vu_v": 144.28476, "cg_vv_v": 142.965088, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": -0.406731367, "dclink_p_w": -58.8640556, "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": 41.2404175, "temp_inv2_c": 43.5133667, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133842975, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1703.004272, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23645, "EncoderSin": 51368, "GapTicks": 54765, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7871132, "cg_dv": 50.2128868, "cg_dw": 49.8153725, "cg_id_a": 0.552402854, "cg_id_raw_a": 0.326235622, "cg_iq_a": 0.206322551, "cg_iq_raw_a": 0.411275774, "cg_iu_a": 0.913340449, "cg_iv_a": -0.0984381437, "cg_iw_a": -0.814902306, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10537862, "cg_sample_valid": 1, "cg_theta_rad": 2.01976991, "cg_vd_req_v": -0.167314768, "cg_vd_v": -0.167314768, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.362306803, "cg_vq_v": 0.362306803, "cg_vu_v": 0.87978512, "cg_vv_v": 2.19946289, "cg_vw_v": 5.71860361, "control_outputs_enabled": 1, "dclink_i_a": 0.187667489, "dclink_p_w": 27.1601124, "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": 41.1856079, "temp_inv2_c": 43.4559937, "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": 0.130922407, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1704.021851, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23606, "EncoderSin": 51318, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7888527, "cg_dv": 50.2111473, "cg_dw": 49.8001442, "cg_id_a": -0.0786343366, "cg_id_raw_a": 0.457517803, "cg_iq_a": -0.0786729977, "cg_iq_raw_a": -0.165530697, "cg_iu_a": -0.391437531, "cg_iv_a": -0.0984381139, "cg_iw_a": 0.489875644, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10542912, "cg_sample_valid": 1, "cg_theta_rad": 2.02005982, "cg_vd_req_v": -0.150248393, "cg_vd_v": -0.150248393, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.372978956, "cg_vq_v": 0.372978956, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": -0.417604566, "dclink_p_w": -60.6213799, "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": 41.0761719, "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": 0.126692608, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1705.039063, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23616, "EncoderSin": 51338, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.782177, "cg_dv": 50.217823, "cg_dw": 49.7828789, "cg_id_a": -0.311443657, "cg_id_raw_a": -0.0294025801, "cg_iq_a": -0.506275892, "cg_iq_raw_a": -0.000179917217, "cg_iu_a": -0.246462226, "cg_iv_a": -0.31590116, "cg_iw_a": 0.562363386, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10548013, "cg_sample_valid": 1, "cg_theta_rad": 2.02066684, "cg_vd_req_v": -0.149977535, "cg_vd_v": -0.149977535, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.392293662, "cg_vq_v": 0.392293662, "cg_vu_v": 106.453995, "cg_vv_v": 102.055069, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": 0.126052976, "dclink_p_w": 18.2429733, "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": 40.9942627, "temp_inv2_c": 43.3110962, "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": 0.131728083, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1706.056519, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23625, "EncoderSin": 51339, "GapTicks": 54764, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7855339, "cg_dv": 50.2144661, "cg_dw": 49.7976952, "cg_id_a": -0.0521287397, "cg_id_raw_a": -0.239798725, "cg_iq_a": -0.145245254, "cg_iq_raw_a": -1.32283533, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.408975512, "cg_iw_a": -0.452463895, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10553112, "cg_sample_valid": 1, "cg_theta_rad": 2.02122664, "cg_vd_req_v": -0.155437559, "cg_vd_v": -0.155437559, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.377344966, "cg_vq_v": 0.377344966, "cg_vu_v": 22.4345207, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.468345881, "dclink_p_w": -67.9872208, "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": 40.9396973, "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": 0.129764244, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1707.073975, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23654, "EncoderSin": 51304, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7875023, "cg_dv": 50.2124977, "cg_dw": 49.8256531, "cg_id_a": 0.215680808, "cg_id_raw_a": 0.178986028, "cg_iq_a": 0.220438913, "cg_iq_raw_a": -0.0752608627, "cg_iu_a": 0.732121289, "cg_iv_a": 0.336487949, "cg_iw_a": -1.06860924, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10558263, "cg_sample_valid": 1, "cg_theta_rad": 2.01937151, "cg_vd_req_v": -0.170815378, "cg_vd_v": -0.170815378, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353872478, "cg_vq_v": 0.353872478, "cg_vu_v": 124.489601, "cg_vv_v": 144.28476, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.336055875, "dclink_p_w": -48.7834015, "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": 40.8580017, "temp_inv2_c": 43.1808777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1707.883911, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23629, "EncoderSin": 51338, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7910728, "cg_dv": 50.2089272, "cg_dw": 49.8346939, "cg_id_a": 0.603572249, "cg_id_raw_a": 0.791251004, "cg_iq_a": 0.35000214, "cg_iq_raw_a": 0.547783554, "cg_iu_a": 0.0797322989, "cg_iv_a": 0.119024873, "cg_iw_a": -0.198757172, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 10562162, "cg_sample_valid": 1, "cg_theta_rad": 2.02101016, "cg_vd_req_v": -0.170995548, "cg_vd_v": -0.170995548, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.34365809, "cg_vq_v": 0.34365809, "cg_vu_v": 35.6312981, "cg_vv_v": 34.3116188, "cg_vw_v": 30.7924805, "control_outputs_enabled": 1, "dclink_i_a": 0.17498219, "dclink_p_w": 25.3242378, "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": 40.83078, "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": 0.130620271, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1708.929443, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23625, "EncoderSin": 51314, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7884789, "cg_dv": 50.2115211, "cg_dw": 49.8104591, "cg_id_a": -0.363859206, "cg_id_raw_a": -1.26887047, "cg_iq_a": -0.136959165, "cg_iq_raw_a": -0.626347899, "cg_iu_a": 0.44217062, "cg_iv_a": 0.191512525, "cg_iw_a": -0.633683145, "cg_sample_age_us": 23.7581825, "cg_sample_seq": 10567463, "cg_sample_valid": 1, "cg_theta_rad": 2.02058792, "cg_vd_req_v": -0.158897191, "cg_vd_v": -0.158897191, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.366209507, "cg_vq_v": 0.366209507, "cg_vu_v": 106.014107, "cg_vv_v": 101.175293, "cg_vw_v": 87.53862, "control_outputs_enabled": 1, "dclink_i_a": -0.406731367, "dclink_p_w": -58.8640556, "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": 40.7764282, "temp_inv2_c": 43.0901184, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131879151, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1709.946899, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23642, "EncoderSin": 51381, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7905312, "cg_dv": 50.2094688, "cg_dw": 49.8525696, "cg_id_a": -0.0396295935, "cg_id_raw_a": -0.36282894, "cg_iq_a": 0.366262704, "cg_iq_raw_a": 0.21908851, "cg_iu_a": 0.297195196, "cg_iv_a": 1.06136441, "cg_iw_a": -1.35855961, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10572513, "cg_sample_valid": 1, "cg_theta_rad": 2.01917458, "cg_vd_req_v": -0.185537025, "cg_vd_v": -0.185537025, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.33047384, "cg_vq_v": 0.33047384, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": -0.0914100409, "dclink_p_w": -13.2694979, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5001, "hz_app_loop": 2608, "hz_tim_isr": 5001, "hz_vsense": 2608, "pwm_moe": 1, "temp_inv1_c": 40.6949768, "temp_inv2_c": 43.019043, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132886246, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1710.964355, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23646, "EncoderSin": 51360, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7844772, "cg_dv": 50.2155228, "cg_dw": 49.820179, "cg_id_a": -0.0762816444, "cg_id_raw_a": 0.0686533824, "cg_iq_a": 0.107713699, "cg_iq_raw_a": -0.0788554922, "cg_iu_a": 0.44217056, "cg_iv_a": 0.0102933943, "cg_iw_a": -0.452463955, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10577663, "cg_sample_valid": 1, "cg_theta_rad": 2.02045989, "cg_vd_req_v": -0.172920123, "cg_vd_v": -0.172920123, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.360444069, "cg_vq_v": 0.360444069, "cg_vu_v": 25.953661, "cg_vv_v": 8.35795879, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.274441361, "dclink_p_w": -39.7184296, "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": 40.5865479, "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": 0.13031815, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1711.981689, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23655, "EncoderSin": 51352, "GapTicks": 54755, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7778549, "cg_dv": 50.2221451, "cg_dw": 49.8067894, "cg_id_a": 0.631839991, "cg_id_raw_a": 0.968153715, "cg_iq_a": 0.595940232, "cg_iq_raw_a": 0.780071259, "cg_iu_a": 0.2609514, "cg_iv_a": 0.408975542, "cg_iw_a": -0.669926941, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 10582663, "cg_sample_valid": 1, "cg_theta_rad": 2.0208919, "cg_vd_req_v": -0.173921391, "cg_vd_v": -0.173921391, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.377249658, "cg_vq_v": 0.377249658, "cg_vu_v": 124.049698, "cg_vv_v": 144.28476, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.399482608, "dclink_p_w": -57.8149834, "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": 40.5324402, "temp_inv2_c": 42.898468, "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": 0.139633775, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1712.999146, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51354, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7912712, "cg_dv": 50.2087288, "cg_dw": 49.8223991, "cg_id_a": -0.191991732, "cg_id_raw_a": -0.315783471, "cg_iq_a": -0.0433364399, "cg_iq_raw_a": -0.188270062, "cg_iu_a": 0.115976095, "cg_iv_a": -0.207169622, "cg_iw_a": 0.091193527, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10587812, "cg_sample_valid": 1, "cg_theta_rad": 2.02113128, "cg_vd_req_v": -0.164132521, "cg_vd_v": -0.164132521, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353574395, "cg_vq_v": 0.353574395, "cg_vu_v": 28.1531239, "cg_vv_v": 14.0765619, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.850929677, "dclink_p_w": 123.150505, "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": 40.451355, "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": 0.129311055, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1714.016479, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23629, "EncoderSin": 51352, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7945518, "cg_dv": 50.2054482, "cg_dw": 49.8435555, "cg_id_a": -0.132010192, "cg_id_raw_a": -0.315546095, "cg_iq_a": -0.186108515, "cg_iq_raw_a": -0.42142573, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.264000207, "cg_iw_a": -0.271244794, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 10592912, "cg_sample_valid": 1, "cg_theta_rad": 2.02018023, "cg_vd_req_v": -0.172348022, "cg_vd_v": -0.172348022, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.333102465, "cg_vq_v": 0.333102465, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": 0.243845463, "dclink_p_w": 35.290451, "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": 40.3973694, "temp_inv2_c": 42.7658081, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1715.033936, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23637, "EncoderSin": 51342, "GapTicks": 54782, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8022346, "cg_dv": 50.1977654, "cg_dw": 49.853302, "cg_id_a": -0.130987585, "cg_id_raw_a": -0.250716805, "cg_iq_a": 0.301264226, "cg_iq_raw_a": -0.00814367365, "cg_iu_a": 0.333439112, "cg_iv_a": -0.207169622, "cg_iw_a": -0.12626949, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10598013, "cg_sample_valid": 1, "cg_theta_rad": 2.02117324, "cg_vd_req_v": -0.16899997, "cg_vd_v": -0.16899997, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.318567812, "cg_vq_v": 0.318567812, "cg_vu_v": 1.31967759, "cg_vv_v": 3.07924795, "cg_vw_v": 7.91806602, "control_outputs_enabled": 1, "dclink_i_a": -0.807225823, "dclink_p_w": -117.180573, "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": 40.3164978, "temp_inv2_c": 42.7128601, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1716.05127, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51378, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7892876, "cg_dv": 50.2107124, "cg_dw": 49.8395386, "cg_id_a": 0.401537418, "cg_id_raw_a": 0.101261027, "cg_iq_a": -0.122405626, "cg_iq_raw_a": -0.105067901, "cg_iu_a": 0.369682968, "cg_iv_a": -0.13468194, "cg_iw_a": -0.235001028, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10603112, "cg_sample_valid": 1, "cg_theta_rad": 2.01848507, "cg_vd_req_v": -0.178604439, "cg_vd_v": -0.178604439, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.342004776, "cg_vq_v": 0.342004776, "cg_vu_v": 26.3935547, "cg_vv_v": 10.1175289, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.613321185, "dclink_p_w": -88.7626953, "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": 40.2357788, "temp_inv2_c": 42.645874, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126742959, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1717.068848, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23646, "EncoderSin": 51339, "GapTicks": 54786, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8060684, "cg_dv": 50.1939316, "cg_dw": 49.8472786, "cg_id_a": -0.0772366822, "cg_id_raw_a": -0.420222551, "cg_iq_a": 0.224583089, "cg_iq_raw_a": 0.0811334476, "cg_iu_a": 0.44217056, "cg_iv_a": 0.481463253, "cg_iw_a": -0.923633814, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10608162, "cg_sample_valid": 1, "cg_theta_rad": 2.02030993, "cg_vd_req_v": -0.160960883, "cg_vd_v": -0.160960883, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.318762064, "cg_vq_v": 0.318762064, "cg_vu_v": 104.694435, "cg_vv_v": 98.0960464, "cg_vw_v": 78.3008804, "control_outputs_enabled": 1, "dclink_i_a": -0.105907559, "dclink_p_w": -15.3740234, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "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": 42.6000671, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127196148, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1717.878662, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23648, "EncoderSin": 51346, "GapTicks": 54776, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7964897, "cg_dv": 50.2035103, "cg_dw": 49.8576012, "cg_id_a": 0.585140347, "cg_id_raw_a": 1.34857869, "cg_iq_a": 0.656498432, "cg_iq_raw_a": 2.05363965, "cg_iu_a": 0.0797322989, "cg_iv_a": 0.227756381, "cg_iw_a": -0.379976392, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 10612063, "cg_sample_valid": 1, "cg_theta_rad": 2.0210762, "cg_vd_req_v": -0.180011109, "cg_vd_v": -0.180011109, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.320865095, "cg_vq_v": 0.320865095, "cg_vu_v": 38.7105446, "cg_vv_v": 43.1094704, "cg_vw_v": 55.4264603, "control_outputs_enabled": 1, "dclink_i_a": 0.637091041, "dclink_p_w": 92.4830322, "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": 40.1283264, "temp_inv2_c": 42.5455322, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12654154, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1719.080322, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23616, "EncoderSin": 51354, "GapTicks": 54786, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8059769, "cg_dv": 50.1940231, "cg_dw": 49.8857536, "cg_id_a": -0.557671905, "cg_id_raw_a": -0.270056993, "cg_iq_a": -0.901912212, "cg_iq_raw_a": 0.101718292, "cg_iu_a": -0.318949938, "cg_iv_a": -1.54819155, "cg_iw_a": 1.86714149, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10618262, "cg_sample_valid": 1, "cg_theta_rad": 2.02130389, "cg_vd_req_v": -0.182857618, "cg_vd_v": -0.182857618, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.290786982, "cg_vq_v": 0.290786982, "cg_vu_v": 35.6312981, "cg_vv_v": 33.4318352, "cg_vw_v": 29.0329094, "control_outputs_enabled": 1, "dclink_i_a": -0.0678515434, "dclink_p_w": -9.81979084, "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": 40.074646, "temp_inv2_c": 42.4612122, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125534445, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1719.941528, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23662, "EncoderSin": 51398, "GapTicks": 54776, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7971306, "cg_dv": 50.2028694, "cg_dw": 49.8465347, "cg_id_a": 0.402480096, "cg_id_raw_a": 0.22477755, "cg_iq_a": 0.431000441, "cg_iq_raw_a": 0.491179883, "cg_iu_a": -0.572656751, "cg_iv_a": 0.0827810466, "cg_iw_a": 0.489875704, "cg_sample_age_us": 26.6054554, "cg_sample_seq": 10622465, "cg_sample_valid": 1, "cg_theta_rad": 2.01956201, "cg_vd_req_v": -0.175261036, "cg_vd_v": -0.175261036, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.327075422, "cg_vq_v": 0.327075422, "cg_vu_v": 106.893898, "cg_vv_v": 103.374756, "cg_vw_v": 95.0167923, "control_outputs_enabled": 1, "dclink_i_a": -0.343304634, "dclink_p_w": -49.8356628, "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": 39.9942932, "temp_inv2_c": 42.4190979, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.134195477, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1720.959106, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23624, "EncoderSin": 51350, "GapTicks": 54773, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7944031, "cg_dv": 50.2055969, "cg_dw": 49.8480339, "cg_id_a": 0.305534363, "cg_id_raw_a": 1.51352668, "cg_iq_a": 0.963392675, "cg_iq_raw_a": 0.243027747, "cg_iu_a": -0.137730718, "cg_iv_a": 0.191512525, "cg_iw_a": -0.0537818074, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 10627612, "cg_sample_valid": 1, "cg_theta_rad": 2.02085328, "cg_vd_req_v": -0.174823448, "cg_vd_v": -0.174823448, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.330122232, "cg_vq_v": 0.330122232, "cg_vu_v": 38.2706528, "cg_vv_v": 41.3499031, "cg_vw_v": 51.0275345, "control_outputs_enabled": 1, "dclink_i_a": 0.107931018, "dclink_p_w": 15.667758, "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": 39.9407654, "temp_inv2_c": 42.3612671, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130872041, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1721.97644, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23660, "EncoderSin": 51330, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7959366, "cg_dv": 50.2040634, "cg_dw": 49.8098831, "cg_id_a": -0.797025919, "cg_id_raw_a": -0.295962304, "cg_iq_a": -0.685454965, "cg_iq_raw_a": -0.0656942651, "cg_iu_a": -1.87743473, "cg_iv_a": -0.388388634, "cg_iw_a": 2.26582336, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10632712, "cg_sample_valid": 1, "cg_theta_rad": 2.02093554, "cg_vd_req_v": -0.152192891, "cg_vd_v": -0.152192891, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357335657, "cg_vq_v": 0.357335657, "cg_vu_v": 41.7897949, "cg_vv_v": 51.4674301, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.0406686068, "dclink_p_w": -5.90363979, "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": 39.8605652, "temp_inv2_c": 42.2982178, "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": 0.127850771, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1722.993774, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23672, "EncoderSin": 51358, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.793541, "cg_dv": 50.206459, "cg_dw": 49.8273582, "cg_id_a": 0.0379442424, "cg_id_raw_a": -0.376963347, "cg_iq_a": -0.0422813483, "cg_iq_raw_a": -0.372646391, "cg_iu_a": 0.623389781, "cg_iv_a": -0.0984381437, "cg_iw_a": -0.524951637, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10637761, "cg_sample_valid": 1, "cg_theta_rad": 2.01877594, "cg_vd_req_v": -0.168026268, "cg_vd_v": -0.168026268, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.345608354, "cg_vq_v": 0.345608354, "cg_vu_v": 118.770996, "cg_vv_v": 138.126266, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.221887827, "dclink_p_w": -32.0150299, "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": 39.7805176, "temp_inv2_c": 42.2247925, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129562825, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1724.01123, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23615, "EncoderSin": 51360, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7889023, "cg_dv": 50.2110977, "cg_dw": 49.7890854, "cg_id_a": -0.634409428, "cg_id_raw_a": -1.54040754, "cg_iq_a": -0.407902539, "cg_iq_raw_a": -0.501504481, "cg_iu_a": 0.115976036, "cg_iv_a": 0.0102933645, "cg_iw_a": 0.816070199, "cg_sample_age_us": 23.7581825, "cg_sample_seq": 10642913, "cg_sample_valid": 1, "cg_theta_rad": 2.02045703, "cg_vd_req_v": -0.146283746, "cg_vd_v": -0.146283746, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.381403595, "cg_vq_v": 0.381403595, "cg_vu_v": 107.333786, "cg_vv_v": 103.814644, "cg_vw_v": 96.3364716, "control_outputs_enabled": 1, "dclink_i_a": -0.441162944, "dclink_p_w": -64.0412216, "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": 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": 0.128203243, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1725.028564, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23650, "EncoderSin": 51371, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7820358, "cg_dv": 50.2179642, "cg_dw": 49.8352242, "cg_id_a": 0.0432287529, "cg_id_raw_a": 0.243235722, "cg_iq_a": 0.17386882, "cg_iq_raw_a": 0.106706902, "cg_iu_a": 0.0434885025, "cg_iv_a": 0.481463253, "cg_iw_a": -0.524951756, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10647963, "cg_sample_valid": 1, "cg_theta_rad": 2.02012944, "cg_vd_req_v": -0.185885474, "cg_vd_v": -0.185885474, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.351278216, "cg_vq_v": 0.351278216, "cg_vu_v": 136.806595, "cg_vv_v": 124.049698, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.415792346, "dclink_p_w": -60.3583107, "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": 39.6739807, "temp_inv2_c": 42.1340332, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128958568, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1726.046143, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23611, "EncoderSin": 51348, "GapTicks": 54781, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8016129, "cg_dv": 50.1983871, "cg_dw": 49.8544998, "cg_id_a": -0.30196023, "cg_id_raw_a": 0.115443058, "cg_iq_a": 0.0229810849, "cg_iq_raw_a": 0.442770571, "cg_iu_a": -0.028999269, "cg_iv_a": 0.481463224, "cg_iw_a": -0.452463955, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10653112, "cg_sample_valid": 1, "cg_theta_rad": 2.02193308, "cg_vd_req_v": -0.168418497, "cg_vd_v": -0.168418497, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.318207443, "cg_vq_v": 0.318207443, "cg_vu_v": 13.1967773, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 0.0662506819, "dclink_p_w": 9.61725044, "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": 39.567627, "temp_inv2_c": 42.057373, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126390472, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1727.063477, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23624, "EncoderSin": 51339, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7908669, "cg_dv": 50.2091331, "cg_dw": 49.8427505, "cg_id_a": -0.0363838077, "cg_id_raw_a": 0.139684364, "cg_iq_a": -0.518294275, "cg_iq_raw_a": -0.0907381698, "cg_iu_a": -0.065243125, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.163681269, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10658212, "cg_sample_valid": 1, "cg_theta_rad": 2.02048111, "cg_vd_req_v": -0.175820291, "cg_vd_v": -0.175820291, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338006318, "cg_vq_v": 0.338006318, "cg_vu_v": 7.47817326, "cg_vv_v": 20.2350578, "cg_vw_v": 36.9509773, "control_outputs_enabled": 1, "dclink_i_a": 0.512049794, "dclink_p_w": 74.1062317, "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": 39.567627, "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": 0.129864946, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1727.868896, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23673, "EncoderSin": 51325, "GapTicks": 54773, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7936974, "cg_dv": 50.2063026, "cg_dw": 49.848526, "cg_id_a": 0.0209446326, "cg_id_raw_a": 0.142249137, "cg_iq_a": -0.0880122557, "cg_iq_raw_a": -0.322453082, "cg_iu_a": -0.355193734, "cg_iv_a": 0.408975542, "cg_iw_a": -0.0537818, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10662012, "cg_sample_valid": 1, "cg_theta_rad": 2.02165079, "cg_vd_req_v": -0.178706378, "cg_vd_v": -0.178706378, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.329062253, "cg_vq_v": 0.329062253, "cg_vu_v": 37.830761, "cg_vv_v": 40.0302238, "cg_vw_v": 47.0685043, "control_outputs_enabled": 1, "dclink_i_a": 0.109743237, "dclink_p_w": 15.8825521, "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": 39.4614868, "temp_inv2_c": 41.9582214, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.13031815, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1729.075073, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23633, "EncoderSin": 51397, "GapTicks": 54783, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8029747, "cg_dv": 50.1970253, "cg_dw": 49.8689384, "cg_id_a": -0.108989596, "cg_id_raw_a": -0.00293923146, "cg_iq_a": -0.0291300267, "cg_iq_raw_a": -0.0679564849, "cg_iu_a": 0.369682968, "cg_iv_a": 0.300244033, "cg_iw_a": -0.669927001, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10668263, "cg_sample_valid": 1, "cg_theta_rad": 2.02051401, "cg_vd_req_v": -0.179019839, "cg_vd_v": -0.179019839, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.305136979, "cg_vq_v": 0.305136979, "cg_vu_v": 102.93486, "cg_vv_v": 92.3774414, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 0.196728468, "dclink_p_w": 28.5580006, "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": 39.4085083, "temp_inv2_c": 41.9043579, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128656447, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1729.936279, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23656, "EncoderSin": 51344, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7888832, "cg_dv": 50.2111168, "cg_dw": 49.8874931, "cg_id_a": 0.0171321034, "cg_id_raw_a": 0.361641407, "cg_iq_a": -0.609689355, "cg_iq_raw_a": -0.0809053928, "cg_iu_a": 0.44217056, "cg_iv_a": -1.40321624, "cg_iw_a": 1.57719088, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 10672563, "cg_sample_valid": 1, "cg_theta_rad": 2.02140141, "cg_vd_req_v": -0.20789215, "cg_vd_v": -0.20789215, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.305020988, "cg_vq_v": 0.305020988, "cg_vu_v": 106.453995, "cg_vv_v": 102.494972, "cg_vw_v": 91.9375458, "control_outputs_enabled": 1, "dclink_i_a": 0.227535725, "dclink_p_w": 32.9300308, "enc_isr_hz": 4999, "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": 39.3555603, "temp_inv2_c": 41.8887634, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.133691922, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1730.953857, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23642, "EncoderSin": 51348, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.795578, "cg_dv": 50.204422, "cg_dw": 49.8312531, "cg_id_a": 0.19909358, "cg_id_raw_a": -0.106706351, "cg_iq_a": -0.00975894183, "cg_iq_raw_a": -0.26369828, "cg_iu_a": 0.405926704, "cg_iv_a": 0.119024873, "cg_iw_a": -0.524951577, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10677562, "cg_sample_valid": 1, "cg_theta_rad": 2.02029562, "cg_vd_req_v": -0.164380804, "cg_vd_v": -0.164380804, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.340865314, "cg_vq_v": 0.340865314, "cg_vu_v": 35.6312981, "cg_vv_v": 33.4318352, "cg_vw_v": 28.5930176, "control_outputs_enabled": 1, "dclink_i_a": -0.644128442, "dclink_p_w": -93.2212677, "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": 39.3555603, "temp_inv2_c": 41.793396, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129613176, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1731.971191, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23647, "EncoderSin": 51347, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7934189, "cg_dv": 50.2065811, "cg_dw": 49.8124809, "cg_id_a": -0.235324502, "cg_id_raw_a": -0.689496636, "cg_iq_a": -0.439742327, "cg_iq_raw_a": -0.957705498, "cg_iu_a": -0.137730718, "cg_iv_a": -0.533364117, "cg_iw_a": 0.671094835, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10682662, "cg_sample_valid": 1, "cg_theta_rad": 2.02182817, "cg_vd_req_v": -0.156681463, "cg_vd_v": -0.156681463, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.358175874, "cg_vq_v": 0.358175874, "cg_vu_v": 37.830761, "cg_vv_v": 40.9100075, "cg_vw_v": 48.8280716, "control_outputs_enabled": 1, "dclink_i_a": -0.314309597, "dclink_p_w": -45.4883499, "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": 39.2234497, "temp_inv2_c": 41.7380066, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1732.988525, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23663, "EncoderSin": 51331, "GapTicks": 54779, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7998199, "cg_dv": 50.2001801, "cg_dw": 49.8449478, "cg_id_a": 0.025093928, "cg_id_raw_a": -0.671693563, "cg_iq_a": 0.175466925, "cg_iq_raw_a": -0.368799686, "cg_iu_a": -0.645144463, "cg_iv_a": 0.916389227, "cg_iw_a": -0.271244735, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10687763, "cg_sample_valid": 1, "cg_theta_rad": 2.02035594, "cg_vd_req_v": -0.168043673, "cg_vd_v": -0.168043673, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.325652987, "cg_vq_v": 0.325652987, "cg_vu_v": 105.574219, "cg_vv_v": 100.295509, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": -0.437538624, "dclink_p_w": -63.322628, "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": 41.7034302, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128505379, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1734.005981, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23640, "EncoderSin": 51332, "GapTicks": 54781, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8011284, "cg_dv": 50.1988716, "cg_dw": 49.8117714, "cg_id_a": -0.351032138, "cg_id_raw_a": 0.198386922, "cg_iq_a": -0.0682483017, "cg_iq_raw_a": 0.0487611964, "cg_iu_a": -1.04382658, "cg_iv_a": -0.388388872, "cg_iw_a": 1.43221545, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10692763, "cg_sample_valid": 1, "cg_theta_rad": 2.01994467, "cg_vd_req_v": -0.144202843, "cg_vd_v": -0.144202843, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.348953724, "cg_vq_v": 0.348953724, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": -0.37592411, "dclink_p_w": -54.4054871, "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": 39.117981, "temp_inv2_c": 41.591156, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132281989, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1735.02356, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23644, "EncoderSin": 51315, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7959366, "cg_dv": 50.2040634, "cg_dw": 49.8170242, "cg_id_a": 0.0975391343, "cg_id_raw_a": 0.348151118, "cg_iq_a": -0.0094861798, "cg_iq_raw_a": 0.067378059, "cg_iu_a": 0.623389781, "cg_iv_a": -0.13468197, "cg_iw_a": -0.488707811, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 10697962, "cg_sample_valid": 1, "cg_theta_rad": 2.02065277, "cg_vd_req_v": -0.1547198, "cg_vd_v": -0.1547198, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.352729291, "cg_vq_v": 0.352729291, "cg_vu_v": 136.366699, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.0606027842, "dclink_p_w": -8.79737568, "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": 39.117981, "temp_inv2_c": 41.5704651, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128958568, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1736.040894, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23633, "EncoderSin": 51322, "GapTicks": 54778, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7986374, "cg_dv": 50.2013626, "cg_dw": 49.8426285, "cg_id_a": -0.36318779, "cg_id_raw_a": 0.145899788, "cg_iq_a": -0.137285426, "cg_iq_raw_a": -0.282397211, "cg_iu_a": -0.0289992094, "cg_iv_a": -0.605851769, "cg_iw_a": 0.634850979, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10703064, "cg_sample_valid": 1, "cg_theta_rad": 2.02126861, "cg_vd_req_v": -0.165218368, "cg_vd_v": -0.165218368, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.328885764, "cg_vq_v": 0.328885764, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.085297, "control_outputs_enabled": 1, "dclink_i_a": -0.0914100409, "dclink_p_w": -13.1890755, "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": 38.9864197, "temp_inv2_c": 41.5291138, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129462123, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1737.05835, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23654, "EncoderSin": 51358, "GapTicks": 54778, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7990799, "cg_dv": 50.2009201, "cg_dw": 49.847599, "cg_id_a": 0.169804797, "cg_id_raw_a": 0.0281931553, "cg_iq_a": 0.408430696, "cg_iq_raw_a": 1.11238813, "cg_iu_a": -0.463925242, "cg_iv_a": -0.424632609, "cg_iw_a": 0.888557851, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10708163, "cg_sample_valid": 1, "cg_theta_rad": 2.01985025, "cg_vd_req_v": -0.171406776, "cg_vd_v": -0.171406776, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.325264812, "cg_vq_v": 0.325264812, "cg_vu_v": 102.93486, "cg_vv_v": 93.2572174, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.444787383, "dclink_p_w": -64.5673599, "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": 38.960144, "temp_inv2_c": 41.4619751, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127649337, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1738.108643, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23648, "EncoderSin": 51391, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7901764, "cg_dv": 50.2098236, "cg_dw": 49.8290176, "cg_id_a": 0.302328795, "cg_id_raw_a": 0.589288652, "cg_iq_a": -0.171459973, "cg_iq_raw_a": -0.0288775545, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.155268699, "cg_iw_a": -0.198757082, "cg_sample_age_us": 23.7581825, "cg_sample_seq": 10713312, "cg_sample_valid": 1, "cg_theta_rad": 2.01922011, "cg_vd_req_v": -0.172088429, "cg_vd_v": -0.172088429, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.347202599, "cg_vq_v": 0.347202599, "cg_vu_v": 25.5137672, "cg_vv_v": 7.91806602, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.56257987, "dclink_p_w": -81.6666565, "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": 38.9864197, "temp_inv2_c": 41.4327087, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126944378, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1739.069824, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23639, "EncoderSin": 51362, "GapTicks": 54778, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7983017, "cg_dv": 50.2016983, "cg_dw": 49.8508835, "cg_id_a": 0.258385479, "cg_id_raw_a": 0.210034803, "cg_iq_a": 0.372782707, "cg_iq_raw_a": 0.365088344, "cg_iu_a": -0.101486921, "cg_iv_a": -0.0621943027, "cg_iw_a": 0.163681224, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10718163, "cg_sample_valid": 1, "cg_theta_rad": 2.02080297, "cg_vd_req_v": -0.172958836, "cg_vd_v": -0.172958836, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.32310605, "cg_vq_v": 0.32310605, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": -0.696682096, "dclink_p_w": -100.82708, "enc_isr_hz": 4999, "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": 38.8289795, "temp_inv2_c": 41.3777161, "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": 0.132684827, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1739.93103, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23657, "EncoderSin": 51360, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7951202, "cg_dv": 50.2048798, "cg_dw": 49.8246841, "cg_id_a": 0.322229952, "cg_id_raw_a": 0.637038112, "cg_iq_a": 0.0784834325, "cg_iq_raw_a": 0.534495771, "cg_iu_a": 1.13080347, "cg_iv_a": 0.264000177, "cg_iw_a": -1.39480364, "cg_sample_age_us": 26.6163635, "cg_sample_seq": 10722466, "cg_sample_valid": 1, "cg_theta_rad": 2.01902294, "cg_vd_req_v": -0.162576556, "cg_vd_v": -0.162576556, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.345549375, "cg_vq_v": 0.345549375, "cg_vu_v": 9.67763615, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": -0.83622086, "dclink_p_w": -121.021774, "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": 38.7503967, "temp_inv2_c": 41.3244934, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12830396, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1740.948608, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23647, "EncoderSin": 51322, "GapTicks": 54779, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7999115, "cg_dv": 50.2000885, "cg_dw": 49.8304253, "cg_id_a": -0.243809342, "cg_id_raw_a": -0.569118142, "cg_iq_a": 0.208038062, "cg_iq_raw_a": -0.403244913, "cg_iu_a": -0.391437531, "cg_iv_a": 0.191512555, "cg_iw_a": 0.199924976, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10727562, "cg_sample_valid": 1, "cg_theta_rad": 2.02109575, "cg_vd_req_v": -0.158164561, "cg_vd_v": -0.158164561, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.338236958, "cg_vq_v": 0.338236958, "cg_vu_v": 40.9100075, "cg_vv_v": 49.707859, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.468345881, "dclink_p_w": -67.7811966, "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": 38.7242432, "temp_inv2_c": 41.2558899, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127447918, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1741.965942, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23638, "EncoderSin": 51337, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7959099, "cg_dv": 50.2040901, "cg_dw": 49.8369598, "cg_id_a": -0.17174004, "cg_id_raw_a": 0.484851569, "cg_iq_a": -0.745690763, "cg_iq_raw_a": 0.00397849875, "cg_iu_a": 0.152219951, "cg_iv_a": -1.65692306, "cg_iw_a": 1.50470304, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10732612, "cg_sample_valid": 1, "cg_theta_rad": 2.0206883, "cg_vd_req_v": -0.167220786, "cg_vd_v": -0.167220786, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337586343, "cg_vq_v": 0.337586343, "cg_vu_v": 14.5164547, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": -0.770981908, "dclink_p_w": -111.580093, "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": 38.6458435, "temp_inv2_c": 41.23703, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131325245, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1742.983398, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23635, "EncoderSin": 51317, "GapTicks": 54779, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7992058, "cg_dv": 50.2007942, "cg_dw": 49.8897476, "cg_id_a": 0.0776422471, "cg_id_raw_a": 0.0623230264, "cg_iq_a": 0.401603967, "cg_iq_raw_a": 0.345371306, "cg_iu_a": -0.173974514, "cg_iv_a": 0.0465371907, "cg_iw_a": 0.127437323, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10737713, "cg_sample_valid": 1, "cg_theta_rad": 2.01957202, "cg_vd_req_v": -0.194181517, "cg_vd_v": -0.194181517, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.294888198, "cg_vq_v": 0.294888198, "cg_vu_v": 106.893898, "cg_vv_v": 102.494972, "cg_vw_v": 92.3774414, "control_outputs_enabled": 1, "dclink_i_a": 0.651588559, "dclink_p_w": 94.5875626, "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": 38.6197205, "temp_inv2_c": 41.1702881, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.136209652, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1744.000854, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23618, "EncoderSin": 51386, "GapTicks": 54787, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8071594, "cg_dv": 50.1928406, "cg_dw": 49.8936157, "cg_id_a": 0.315320015, "cg_id_raw_a": -0.341641426, "cg_iq_a": 0.920069814, "cg_iq_raw_a": -0.121176437, "cg_iu_a": -0.246462226, "cg_iv_a": 0.191512525, "cg_iw_a": -2.01094866, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10742863, "cg_sample_valid": 1, "cg_theta_rad": 2.02051067, "cg_vd_req_v": -0.186620638, "cg_vd_v": -0.186620638, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.282066047, "cg_vq_v": 0.282066047, "cg_vu_v": 106.893898, "cg_vv_v": 103.374756, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": -0.180207372, "dclink_p_w": -26.0804501, "enc_isr_hz": 5000, "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": 38.5154114, "temp_inv2_c": 41.1155396, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127699703, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1745.018066, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23672, "EncoderSin": 51369, "GapTicks": 54782, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8022995, "cg_dv": 50.1977005, "cg_dw": 49.8408585, "cg_id_a": -0.083184287, "cg_id_raw_a": 0.117336608, "cg_iq_a": 0.13513121, "cg_iq_raw_a": 0.252924472, "cg_iu_a": -0.355193734, "cg_iv_a": -0.388388813, "cg_iw_a": 0.743582547, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10747863, "cg_sample_valid": 1, "cg_theta_rad": 2.01975393, "cg_vd_req_v": -0.164778337, "cg_vd_v": -0.164778337, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.326166332, "cg_vq_v": 0.326166332, "cg_vu_v": 107.333786, "cg_vv_v": 104.254532, "cg_vw_v": 96.7763672, "control_outputs_enabled": 1, "dclink_i_a": -0.370487571, "dclink_p_w": -53.781662, "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": 38.4893494, "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": 0.127347216, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1746.035645, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23652, "EncoderSin": 51354, "GapTicks": 54786, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8062134, "cg_dv": 50.1937866, "cg_dw": 49.8941345, "cg_id_a": -0.201827377, "cg_id_raw_a": -0.0029634682, "cg_iq_a": -0.0480537377, "cg_iq_raw_a": -0.0679554269, "cg_iu_a": -0.427681327, "cg_iv_a": 0.0102933347, "cg_iw_a": 0.417387992, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10753062, "cg_sample_valid": 1, "cg_theta_rad": 2.01973343, "cg_vd_req_v": -0.182742581, "cg_vd_v": -0.182742581, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.284867465, "cg_vq_v": 0.284867465, "cg_vu_v": 20.2350578, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.504589677, "dclink_p_w": -73.0265656, "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": 38.4112549, "temp_inv2_c": 41.0028687, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130872041, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1747.052979, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23618, "EncoderSin": 51324, "GapTicks": 54784, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8042717, "cg_dv": 50.1957283, "cg_dw": 49.8395844, "cg_id_a": -0.223143563, "cg_id_raw_a": 0.117128991, "cg_iq_a": -0.242644966, "cg_iq_raw_a": -0.681097567, "cg_iu_a": 0.768365085, "cg_iv_a": 0.735170066, "cg_iw_a": -1.50353515, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10758113, "cg_sample_valid": 1, "cg_theta_rad": 2.01879883, "cg_vd_req_v": -0.155556723, "cg_vd_v": -0.155556723, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.326714218, "cg_vq_v": 0.326714218, "cg_vu_v": 38.2706528, "cg_vv_v": 41.3499031, "cg_vw_v": 50.5876465, "control_outputs_enabled": 1, "dclink_i_a": -0.0461052656, "dclink_p_w": -6.6725688, "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": 38.4112549, "temp_inv2_c": 40.9517517, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132433042, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1748.103394, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23638, "EncoderSin": 51365, "GapTicks": 54782, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8026772, "cg_dv": 50.1973228, "cg_dw": 49.8458366, "cg_id_a": 0.0811943263, "cg_id_raw_a": 0.0903770626, "cg_iq_a": 0.0729895458, "cg_iq_raw_a": -0.653878272, "cg_iu_a": 0.369682968, "cg_iv_a": 0.119024873, "cg_iw_a": -0.48870784, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 10763263, "cg_sample_valid": 1, "cg_theta_rad": 2.01909995, "cg_vd_req_v": -0.164237529, "cg_vd_v": -0.164237529, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.322315037, "cg_vq_v": 0.322315037, "cg_vu_v": 143.844864, "cg_vv_v": 141.645401, "cg_vw_v": 137.246475, "control_outputs_enabled": 1, "dclink_i_a": -0.134902596, "dclink_p_w": -19.5237312, "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": 38.3332825, "temp_inv2_c": 40.8972473, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000755321584, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125282675, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1749.064575, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23619, "EncoderSin": 51343, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7946968, "cg_dv": 50.2053032, "cg_dw": 49.8291969, "cg_id_a": 0.0255485121, "cg_id_raw_a": -0.0184809733, "cg_iq_a": -0.173114344, "cg_iq_raw_a": -0.849622369, "cg_iu_a": 0.00724458694, "cg_iv_a": -0.207169622, "cg_iw_a": 0.199925035, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10768163, "cg_sample_valid": 1, "cg_theta_rad": 2.01821756, "cg_vd_req_v": -0.162382647, "cg_vd_v": -0.162382647, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.344240904, "cg_vq_v": 0.344240904, "cg_vu_v": 25.0738773, "cg_vv_v": 6.59838867, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.876088977, "dclink_p_w": -126.791672, "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": 38.2554321, "temp_inv2_c": 40.8530273, "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": 0.130469218, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1750.081909, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51320, "GapTicks": 54779, "Mech_RPM": -3.50324616e-44, "cg_du": 49.799839, "cg_dv": 50.200161, "cg_dw": 49.8286819, "cg_id_a": -0.177978307, "cg_id_raw_a": -0.563769519, "cg_iq_a": 0.399216831, "cg_iq_raw_a": -0.360175997, "cg_iu_a": -0.463925242, "cg_iv_a": -0.31590116, "cg_iw_a": 0.779826403, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10773213, "cg_sample_valid": 1, "cg_theta_rad": 2.02076578, "cg_vd_req_v": -0.156160146, "cg_vd_v": -0.156160146, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.340103805, "cg_vq_v": 0.340103805, "cg_vu_v": 137.246475, "cg_vv_v": 124.489601, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.278065801, "dclink_p_w": -40.3652954, "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": 38.1776428, "temp_inv2_c": 40.7731628, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129008919, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1750.923218, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23623, "EncoderSin": 51354, "GapTicks": 54773, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7942848, "cg_dv": 50.2057152, "cg_dw": 49.8128357, "cg_id_a": -0.316081554, "cg_id_raw_a": -0.368128687, "cg_iq_a": -0.421086401, "cg_iq_raw_a": -0.518772006, "cg_iu_a": 0.00724458694, "cg_iv_a": -0.207169652, "cg_iw_a": 0.199925065, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 10777462, "cg_sample_valid": 1, "cg_theta_rad": 2.02098083, "cg_vd_req_v": -0.154150411, "cg_vd_v": -0.154150411, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357697397, "cg_vq_v": 0.357697397, "cg_vu_v": 38.7105446, "cg_vv_v": 43.1094704, "cg_vw_v": 54.9865723, "control_outputs_enabled": 1, "dclink_i_a": -0.972135186, "dclink_p_w": -141.119568, "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": 38.125885, "temp_inv2_c": 40.7765503, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126944378, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1751.960693, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23646, "EncoderSin": 51334, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7941895, "cg_dv": 50.2114639, "cg_dw": 49.7885361, "cg_id_a": -0.188926861, "cg_id_raw_a": -0.523848236, "cg_iq_a": -0.48908928, "cg_iq_raw_a": -0.114335954, "cg_iu_a": 0.188463807, "cg_iv_a": -0.352144957, "cg_iw_a": 0.163681149, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10782613, "cg_sample_valid": 1, "cg_theta_rad": 2.02102804, "cg_vd_req_v": -0.14213267, "cg_vd_v": -0.14213267, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.379619718, "cg_vq_v": 0.379619718, "cg_vu_v": 116.571533, "cg_vv_v": 131.087982, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.0680629015, "dclink_p_w": 9.85037994, "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": 38.1000061, "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": 0.129008919, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1752.978149, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23636, "EncoderSin": 51351, "GapTicks": 54782, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8018951, "cg_dv": 50.1981049, "cg_dw": 49.9198494, "cg_id_a": 0.131442353, "cg_id_raw_a": 0.209725082, "cg_iq_a": 0.149187461, "cg_iq_raw_a": 0.830737412, "cg_iu_a": 0.478414476, "cg_iv_a": -0.13468194, "cg_iw_a": -0.343732536, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10787662, "cg_sample_valid": 1, "cg_theta_rad": 2.02041984, "cg_vd_req_v": -0.210050941, "cg_vd_v": -0.210050941, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.268631458, "cg_vq_v": 0.268631458, "cg_vu_v": 118.770996, "cg_vv_v": 138.566162, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.510026336, "dclink_p_w": -74.0377426, "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": 38.0224609, "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": 0.132986948, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1753.995483, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23663, "EncoderSin": 51303, "GapTicks": 54784, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8039017, "cg_dv": 50.1960983, "cg_dw": 49.8677597, "cg_id_a": -0.0788834095, "cg_id_raw_a": 0.452902973, "cg_iq_a": -0.0608099699, "cg_iq_raw_a": -0.201905534, "cg_iu_a": 0.768365145, "cg_iv_a": 0.191512585, "cg_iw_a": -0.959877729, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10792812, "cg_sample_valid": 1, "cg_theta_rad": 2.02322817, "cg_vd_req_v": -0.176086217, "cg_vd_v": -0.176086217, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.305639476, "cg_vq_v": 0.305639476, "cg_vu_v": 40.0302238, "cg_vv_v": 46.6286087, "cg_vw_v": 64.2243118, "control_outputs_enabled": 1, "dclink_i_a": -0.609696746, "dclink_p_w": -88.5063553, "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": 37.9450073, "temp_inv2_c": 40.620575, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130469218, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1755.013062, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23625, "EncoderSin": 51368, "GapTicks": 54788, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8072968, "cg_dv": 50.1927032, "cg_dw": 49.8599701, "cg_id_a": -0.139929086, "cg_id_raw_a": 0.113159649, "cg_iq_a": 0.111557811, "cg_iq_raw_a": 0.443359673, "cg_iu_a": -0.318949819, "cg_iv_a": 0.0102933645, "cg_iw_a": 0.308656454, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10797912, "cg_sample_valid": 1, "cg_theta_rad": 2.02077699, "cg_vd_req_v": -0.16647248, "cg_vd_v": -0.16647248, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.308200091, "cg_vq_v": 0.308200091, "cg_vu_v": 40.0302238, "cg_vv_v": 46.1887207, "cg_vw_v": 63.3445282, "control_outputs_enabled": 1, "dclink_i_a": -0.28350234, "dclink_p_w": -41.0297775, "enc_isr_hz": 5001, "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": 37.9450073, "temp_inv2_c": 40.5698547, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125484094, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1756.030396, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51306, "GapTicks": 54777, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7972755, "cg_dv": 50.2027245, "cg_dw": 49.817955, "cg_id_a": -0.309502482, "cg_id_raw_a": -1.06529152, "cg_iq_a": -0.0878113359, "cg_iq_raw_a": -0.278873503, "cg_iu_a": 0.260951459, "cg_iv_a": -0.0259504616, "cg_iw_a": -0.235000998, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10802913, "cg_sample_valid": 1, "cg_theta_rad": 2.02018595, "cg_vd_req_v": -0.151980117, "cg_vd_v": -0.151980117, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.350032836, "cg_vq_v": 0.350032836, "cg_vu_v": 105.574219, "cg_vv_v": 100.295509, "cg_vw_v": 85.3391571, "control_outputs_enabled": 1, "dclink_i_a": -0.513650656, "dclink_p_w": -74.3379135, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2585, "hz_tim_isr": 4999, "hz_vsense": 2585, "pwm_moe": 1, "temp_inv1_c": 37.8676758, "temp_inv2_c": 40.519104, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130469218, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1757.047729, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51352, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7952118, "cg_dv": 50.2047882, "cg_dw": 49.8293648, "cg_id_a": -0.0748164058, "cg_id_raw_a": -0.393940002, "cg_iq_a": 0.234089941, "cg_iq_raw_a": 0.480775237, "cg_iu_a": -0.427681327, "cg_iv_a": -0.134682, "cg_iw_a": 0.562363327, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10808062, "cg_sample_valid": 1, "cg_theta_rad": 2.02049708, "cg_vd_req_v": -0.16316238, "cg_vd_v": -0.16316238, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.344212472, "cg_vq_v": 0.344212472, "cg_vu_v": 117.891212, "cg_vv_v": 135.047012, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.279877901, "dclink_p_w": -40.5052338, "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": 37.7904358, "temp_inv2_c": 40.48703, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129361406, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1758.109009, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23665, "EncoderSin": 51352, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7905235, "cg_dv": 50.2094765, "cg_dw": 49.8175926, "cg_id_a": 0.138885066, "cg_id_raw_a": 0.152927488, "cg_iq_a": -0.401580006, "cg_iq_raw_a": -0.00650167745, "cg_iu_a": -0.246462226, "cg_iv_a": 0.916389108, "cg_iw_a": -0.669926882, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10813366, "cg_sample_valid": 1, "cg_theta_rad": 2.01872849, "cg_vd_req_v": -0.164651051, "cg_vd_v": -0.164651051, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.35553962, "cg_vq_v": 0.35553962, "cg_vu_v": 120.530563, "cg_vv_v": 143.404984, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -1.05368388, "dclink_p_w": -152.95755, "enc_isr_hz": 4999, "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": 37.7647095, "temp_inv2_c": 40.429657, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127901122, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1759.059326, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23641, "EncoderSin": 51328, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7913628, "cg_dv": 50.2086372, "cg_dw": 49.8556404, "cg_id_a": 0.198601186, "cg_id_raw_a": 0.13343744, "cg_iq_a": 0.0468296371, "cg_iq_raw_a": -0.131727353, "cg_iu_a": -0.500169039, "cg_iv_a": 0.264000207, "cg_iw_a": 0.236168832, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10818112, "cg_sample_valid": 1, "cg_theta_rad": 2.02176118, "cg_vd_req_v": -0.184409127, "cg_vd_v": -0.184409127, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.328354418, "cg_vq_v": 0.328354418, "cg_vu_v": 27.7132301, "cg_vv_v": 13.6366701, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.303647757, "dclink_p_w": 44.0788918, "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": 37.6875916, "temp_inv2_c": 40.4245911, "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": 0.128455013, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1760.07666, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23648, "EncoderSin": 51356, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7875786, "cg_dv": 50.2124214, "cg_dw": 49.8145485, "cg_id_a": -0.0261914544, "cg_id_raw_a": 0.1453944, "cg_iq_a": -0.40836668, "cg_iq_raw_a": 0.184632123, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.119024873, "cg_iw_a": 0.852314115, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10823262, "cg_sample_valid": 1, "cg_theta_rad": 2.01942515, "cg_vd_req_v": -0.165489405, "cg_vd_v": -0.165489405, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.361446977, "cg_vq_v": 0.361446977, "cg_vu_v": 42.2296829, "cg_vv_v": 53.2269974, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 0.124240756, "dclink_p_w": 17.9807014, "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": 37.6619263, "temp_inv2_c": 40.315094, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131425947, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1760.917969, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23663, "EncoderSin": 51332, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7844925, "cg_dv": 50.2155075, "cg_dw": 49.8124352, "cg_id_a": 0.187256455, "cg_id_raw_a": 0.466039717, "cg_iq_a": -0.256502211, "cg_iq_raw_a": -0.117766649, "cg_iu_a": -0.318949938, "cg_iv_a": -0.895802498, "cg_iw_a": 1.21475244, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 10827463, "cg_sample_valid": 1, "cg_theta_rad": 2.02137089, "cg_vd_req_v": -0.168522298, "cg_vd_v": -0.168522298, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.36613223, "cg_vq_v": 0.36613223, "cg_vu_v": 118.3311, "cg_vv_v": 136.806595, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.216451287, "dclink_p_w": -31.3258381, "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": 37.6105957, "temp_inv2_c": 40.2982483, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000553902471, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1761.955444, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23639, "EncoderSin": 51364, "GapTicks": 54765, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7872467, "cg_dv": 50.2127533, "cg_dw": 49.800869, "cg_id_a": -0.386687875, "cg_id_raw_a": -0.517322421, "cg_iq_a": -0.480300963, "cg_iq_raw_a": -0.0738158301, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.590194702, "cg_iw_a": -0.597439289, "cg_sample_age_us": 26.6127281, "cg_sample_seq": 10832566, "cg_sample_valid": 1, "cg_theta_rad": 2.02101469, "cg_vd_req_v": -0.157741517, "cg_vd_v": -0.157741517, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.373410165, "cg_vq_v": 0.373410165, "cg_vu_v": 25.5137672, "cg_vv_v": 8.35795879, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.38317287, "dclink_p_w": -55.6231194, "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": 37.5593262, "temp_inv2_c": 40.2578735, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12805219, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1762.9729, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23648, "EncoderSin": 51344, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7886963, "cg_dv": 50.2113037, "cg_dw": 49.8181496, "cg_id_a": -0.0315862894, "cg_id_raw_a": -0.219890386, "cg_iq_a": -0.00991334021, "cg_iq_raw_a": 0.431050062, "cg_iu_a": -0.572656631, "cg_iv_a": -0.13468194, "cg_iw_a": 0.707338572, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10837712, "cg_sample_valid": 1, "cg_theta_rad": 2.02025485, "cg_vd_req_v": -0.165752277, "cg_vd_v": -0.165752277, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357776672, "cg_vq_v": 0.357776672, "cg_vu_v": 38.2706528, "cg_vv_v": 41.3499031, "cg_vw_v": 50.1477547, "control_outputs_enabled": 1, "dclink_i_a": 0.374323249, "dclink_p_w": 54.3384666, "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": 37.5337219, "temp_inv2_c": 40.2041321, "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": 0.129512474, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1763.990356, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23647, "EncoderSin": 51380, "GapTicks": 54776, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7964249, "cg_dv": 50.2035751, "cg_dw": 49.8423729, "cg_id_a": 0.332025558, "cg_id_raw_a": 0.0829846114, "cg_iq_a": 0.0805311352, "cg_iq_raw_a": -0.228926733, "cg_iu_a": 0.115976095, "cg_iv_a": -0.497120261, "cg_iw_a": 0.381144166, "cg_sample_age_us": 23.7836361, "cg_sample_seq": 10842763, "cg_sample_valid": 1, "cg_theta_rad": 2.02045345, "cg_vd_req_v": -0.171991363, "cg_vd_v": -0.171991363, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.331859827, "cg_vq_v": 0.331859827, "cg_vu_v": 38.7105446, "cg_vv_v": 42.2296829, "cg_vw_v": 53.2269974, "control_outputs_enabled": 1, "dclink_i_a": -0.254507303, "dclink_p_w": -36.9454384, "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": 40.1286011, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127649337, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1765.007813, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23638, "EncoderSin": 51331, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7875328, "cg_dv": 50.2124672, "cg_dw": 49.8279953, "cg_id_a": 0.0965448469, "cg_id_raw_a": 0.894843042, "cg_iq_a": -0.311371177, "cg_iq_raw_a": 0.278201759, "cg_iu_a": -0.0289993286, "cg_iv_a": -0.207169622, "cg_iw_a": 0.236168951, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10847912, "cg_sample_valid": 1, "cg_theta_rad": 2.02082705, "cg_vd_req_v": -0.172483906, "cg_vd_v": -0.172483906, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.353260815, "cg_vq_v": 0.353260815, "cg_vu_v": 22.8744144, "cg_vv_v": 0.87978512, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.479219079, "dclink_p_w": -69.3548126, "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": 40.1118469, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126994744, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1766.025146, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23654, "EncoderSin": 51317, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7898102, "cg_dv": 50.2101898, "cg_dw": 49.8267136, "cg_id_a": 0.0320932493, "cg_id_raw_a": -0.268795282, "cg_iq_a": -0.270166814, "cg_iq_raw_a": -0.598517001, "cg_iu_a": -0.282706141, "cg_iv_a": 0.264000237, "cg_iw_a": -0.633683145, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 10853012, "cg_sample_valid": 1, "cg_theta_rad": 2.0210247, "cg_vd_req_v": -0.168934017, "cg_vd_v": -0.168934017, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.350424767, "cg_vq_v": 0.350424767, "cg_vu_v": 27.7132301, "cg_vv_v": 13.6366701, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.796352506, "dclink_p_w": -115.251839, "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": 37.3291626, "temp_inv2_c": 40.0632324, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129008919, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1767.04248, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23607, "EncoderSin": 51339, "GapTicks": 54773, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7939987, "cg_dv": 50.2060013, "cg_dw": 49.8469734, "cg_id_a": -0.211842, "cg_id_raw_a": -0.0483312868, "cg_iq_a": 0.00670064241, "cg_iq_raw_a": 0.108971514, "cg_iu_a": -0.282706141, "cg_iv_a": -0.0259504914, "cg_iw_a": 0.308656633, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10858062, "cg_sample_valid": 1, "cg_theta_rad": 2.01927972, "cg_vd_req_v": -0.173618674, "cg_vd_v": -0.173618674, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.333198041, "cg_vq_v": 0.333198041, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.51914048, "control_outputs_enabled": 1, "dclink_i_a": -0.317934036, "dclink_p_w": -46.0128937, "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": 37.3036194, "temp_inv2_c": 40.0280762, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131224543, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1768.088379, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23651, "EncoderSin": 51328, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7841606, "cg_dv": 50.2158394, "cg_dw": 49.8047867, "cg_id_a": -0.055663377, "cg_id_raw_a": -0.359297425, "cg_iq_a": -0.292298585, "cg_iq_raw_a": -0.711668551, "cg_iu_a": -0.318949819, "cg_iv_a": 0.372731686, "cg_iw_a": -0.053781867, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10863163, "cg_sample_valid": 1, "cg_theta_rad": 2.0199182, "cg_vd_req_v": -0.163217053, "cg_vd_v": -0.163217053, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.372742444, "cg_vq_v": 0.372742444, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": 0.0553774834, "dclink_p_w": 8.03884792, "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": 37.2271423, "temp_inv2_c": 39.9728699, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131174177, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1769.053955, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23645, "EncoderSin": 51341, "GapTicks": 54771, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7918434, "cg_dv": 50.2081566, "cg_dw": 49.829422, "cg_id_a": -0.0513626635, "cg_id_raw_a": 0.516771376, "cg_iq_a": 0.0993386954, "cg_iq_raw_a": 0.211727291, "cg_iu_a": -0.608900547, "cg_iv_a": 0.0465372205, "cg_iw_a": 0.562363327, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10868113, "cg_sample_valid": 1, "cg_theta_rad": 2.01998472, "cg_vd_req_v": -0.168115482, "cg_vd_v": -0.168115482, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.346163213, "cg_vq_v": 0.346163213, "cg_vu_v": 140.765625, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": -0.609696746, "dclink_p_w": -88.2381516, "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": 37.2016602, "temp_inv2_c": 39.9377747, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128001824, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1770.071533, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51339, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7874527, "cg_dv": 50.2125473, "cg_dw": 49.7884483, "cg_id_a": -0.221213132, "cg_id_raw_a": -0.471469074, "cg_iq_a": -0.404554129, "cg_iq_raw_a": -0.249443486, "cg_iu_a": -0.427681446, "cg_iv_a": -1.72941089, "cg_iw_a": -0.416220099, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10873212, "cg_sample_valid": 1, "cg_theta_rad": 2.02033281, "cg_vd_req_v": -0.149282262, "cg_vd_v": -0.149282262, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.38283518, "cg_vq_v": 0.38283518, "cg_vu_v": 28.5930176, "cg_vv_v": 15.3962402, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.0463165045, "dclink_p_w": 6.72351456, "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": 37.1507263, "temp_inv2_c": 39.8926392, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126088351, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1770.91272, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23666, "EncoderSin": 51332, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7897911, "cg_dv": 50.2102089, "cg_dw": 49.7950249, "cg_id_a": -0.761242628, "cg_id_raw_a": -0.660490513, "cg_iq_a": -0.341788322, "cg_iq_raw_a": -0.0535319187, "cg_iu_a": -0.065243125, "cg_iv_a": -0.388388783, "cg_iw_a": 0.453631908, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10877463, "cg_sample_valid": 1, "cg_theta_rad": 2.02084732, "cg_vd_req_v": -0.151365548, "cg_vd_v": -0.151365548, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.37363553, "cg_vq_v": 0.37363553, "cg_vu_v": 122.290138, "cg_vv_v": 143.844864, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 0.562791169, "dclink_p_w": 81.4497604, "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": 37.0998535, "temp_inv2_c": 39.8609314, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.131476313, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1771.950317, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23680, "EncoderSin": 51372, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.795166, "cg_dv": 50.204834, "cg_dw": 49.8109016, "cg_id_a": 0.0107394606, "cg_id_raw_a": 0.286763817, "cg_iq_a": 0.199603081, "cg_iq_raw_a": 0.672738671, "cg_iu_a": 0.188463688, "cg_iv_a": -0.279657304, "cg_iw_a": 0.0911936164, "cg_sample_age_us": 26.6163635, "cg_sample_seq": 10882565, "cg_sample_valid": 1, "cg_theta_rad": 2.02006364, "cg_vd_req_v": -0.156943187, "cg_vd_v": -0.156943187, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.356010824, "cg_vq_v": 0.356010824, "cg_vu_v": 144.28476, "cg_vv_v": 142.965088, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": -0.803601384, "dclink_p_w": -116.300934, "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": 37.0236206, "temp_inv2_c": 39.8092346, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.132281989, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1772.967651, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23612, "EncoderSin": 51355, "GapTicks": 54758, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7805367, "cg_dv": 50.2194633, "cg_dw": 49.7823067, "cg_id_a": -0.065016441, "cg_id_raw_a": -0.0486330763, "cg_iq_a": 0.00516766682, "cg_iq_raw_a": 0.108837172, "cg_iu_a": 1.09455967, "cg_iv_a": 0.0465371609, "cg_iw_a": -1.14109683, "cg_sample_age_us": 26.6127281, "cg_sample_seq": 10887616, "cg_sample_valid": 1, "cg_theta_rad": 2.020787, "cg_vd_req_v": -0.152118117, "cg_vd_v": -0.152118117, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.394313455, "cg_vq_v": 0.394313455, "cg_vu_v": 38.7105446, "cg_vv_v": 42.2296829, "cg_vw_v": 52.7871094, "control_outputs_enabled": 1, "dclink_i_a": 0.396069527, "dclink_p_w": 57.3210258, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 5000, "hz_app_loop": 2575, "hz_tim_isr": 5000, "hz_vsense": 2575, "pwm_moe": 1, "temp_inv1_c": 36.99823, "temp_inv2_c": 39.7642517, "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": 0.12905927, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1773.984985, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23659, "EncoderSin": 51380, "GapTicks": 54757, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7797585, "cg_dv": 50.2202415, "cg_dw": 49.7913628, "cg_id_a": 0.125005156, "cg_id_raw_a": 0.820381284, "cg_iq_a": -0.00756169856, "cg_iq_raw_a": 0.297433168, "cg_iu_a": -0.282706141, "cg_iv_a": 0.0465372205, "cg_iw_a": 0.236168921, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10892762, "cg_sample_valid": 1, "cg_theta_rad": 2.01888347, "cg_vd_req_v": -0.164122343, "cg_vd_v": -0.164122343, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.387456954, "cg_vq_v": 0.387456954, "cg_vu_v": 25.953661, "cg_vv_v": 9.23774433, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.0515418053, "dclink_p_w": -7.45937014, "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": 36.9221191, "temp_inv2_c": 39.7226257, "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": 0.129814595, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1775.002563, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23650, "EncoderSin": 51321, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7894897, "cg_dv": 50.2105103, "cg_dw": 49.8011742, "cg_id_a": -0.037533544, "cg_id_raw_a": 0.472456634, "cg_iq_a": -0.226017982, "cg_iq_raw_a": -0.311287552, "cg_iu_a": 0.188463807, "cg_iv_a": -0.13468197, "cg_iw_a": -0.0537818372, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10897812, "cg_sample_valid": 1, "cg_theta_rad": 2.02123666, "cg_vd_req_v": -0.153741345, "cg_vd_v": -0.153741345, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.370029956, "cg_vq_v": 0.370029956, "cg_vu_v": 128.448624, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.28712666, "dclink_p_w": -41.554306, "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": 36.8967896, "temp_inv2_c": 39.6810303, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000654612028, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130368501, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1776.00293, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51342, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7907867, "cg_dv": 50.2092133, "cg_dw": 49.8380203, "cg_id_a": -0.00696465373, "cg_id_raw_a": 0.465025395, "cg_iq_a": 0.0865439028, "cg_iq_raw_a": 0.113701276, "cg_iu_a": 0.115976095, "cg_iv_a": 0.880145431, "cg_iw_a": 0.562363386, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10902863, "cg_sample_valid": 1, "cg_theta_rad": 2.02092123, "cg_vd_req_v": -0.174575403, "cg_vd_v": -0.174575403, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.340859592, "cg_vq_v": 0.340859592, "cg_vu_v": 103.814644, "cg_vv_v": 95.0167923, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.392233849, "dclink_p_w": -56.7659073, "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": 36.9221191, "temp_inv2_c": 39.6361389, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000302128639, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128958568, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1777.003296, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23647, "EncoderSin": 51357, "GapTicks": 54761, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7828217, "cg_dv": 50.2171783, "cg_dw": 49.7982216, "cg_id_a": -0.154800713, "cg_id_raw_a": -0.0998714343, "cg_iq_a": -0.388660192, "cg_iq_raw_a": -0.222540662, "cg_iu_a": -0.173974514, "cg_iv_a": -0.424632609, "cg_iw_a": 0.0911936313, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10907816, "cg_sample_valid": 1, "cg_theta_rad": 2.0221622, "cg_vd_req_v": -0.162309065, "cg_vd_v": -0.162309065, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.379883349, "cg_vq_v": 0.379883349, "cg_vu_v": 40.4701157, "cg_vv_v": 47.9482918, "cg_vw_v": 67.743454, "control_outputs_enabled": 1, "dclink_i_a": 0.18041873, "dclink_p_w": 26.190403, "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": 36.7955017, "temp_inv2_c": 39.5946045, "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": 0.132181272, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1777.984375, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23651, "EncoderSin": 51339, "GapTicks": 54754, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7767372, "cg_dv": 50.2232628, "cg_dw": 49.8074379, "cg_id_a": -0.122987665, "cg_id_raw_a": 0.22802566, "cg_iq_a": -0.181123108, "cg_iq_raw_a": 0.722248256, "cg_iu_a": 0.0797322989, "cg_iv_a": -0.170925796, "cg_iw_a": 0.743582606, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10912813, "cg_sample_valid": 1, "cg_theta_rad": 2.02110577, "cg_vd_req_v": -0.174927756, "cg_vd_v": -0.174927756, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.378317684, "cg_vq_v": 0.378317684, "cg_vu_v": 121.850235, "cg_vv_v": 144.28476, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.164108992, "dclink_p_w": 23.750618, "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": 36.7449341, "temp_inv2_c": 39.5531311, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125735864, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1778.994751, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23644, "EncoderSin": 51345, "GapTicks": 54759, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7809258, "cg_dv": 50.2190742, "cg_dw": 49.8153343, "cg_id_a": -0.0636623949, "cg_id_raw_a": 0.152145743, "cg_iq_a": 0.0738155469, "cg_iq_raw_a": 0.225698888, "cg_iu_a": -0.137730718, "cg_iv_a": -0.170925796, "cg_iw_a": 0.308656514, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 10917862, "cg_sample_valid": 1, "cg_theta_rad": 2.02059793, "cg_vd_req_v": -0.174430206, "cg_vd_v": -0.174430206, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.369269699, "cg_vq_v": 0.369269699, "cg_vu_v": 37.3908691, "cg_vv_v": 38.2706528, "cg_vw_v": 43.1094704, "control_outputs_enabled": 1, "dclink_i_a": -0.105907559, "dclink_p_w": -15.3740234, "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": 36.6943665, "temp_inv2_c": 39.4536743, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126692608, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1779.995117, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23613, "EncoderSin": 51375, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7890472, "cg_dv": 50.2109528, "cg_dw": 49.8242188, "cg_id_a": 0.148339018, "cg_id_raw_a": 0.426309884, "cg_iq_a": 0.437846541, "cg_iq_raw_a": 0.0972509608, "cg_iu_a": -0.898851275, "cg_iv_a": 0.590194702, "cg_iw_a": 0.308656573, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10922912, "cg_sample_valid": 1, "cg_theta_rad": 2.020257, "cg_vd_req_v": -0.167913407, "cg_vd_v": -0.167913407, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.354650468, "cg_vq_v": 0.354650468, "cg_vu_v": 136.806595, "cg_vv_v": 123.60981, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.0606027842, "dclink_p_w": -8.79737568, "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": 36.6438904, "temp_inv2_c": 39.4768372, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126894027, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1781.004028, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23619, "EncoderSin": 51338, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7880363, "cg_dv": 50.2119637, "cg_dw": 49.8207016, "cg_id_a": -0.235887647, "cg_id_raw_a": -1.24820864, "cg_iq_a": -0.263583362, "cg_iq_raw_a": -0.503924072, "cg_iu_a": -0.137730718, "cg_iv_a": -0.207169622, "cg_iw_a": 0.34490034, "cg_sample_age_us": 23.7436371, "cg_sample_seq": 10927913, "cg_sample_valid": 1, "cg_theta_rad": 2.02072501, "cg_vd_req_v": -0.165664792, "cg_vd_v": -0.165664792, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357705563, "cg_vq_v": 0.357705563, "cg_vu_v": 119.210884, "cg_vv_v": 139.445938, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.564603388, "dclink_p_w": 81.7120285, "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": 36.6186829, "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": 0.124628067, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1781.995972, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23654, "EncoderSin": 51346, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7883606, "cg_dv": 50.2116394, "cg_dw": 49.8011703, "cg_id_a": 0.255615801, "cg_id_raw_a": -0.137483373, "cg_iq_a": 0.165981397, "cg_iq_raw_a": -0.470837414, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.336487859, "cg_iw_a": -0.343732446, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10932863, "cg_sample_valid": 1, "cg_theta_rad": 2.02138805, "cg_vd_req_v": -0.156980902, "cg_vd_v": -0.156980902, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.371795774, "cg_vq_v": 0.371795774, "cg_vu_v": 106.453995, "cg_vv_v": 102.055069, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": -0.38317287, "dclink_p_w": -55.4545631, "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": 36.5430298, "temp_inv2_c": 39.3709106, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126340121, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1782.99646, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23640, "EncoderSin": 51315, "GapTicks": 54787, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8068428, "cg_dv": 50.1931572, "cg_dw": 49.8690453, "cg_id_a": -0.217941657, "cg_id_raw_a": 0.0618254207, "cg_iq_a": 0.265627295, "cg_iq_raw_a": 0.112410955, "cg_iu_a": -0.427681327, "cg_iv_a": 0.372731686, "cg_iw_a": 0.0549496263, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 10937862, "cg_sample_valid": 1, "cg_theta_rad": 2.0210762, "cg_vd_req_v": -0.173609972, "cg_vd_v": -0.173609972, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.299760759, "cg_vq_v": 0.299760759, "cg_vu_v": 1.75957024, "cg_vv_v": 0.43989256, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.452036142, "dclink_p_w": -65.6196213, "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": 36.4927063, "temp_inv2_c": 39.3395081, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129109636, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1783.996826, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23649, "EncoderSin": 51339, "GapTicks": 54781, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8015213, "cg_dv": 50.1984787, "cg_dw": 49.8162689, "cg_id_a": -0.0344064012, "cg_id_raw_a": 0.315261304, "cg_iq_a": -0.205778673, "cg_iq_raw_a": 0.0948251709, "cg_iu_a": -0.101486921, "cg_iv_a": -1.00453401, "cg_iw_a": 1.10602093, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 10942762, "cg_sample_valid": 1, "cg_theta_rad": 2.02083588, "cg_vd_req_v": -0.148236647, "cg_vd_v": -0.148236647, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.346881658, "cg_vq_v": 0.346881658, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": 0.202165008, "dclink_p_w": 29.2582607, "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": 36.4423523, "temp_inv2_c": 39.2965393, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126642242, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1784.997314, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51389, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7908707, "cg_dv": 50.2091293, "cg_dw": 49.8237648, "cg_id_a": 0.456171334, "cg_id_raw_a": -0.217141598, "cg_iq_a": 0.237895906, "cg_iq_raw_a": -0.267971724, "cg_iu_a": 1.23953497, "cg_iv_a": 0.372731686, "cg_iw_a": -1.61226666, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 10947813, "cg_sample_valid": 1, "cg_theta_rad": 2.01867652, "cg_vd_req_v": -0.165768161, "cg_vd_v": -0.165768161, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.350219607, "cg_vq_v": 0.350219607, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": -0.243634105, "dclink_p_w": -35.259861, "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": 36.4172058, "temp_inv2_c": 39.2321777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128253594, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1785.997681, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23629, "EncoderSin": 51322, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7908859, "cg_dv": 50.2091141, "cg_dw": 49.8066101, "cg_id_a": -0.252715349, "cg_id_raw_a": -0.185200691, "cg_iq_a": -0.320288271, "cg_iq_raw_a": 0.173057571, "cg_iu_a": -0.137730718, "cg_iv_a": -0.243413448, "cg_iw_a": 0.381144166, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 10952812, "cg_sample_valid": 1, "cg_theta_rad": 2.02140951, "cg_vd_req_v": -0.153575867, "cg_vd_v": -0.153575867, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.365174502, "cg_vq_v": 0.365174502, "cg_vu_v": 108.21357, "cg_vv_v": 106.893898, "cg_vw_v": 105.134323, "control_outputs_enabled": 1, "dclink_i_a": -0.316121817, "dclink_p_w": -45.8896828, "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": 36.3669434, "temp_inv2_c": 39.22229, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125232309, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1786.998169, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23650, "EncoderSin": 51371, "GapTicks": 54755, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7779884, "cg_dv": 50.2220116, "cg_dw": 49.8005638, "cg_id_a": 0.0785532892, "cg_id_raw_a": -0.333086133, "cg_iq_a": 0.040461611, "cg_iq_raw_a": -0.314643472, "cg_iu_a": 0.405926764, "cg_iv_a": 0.191512525, "cg_iw_a": -0.597439289, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10957812, "cg_sample_valid": 1, "cg_theta_rad": 2.02106023, "cg_vd_req_v": -0.170344204, "cg_vd_v": -0.170344204, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.381652474, "cg_vq_v": 0.381652474, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.0517531633, "dclink_p_w": 7.48995876, "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": 4999, "hz_vsense": 2595, "pwm_moe": 1, "temp_inv1_c": 36.3167114, "temp_inv2_c": 39.1942749, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124980539, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1787.996216, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23651, "EncoderSin": 51347, "GapTicks": 54761, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7831841, "cg_dv": 50.2168159, "cg_dw": 49.8153229, "cg_id_a": 0.214454636, "cg_id_raw_a": -0.0156388618, "cg_iq_a": 0.140387774, "cg_iq_raw_a": -0.150698662, "cg_iu_a": -0.645144463, "cg_iv_a": -0.678339481, "cg_iw_a": 1.32348394, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 10962662, "cg_sample_valid": 1, "cg_theta_rad": 2.02155161, "cg_vd_req_v": -0.172106966, "cg_vd_v": -0.172106966, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.366611034, "cg_vq_v": 0.366611034, "cg_vu_v": 29.4728031, "cg_vv_v": 18.0355949, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.4701581, "dclink_p_w": -68.2502899, "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": 36.2916565, "temp_inv2_c": 39.1267395, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130217448, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1788.989624, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51372, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7884064, "cg_dv": 50.2115936, "cg_dw": 49.8178329, "cg_id_a": -0.188948214, "cg_id_raw_a": -0.0230499376, "cg_iq_a": 0.0346957892, "cg_iq_raw_a": 0.0409658253, "cg_iu_a": 0.0434884429, "cg_iv_a": 0.264000207, "cg_iw_a": -0.30748865, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 10967812, "cg_sample_valid": 1, "cg_theta_rad": 2.02016997, "cg_vd_req_v": -0.166398063, "cg_vd_v": -0.166398063, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.359427482, "cg_vq_v": 0.359427482, "cg_vu_v": 14.5164547, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 0.182230949, "dclink_p_w": 26.373312, "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": 36.2414551, "temp_inv2_c": 39.095459, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125987634, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1789.998291, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23637, "EncoderSin": 51347, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7843628, "cg_dv": 50.2156372, "cg_dw": 49.8147354, "cg_id_a": -0.19703728, "cg_id_raw_a": -0.237410769, "cg_iq_a": -0.0168674402, "cg_iq_raw_a": -0.158582866, "cg_iu_a": -0.282706082, "cg_iv_a": 0.0827810168, "cg_iw_a": 0.0549497604, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 10972862, "cg_sample_valid": 1, "cg_theta_rad": 2.02011776, "cg_vd_req_v": -0.169088304, "cg_vd_v": -0.169088304, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.366337389, "cg_vq_v": 0.366337389, "cg_vu_v": 38.7105446, "cg_vv_v": 43.1094704, "cg_vw_v": 54.9865723, "control_outputs_enabled": 1, "dclink_i_a": -0.0243588686, "dclink_p_w": -3.52532887, "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": 36.2164307, "temp_inv2_c": 39.0609131, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125081256, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1790.998779, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23633, "EncoderSin": 51332, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7882614, "cg_dv": 50.2117386, "cg_dw": 49.8209763, "cg_id_a": -0.605664074, "cg_id_raw_a": -0.407129139, "cg_iq_a": -0.10376741, "cg_iq_raw_a": -0.300720096, "cg_iu_a": -0.971338868, "cg_iv_a": 0.264000237, "cg_iw_a": 0.707338631, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 10977912, "cg_sample_valid": 1, "cg_theta_rad": 2.02158499, "cg_vd_req_v": -0.166912124, "cg_vd_v": -0.166912124, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.357946128, "cg_vq_v": 0.357946128, "cg_vu_v": 35.6312981, "cg_vv_v": 33.4318352, "cg_vw_v": 28.5930176, "control_outputs_enabled": 1, "dclink_i_a": -0.296187639, "dclink_p_w": -42.865654, "enc_isr_hz": 4999, "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": 36.1412659, "temp_inv2_c": 39.0050354, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130922407, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1791.999268, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23645, "EncoderSin": 51330, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7895927, "cg_dv": 50.2104073, "cg_dw": 49.8379936, "cg_id_a": -0.0272837952, "cg_id_raw_a": 0.197485551, "cg_iq_a": -0.106572896, "cg_iq_raw_a": 0.514965892, "cg_iu_a": -0.0289993286, "cg_iv_a": -0.859558582, "cg_iw_a": 0.888557911, "cg_sample_age_us": 23.7763634, "cg_sample_seq": 10982812, "cg_sample_valid": 1, "cg_theta_rad": 2.02049375, "cg_vd_req_v": -0.176365644, "cg_vd_v": -0.176365644, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343316525, "cg_vq_v": 0.343316525, "cg_vu_v": 37.830761, "cg_vv_v": 40.4701157, "cg_vw_v": 48.3881836, "control_outputs_enabled": 1, "dclink_i_a": -0.220075607, "dclink_p_w": -31.947176, "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": 36.0912476, "temp_inv2_c": 38.9607239, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1792.999634, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51370, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7903633, "cg_dv": 50.2096367, "cg_dw": 49.8484688, "cg_id_a": -0.0451868288, "cg_id_raw_a": -0.446738988, "cg_iq_a": -0.0453269482, "cg_iq_raw_a": 0.382216036, "cg_iu_a": 0.188463807, "cg_iv_a": -0.497120261, "cg_iw_a": 0.308656454, "cg_sample_age_us": 23.6636372, "cg_sample_seq": 10987913, "cg_sample_valid": 1, "cg_theta_rad": 2.02022266, "cg_vd_req_v": -0.181734771, "cg_vd_v": -0.181734771, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.334600389, "cg_vq_v": 0.334600389, "cg_vu_v": 26.3935547, "cg_vv_v": 10.1175289, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.178395271, "dclink_p_w": -25.8966694, "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": 36.0662231, "temp_inv2_c": 38.9213257, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130267799, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1794.000122, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23618, "EncoderSin": 51332, "GapTicks": 54773, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7938385, "cg_dv": 50.2061615, "cg_dw": 49.8630638, "cg_id_a": -0.157024175, "cg_id_raw_a": -0.204972401, "cg_iq_a": 0.241870463, "cg_iq_raw_a": 0.0493588708, "cg_iu_a": -0.21021843, "cg_iv_a": -0.0984381139, "cg_iw_a": 0.308656543, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 10992813, "cg_sample_valid": 1, "cg_theta_rad": 2.0202136, "cg_vd_req_v": -0.184218064, "cg_vd_v": -0.184218064, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.321006775, "cg_vq_v": 0.321006775, "cg_vu_v": 102.93486, "cg_vv_v": 93.2572174, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": 0.126052976, "dclink_p_w": 18.2984238, "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": 36.0662231, "temp_inv2_c": 38.8967285, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125987634, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1795.00061, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23628, "EncoderSin": 51348, "GapTicks": 54763, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7849197, "cg_dv": 50.2150803, "cg_dw": 49.8228035, "cg_id_a": -0.471570224, "cg_id_raw_a": -0.0163653269, "cg_iq_a": -0.469469637, "cg_iq_raw_a": -0.849665701, "cg_iu_a": -0.0289992094, "cg_iv_a": 0.191512555, "cg_iw_a": -0.162513345, "cg_sample_age_us": 23.772728, "cg_sample_seq": 10997813, "cg_sample_valid": 1, "cg_theta_rad": 2.02157116, "cg_vd_req_v": -0.17206499, "cg_vd_v": -0.17206499, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.358900607, "cg_vq_v": 0.358900607, "cg_vu_v": 124.049698, "cg_vv_v": 143.844864, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.171146512, "dclink_p_w": -24.8444061, "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": 35.9663391, "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": 0.123318836, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1796.001099, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23677, "EncoderSin": 51370, "GapTicks": 54758, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7804489, "cg_dv": 50.2195511, "cg_dw": 49.8275223, "cg_id_a": -0.0251146555, "cg_id_raw_a": 0.161959961, "cg_iq_a": -0.0966023058, "cg_iq_raw_a": -0.197385639, "cg_iu_a": -1.18880177, "cg_iv_a": 0.0465371609, "cg_iw_a": 1.1422646, "cg_sample_age_us": 23.7145462, "cg_sample_seq": 11002862, "cg_sample_valid": 1, "cg_theta_rad": 2.0205946, "cg_vd_req_v": -0.185405582, "cg_vd_v": -0.185405582, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.3576774, "cg_vq_v": 0.3576774, "cg_vu_v": 40.9100075, "cg_vv_v": 48.8280716, "cg_vw_v": 71.2625961, "control_outputs_enabled": 1, "dclink_i_a": -0.636879802, "dclink_p_w": -92.1722107, "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": 35.9413757, "temp_inv2_c": 38.8279419, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1797.001343, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23639, "EncoderSin": 51365, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7883644, "cg_dv": 50.2116356, "cg_dw": 49.884655, "cg_id_a": 0.029399395, "cg_id_raw_a": 0.314230293, "cg_iq_a": 0.0925644487, "cg_iq_raw_a": 0.328009397, "cg_iu_a": -0.717632055, "cg_iv_a": 0.155268699, "cg_iw_a": -0.416220099, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 11007812, "cg_sample_valid": 1, "cg_theta_rad": 2.02013469, "cg_vd_req_v": -0.206397101, "cg_vd_v": -0.206397101, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.308011532, "cg_vq_v": 0.308011532, "cg_vu_v": 36.0711899, "cg_vv_v": 34.3116188, "cg_vw_v": 31.6722641, "control_outputs_enabled": 1, "dclink_i_a": -0.640504003, "dclink_p_w": -92.9784775, "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": 35.8914795, "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": 0.126440838, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1797.995605, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51323, "GapTicks": 54763, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7852898, "cg_dv": 50.2147102, "cg_dw": 49.9226265, "cg_id_a": -0.0828859359, "cg_id_raw_a": -0.225627542, "cg_iq_a": -0.108468957, "cg_iq_raw_a": -0.307783157, "cg_iu_a": -0.173974514, "cg_iv_a": -0.315901101, "cg_iw_a": 0.489875615, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 11012713, "cg_sample_valid": 1, "cg_theta_rad": 2.01987314, "cg_vd_req_v": -0.231260598, "cg_vd_v": -0.231260598, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.284321129, "cg_vq_v": 0.284321129, "cg_vu_v": 22.4345207, "cg_vv_v": 0.43989256, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.912544191, "dclink_p_w": 132.46907, "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": 35.8416443, "temp_inv2_c": 38.7412109, "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": 0.129512474, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1799.004395, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23638, "EncoderSin": 51378, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7837944, "cg_dv": 50.2162056, "cg_dw": 49.8267288, "cg_id_a": 0.146763831, "cg_id_raw_a": 0.165483028, "cg_iq_a": 0.0777570829, "cg_iq_raw_a": 0.07576482, "cg_iu_a": 0.478414416, "cg_iv_a": -0.0621943474, "cg_iw_a": -0.416220069, "cg_sample_age_us": 23.7109089, "cg_sample_seq": 11017866, "cg_sample_valid": 1, "cg_theta_rad": 2.01996756, "cg_vd_req_v": -0.177809969, "cg_vd_v": -0.177809969, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.35619548, "cg_vq_v": 0.35619548, "cg_vu_v": 130.208206, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.345116854, "dclink_p_w": -49.9469185, "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": 35.7669678, "temp_inv2_c": 38.6676941, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128001824, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1799.993286, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51377, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7821007, "cg_dv": 50.2178993, "cg_dw": 49.8198471, "cg_id_a": 0.115009069, "cg_id_raw_a": 0.366463929, "cg_iq_a": 0.162853986, "cg_iq_raw_a": 0.193710506, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.0175379515, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 11022862, "cg_sample_valid": 1, "cg_theta_rad": 2.02065063, "cg_vd_req_v": -0.176234275, "cg_vd_v": -0.176234275, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.362975895, "cg_vq_v": 0.362975895, "cg_vu_v": 16.2760258, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.0388565063, "dclink_p_w": -5.62349463, "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": 35.7420959, "temp_inv2_c": 38.6497192, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1801.002075, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23628, "EncoderSin": 51320, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7896729, "cg_dv": 50.2103271, "cg_dw": 49.7941513, "cg_id_a": -0.752782047, "cg_id_raw_a": -0.563559771, "cg_iq_a": -0.650479436, "cg_iq_raw_a": -0.126422718, "cg_iu_a": -0.101486802, "cg_iv_a": -0.642095625, "cg_iw_a": 0.743582428, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 11027913, "cg_sample_valid": 1, "cg_theta_rad": 2.02019072, "cg_vd_req_v": -0.147856236, "cg_vd_v": -0.147856236, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.376984835, "cg_vq_v": 0.376984835, "cg_vu_v": 136.806595, "cg_vv_v": 123.60981, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.145775795, "dclink_p_w": -21.0973511, "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": 35.7172241, "temp_inv2_c": 38.6187134, "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": 0.129864946, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1802.002563, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23625, "EncoderSin": 51346, "GapTicks": 54745, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7688828, "cg_dv": 50.2311172, "cg_dw": 49.8040428, "cg_id_a": 0.150790125, "cg_id_raw_a": 0.00947140064, "cg_iq_a": -0.132180512, "cg_iq_raw_a": -0.21827729, "cg_iu_a": 0.0434883833, "cg_iv_a": -0.460876435, "cg_iw_a": 0.417388052, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 11032912, "cg_sample_valid": 1, "cg_theta_rad": 2.01774335, "cg_vd_req_v": -0.181195855, "cg_vd_v": -0.181195855, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.389983296, "cg_vq_v": 0.389983296, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.085297, "control_outputs_enabled": 1, "dclink_i_a": 0.55010587, "dclink_p_w": 79.613884, "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": 35.6427002, "temp_inv2_c": 38.5844727, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126994744, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1803.003052, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51358, "GapTicks": 54754, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7764931, "cg_dv": 50.2235069, "cg_dw": 49.8013496, "cg_id_a": -0.482361913, "cg_id_raw_a": -0.0894057676, "cg_iq_a": -0.0789061263, "cg_iq_raw_a": 0.326300591, "cg_iu_a": -0.717632055, "cg_iv_a": -0.31590116, "cg_iw_a": 1.03353322, "cg_sample_age_us": 23.7218189, "cg_sample_seq": 11037912, "cg_sample_valid": 1, "cg_theta_rad": 2.01958108, "cg_vd_req_v": -0.17166543, "cg_vd_v": -0.17166543, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.3831155, "cg_vq_v": 0.3831155, "cg_vu_v": 42.2296829, "cg_vv_v": 53.2269974, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.261756063, "dclink_p_w": -37.8825569, "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": 35.6427002, "temp_inv2_c": 38.5437317, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000704966777, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.130368501, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1804.003418, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23637, "EncoderSin": 51328, "GapTicks": 54759, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7811165, "cg_dv": 50.2188835, "cg_dw": 49.8451805, "cg_id_a": 0.203210026, "cg_id_raw_a": 0.211468145, "cg_iq_a": 0.555913329, "cg_iq_raw_a": 0.131229103, "cg_iu_a": 0.152219892, "cg_iv_a": -0.207169622, "cg_iw_a": 0.0549497306, "cg_sample_age_us": 23.5727272, "cg_sample_seq": 11042862, "cg_sample_valid": 1, "cg_theta_rad": 2.02086949, "cg_vd_req_v": -0.190534607, "cg_vd_v": -0.190534607, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.346128702, "cg_vq_v": 0.346128702, "cg_vu_v": 143.844864, "cg_vv_v": 141.205521, "cg_vw_v": 136.366699, "control_outputs_enabled": 1, "dclink_i_a": -0.647752881, "dclink_p_w": -93.7458115, "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": 35.543457, "temp_inv2_c": 38.4916382, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129311055, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1805.003906, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23657, "EncoderSin": 51353, "GapTicks": 54744, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7679482, "cg_dv": 50.2320518, "cg_dw": 49.7929535, "cg_id_a": 0.255552739, "cg_id_raw_a": -0.119756058, "cg_iq_a": -0.114298627, "cg_iq_raw_a": -0.113862462, "cg_iu_a": 0.224707603, "cg_iv_a": -0.170925796, "cg_iw_a": -0.0537818, "cg_sample_age_us": 23.6672726, "cg_sample_seq": 11047813, "cg_sample_valid": 1, "cg_theta_rad": 2.02099228, "cg_vd_req_v": -0.178208709, "cg_vd_v": -0.178208709, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.396704346, "cg_vq_v": 0.396704346, "cg_vu_v": 138.126266, "cg_vv_v": 143.404984, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": 0.0100727081, "dclink_p_w": 1.45776916, "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": 35.5682678, "temp_inv2_c": 38.444458, "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": 0.130972773, "tim_isr_running": 1, "vdc_v": 144.28476}}
{"type": "telemetry", "t": 1806.00415, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23631, "EncoderSin": 51340, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7836761, "cg_dv": 50.2163239, "cg_dw": 49.8245087, "cg_id_a": 0.0151969567, "cg_id_raw_a": -0.107443854, "cg_iq_a": 0.463975012, "cg_iq_raw_a": 0.435694754, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.155268699, "cg_iw_a": -0.162513286, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11052863, "cg_sample_valid": 1, "cg_theta_rad": 2.02026963, "cg_vd_req_v": -0.174650371, "cg_vd_v": -0.174650371, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.358960748, "cg_vq_v": 0.358960748, "cg_vu_v": 102.93486, "cg_vv_v": 93.6971207, "cg_vw_v": 72.5822754, "control_outputs_enabled": 1, "dclink_i_a": -0.531772614, "dclink_p_w": -76.9606094, "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": 35.4938965, "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": 0.126591891, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1806.996216, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23622, "EncoderSin": 51349, "GapTicks": 54765, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7871628, "cg_dv": 50.2128372, "cg_dw": 49.848877, "cg_id_a": -0.260778904, "cg_id_raw_a": 0.140016258, "cg_iq_a": -0.0714741498, "cg_iq_raw_a": 0.142362729, "cg_iu_a": -0.898851275, "cg_iv_a": 0.372731686, "cg_iw_a": 0.52611959, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11057813, "cg_sample_valid": 1, "cg_theta_rad": 2.0213058, "cg_vd_req_v": -0.184561491, "cg_vd_v": -0.184561491, "cg_vdc_v": 144.28476, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337204635, "cg_vq_v": 0.337204635, "cg_vu_v": 144.28476, "cg_vv_v": 142.965088, "cg_vw_v": 141.645401, "control_outputs_enabled": 1, "dclink_i_a": -0.352365613, "dclink_p_w": -51.1509972, "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": 35.4691162, "temp_inv2_c": 38.3891907, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126138702, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1807.985718, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23616, "EncoderSin": 51428, "GapTicks": 54755, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7778053, "cg_dv": 50.2221947, "cg_dw": 49.8046341, "cg_id_a": -0.0922861546, "cg_id_raw_a": 0.569037795, "cg_iq_a": -0.414462179, "cg_iq_raw_a": 0.0781690478, "cg_iu_a": -0.0289992094, "cg_iv_a": -0.352144957, "cg_iw_a": 0.381144166, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 11062762, "cg_sample_valid": 1, "cg_theta_rad": 2.01936913, "cg_vd_req_v": -0.173005804, "cg_vd_v": -0.173005804, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.380176455, "cg_vq_v": 0.380176455, "cg_vu_v": 40.4701157, "cg_vv_v": 48.3881836, "cg_vw_v": 69.0631332, "control_outputs_enabled": 1, "dclink_i_a": -0.0642271042, "dclink_p_w": -9.29524517, "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": 35.3701172, "temp_inv2_c": 38.3291016, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124779128, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1809.00769, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23628, "EncoderSin": 51363, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7946625, "cg_dv": 50.2053375, "cg_dw": 49.8193016, "cg_id_a": -0.605900049, "cg_id_raw_a": 0.248792365, "cg_iq_a": 0.435489923, "cg_iq_raw_a": 1.0787456, "cg_iu_a": 0.333439112, "cg_iv_a": 0.336487889, "cg_iw_a": -0.669927001, "cg_sample_age_us": 26.6163635, "cg_sample_seq": 11067866, "cg_sample_valid": 1, "cg_theta_rad": 2.02086926, "cg_vd_req_v": -0.158312201, "cg_vd_v": -0.158312201, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.352112561, "cg_vq_v": 0.352112561, "cg_vu_v": 103.814644, "cg_vv_v": 95.8965836, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": 0.0789359808, "dclink_p_w": 11.4239826, "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": 35.3454285, "temp_inv2_c": 38.3063965, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123671323, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1809.988037, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23631, "EncoderSin": 51381, "GapTicks": 54768, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7891769, "cg_dv": 50.2108231, "cg_dw": 49.8345871, "cg_id_a": -0.190889403, "cg_id_raw_a": 0.392243266, "cg_iq_a": -0.03339535, "cg_iq_raw_a": 0.358376712, "cg_iu_a": -0.282706141, "cg_iv_a": 0.227756366, "cg_iw_a": 0.0549497753, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11072863, "cg_sample_valid": 1, "cg_theta_rad": 2.02067184, "cg_vd_req_v": -0.175103709, "cg_vd_v": -0.175103709, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.344871759, "cg_vq_v": 0.344871759, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": -0.439350843, "dclink_p_w": -63.7781677, "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": 35.3454285, "temp_inv2_c": 38.2674866, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125081256, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1810.996826, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23633, "EncoderSin": 51355, "GapTicks": 54753, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7759514, "cg_dv": 50.2240486, "cg_dw": 49.8065834, "cg_id_a": -0.279608846, "cg_id_raw_a": -0.315045118, "cg_iq_a": -0.136105835, "cg_iq_raw_a": -0.421800494, "cg_iu_a": -0.21021843, "cg_iv_a": -0.207169652, "cg_iw_a": 0.417388082, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11077813, "cg_sample_valid": 1, "cg_theta_rad": 2.02068686, "cg_vd_req_v": -0.175110132, "cg_vd_v": -0.175110132, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.381330699, "cg_vq_v": 0.381330699, "cg_vu_v": 123.60981, "cg_vv_v": 144.28476, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": -0.702118516, "dclink_p_w": -101.613861, "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": 35.2960205, "temp_inv2_c": 38.2415466, "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": 0.131979853, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1811.997192, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23604, "EncoderSin": 51368, "GapTicks": 54755, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7776337, "cg_dv": 50.2223663, "cg_dw": 49.8344269, "cg_id_a": 0.236911505, "cg_id_raw_a": 0.720213473, "cg_iq_a": -0.111319795, "cg_iq_raw_a": 0.32444641, "cg_iu_a": 0.224707544, "cg_iv_a": -0.0621942878, "cg_iw_a": -0.162513256, "cg_sample_age_us": 23.641819, "cg_sample_seq": 11082912, "cg_sample_valid": 1, "cg_theta_rad": 2.02153301, "cg_vd_req_v": -0.188036785, "cg_vd_v": -0.188036785, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.359514743, "cg_vq_v": 0.359514743, "cg_vu_v": 15.3962402, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.47559464, "dclink_p_w": -68.8302689, "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": 35.2713318, "temp_inv2_c": 38.184845, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000805676333, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1812.997681, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23637, "EncoderSin": 51348, "GapTicks": 54781, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8011093, "cg_dv": 50.1988907, "cg_dw": 49.8468628, "cg_id_a": -0.752266049, "cg_id_raw_a": -0.230504364, "cg_iq_a": -0.0475296602, "cg_iq_raw_a": -0.350268036, "cg_iu_a": -0.826363564, "cg_iv_a": -0.0259504318, "cg_iw_a": 0.381144255, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 11087862, "cg_sample_valid": 1, "cg_theta_rad": 2.02011204, "cg_vd_req_v": -0.166252211, "cg_vd_v": -0.166252211, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.323514342, "cg_vq_v": 0.323514342, "cg_vu_v": 3.95903301, "cg_vv_v": 0.43989256, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.359614372, "dclink_p_w": -52.0450668, "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": 35.2219543, "temp_inv2_c": 38.1460266, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000503547722, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129512474, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1813.998169, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23631, "EncoderSin": 51343, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7885513, "cg_dv": 50.2114487, "cg_dw": 49.857254, "cg_id_a": -0.289042026, "cg_id_raw_a": -0.0163250156, "cg_iq_a": -0.373143911, "cg_iq_raw_a": -0.383637309, "cg_iu_a": -0.39143765, "cg_iv_a": -0.279657304, "cg_iw_a": 0.671094954, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11092812, "cg_sample_valid": 1, "cg_theta_rad": 2.0199132, "cg_vd_req_v": -0.188854292, "cg_vd_v": -0.188854292, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.330211192, "cg_vq_v": 0.330211192, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": -0.65862596, "dclink_p_w": -95.3194122, "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": 35.1480103, "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": 0.128958568, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1814.998657, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23611, "EncoderSin": 51333, "GapTicks": 54757, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7796326, "cg_dv": 50.2203674, "cg_dw": 49.7999268, "cg_id_a": -0.180713087, "cg_id_raw_a": 0.367458582, "cg_iq_a": 0.0285468493, "cg_iq_raw_a": -0.0435642377, "cg_iu_a": 0.188463748, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.198757112, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11097912, "cg_sample_valid": 1, "cg_theta_rad": 2.02113295, "cg_vd_req_v": -0.163043603, "cg_vd_v": -0.163043603, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.382489532, "cg_vq_v": 0.382489532, "cg_vu_v": 41.7897949, "cg_vv_v": 51.9073219, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.334243774, "dclink_p_w": -48.3733139, "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": 35.2466431, "temp_inv2_c": 38.0700378, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124124512, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1815.999023, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23621, "EncoderSin": 51366, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7878799, "cg_dv": 50.2121201, "cg_dw": 49.8454323, "cg_id_a": -0.458842576, "cg_id_raw_a": -0.348131061, "cg_iq_a": -0.399251729, "cg_iq_raw_a": -0.628058374, "cg_iu_a": -0.246462226, "cg_iv_a": -0.170925796, "cg_iw_a": 0.417388022, "cg_sample_age_us": 23.7254543, "cg_sample_seq": 11102812, "cg_sample_valid": 1, "cg_theta_rad": 2.02026391, "cg_vd_req_v": -0.182624146, "cg_vd_v": -0.182624146, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.33977595, "cg_vq_v": 0.33977595, "cg_vu_v": 0.87978512, "cg_vv_v": 1.31967759, "cg_vw_v": 3.95903301, "control_outputs_enabled": 1, "dclink_i_a": -0.703930736, "dclink_p_w": -101.876129, "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": 35.1233826, "temp_inv2_c": 38.0377502, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128152892, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1816.99939, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51400, "GapTicks": 54757, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7797318, "cg_dv": 50.2202682, "cg_dw": 49.8262596, "cg_id_a": 0.228666902, "cg_id_raw_a": -0.0418578684, "cg_iq_a": -0.046422299, "cg_iq_raw_a": -0.0832555145, "cg_iu_a": -0.101486802, "cg_iv_a": 0.843901515, "cg_iw_a": -0.742414713, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 11107767, "cg_sample_valid": 1, "cg_theta_rad": 2.02079988, "cg_vd_req_v": -0.183901161, "cg_vd_v": -0.183901161, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.361623794, "cg_vq_v": 0.361623794, "cg_vu_v": 106.893898, "cg_vv_v": 103.374756, "cg_vw_v": 94.1370087, "control_outputs_enabled": 1, "dclink_i_a": -0.267192602, "dclink_p_w": -38.7868958, "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": 35.04953, "temp_inv2_c": 37.9989929, "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": 0.127699703, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1817.989014, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23648, "EncoderSin": 51384, "GapTicks": 54750, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7734642, "cg_dv": 50.2265358, "cg_dw": 49.8205299, "cg_id_a": 0.206956595, "cg_id_raw_a": 0.104018889, "cg_iq_a": 0.111103803, "cg_iq_raw_a": 0.402713686, "cg_iu_a": 0.62338984, "cg_iv_a": -0.750827134, "cg_iw_a": 0.127437279, "cg_sample_age_us": 23.7290916, "cg_sample_seq": 11112612, "cg_sample_valid": 1, "cg_theta_rad": 2.02019191, "cg_vd_req_v": -0.188601449, "cg_vd_v": -0.188601449, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.371119916, "cg_vq_v": 0.371119916, "cg_vu_v": 18.9153805, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.142151356, "dclink_p_w": -20.5728054, "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": 35.0003357, "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": 0.126340121, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1818.990845, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23622, "EncoderSin": 51358, "GapTicks": 54758, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7800598, "cg_dv": 50.2199402, "cg_dw": 49.835598, "cg_id_a": 0.213114813, "cg_id_raw_a": 0.608669341, "cg_iq_a": 0.141253024, "cg_iq_raw_a": 0.555798352, "cg_iu_a": 0.00724458694, "cg_iv_a": 0.119024858, "cg_iw_a": -0.126269445, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 11117813, "cg_sample_valid": 1, "cg_theta_rad": 2.02190208, "cg_vd_req_v": -0.186618567, "cg_vd_v": -0.186618567, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.355531961, "cg_vq_v": 0.355531961, "cg_vu_v": 106.453995, "cg_vv_v": 102.055069, "cg_vw_v": 90.1779785, "control_outputs_enabled": 1, "dclink_i_a": 0.472181618, "dclink_p_w": 68.5440292, "enc_isr_hz": 5001, "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": 34.975769, "temp_inv2_c": 37.9328918, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124376282, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1819.999634, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23613, "EncoderSin": 51329, "GapTicks": 54761, "Mech_RPM": -3.50324616e-44, "cg_du": 49.78302, "cg_dv": 50.21698, "cg_dw": 49.8104973, "cg_id_a": -0.423762262, "cg_id_raw_a": -1.16434336, "cg_iq_a": -0.577130497, "cg_iq_raw_a": -0.43014589, "cg_iu_a": -0.427681327, "cg_iv_a": -0.605851769, "cg_iw_a": 1.0335331, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 11122862, "cg_sample_valid": 1, "cg_theta_rad": 2.0219605, "cg_vd_req_v": -0.167113975, "cg_vd_v": -0.167113975, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.371470839, "cg_vq_v": 0.371470839, "cg_vu_v": 144.28476, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": 0.281901479, "dclink_p_w": 40.9221001, "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": 34.975769, "temp_inv2_c": 37.895813, "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": 0.123872742, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1820.991577, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23610, "EncoderSin": 51331, "GapTicks": 54755, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7777748, "cg_dv": 50.2222252, "cg_dw": 49.8203812, "cg_id_a": 0.266788095, "cg_id_raw_a": -0.140085444, "cg_iq_a": 0.0755550191, "cg_iq_raw_a": -0.00324820378, "cg_iu_a": 0.333439112, "cg_iv_a": 0.119024843, "cg_iw_a": -0.452463955, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 11127912, "cg_sample_valid": 1, "cg_theta_rad": 2.02041173, "cg_vd_req_v": -0.178318083, "cg_vd_v": -0.178318083, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.370365888, "cg_vq_v": 0.370365888, "cg_vu_v": 39.590332, "cg_vv_v": 44.8690414, "cg_vw_v": 59.825386, "control_outputs_enabled": 1, "dclink_i_a": -0.430289865, "dclink_p_w": -62.2735519, "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": 34.9266357, "temp_inv2_c": 37.8475342, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125685513, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1822.00061, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23636, "EncoderSin": 51344, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7823753, "cg_dv": 50.2176247, "cg_dw": 49.8251114, "cg_id_a": 0.200206637, "cg_id_raw_a": 0.54938966, "cg_iq_a": 0.39772895, "cg_iq_raw_a": 0.41762507, "cg_iu_a": -0.173974514, "cg_iv_a": -0.0984381139, "cg_iw_a": 0.272412628, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 11132912, "cg_sample_valid": 1, "cg_theta_rad": 2.02210379, "cg_vd_req_v": -0.177792326, "cg_vd_v": -0.177792326, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.360703021, "cg_vq_v": 0.360703021, "cg_vu_v": 40.9100075, "cg_vv_v": 48.8280716, "cg_vw_v": 70.8227005, "control_outputs_enabled": 1, "dclink_i_a": -0.19651711, "dclink_p_w": -28.527317, "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": 34.8529968, "temp_inv2_c": 37.7864075, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1823.001099, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23617, "EncoderSin": 51336, "GapTicks": 54757, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7798996, "cg_dv": 50.2201004, "cg_dw": 49.8087196, "cg_id_a": -0.362832546, "cg_id_raw_a": -0.374750286, "cg_iq_a": -0.266312927, "cg_iq_raw_a": -0.092881538, "cg_iu_a": -0.282706022, "cg_iv_a": 0.119024873, "cg_iw_a": 0.163681149, "cg_sample_age_us": 23.7181816, "cg_sample_seq": 11137913, "cg_sample_valid": 1, "cg_theta_rad": 2.01938081, "cg_vd_req_v": -0.169189408, "cg_vd_v": -0.169189408, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.376501173, "cg_vq_v": 0.376501173, "cg_vu_v": 116.131638, "cg_vv_v": 130.648087, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.0608141422, "dclink_p_w": 8.80130577, "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": 34.8284607, "temp_inv2_c": 37.7735596, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124930188, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1824.001465, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23617, "EncoderSin": 51346, "GapTicks": 54757, "Mech_RPM": -3.50324616e-44, "cg_du": 49.779438, "cg_dv": 50.220562, "cg_dw": 49.8193054, "cg_id_a": -0.520102739, "cg_id_raw_a": -0.08233542, "cg_iq_a": -0.255629659, "cg_iq_raw_a": -0.330806345, "cg_iu_a": 0.00724464655, "cg_iv_a": 0.191512525, "cg_iw_a": -0.198757172, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 11142862, "cg_sample_valid": 1, "cg_theta_rad": 2.02133441, "cg_vd_req_v": -0.176648036, "cg_vd_v": -0.176648036, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.368862242, "cg_vq_v": 0.368862242, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.410567105, "dclink_p_w": 59.5997887, "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": 34.7549438, "temp_inv2_c": 37.743042, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123016708, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1825.001953, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23628, "EncoderSin": 51351, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7915077, "cg_dv": 50.2084923, "cg_dw": 49.882988, "cg_id_a": 0.0489333495, "cg_id_raw_a": 0.400097817, "cg_iq_a": 0.146254972, "cg_iq_raw_a": 0.398227364, "cg_iu_a": -0.0289992094, "cg_iv_a": 0.300244063, "cg_iw_a": -0.271244854, "cg_sample_age_us": 23.6781826, "cg_sample_seq": 11147812, "cg_sample_valid": 1, "cg_theta_rad": 2.02073598, "cg_vd_req_v": -0.200101584, "cg_vd_v": -0.200101584, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.306755513, "cg_vq_v": 0.306755513, "cg_vu_v": 29.0329094, "cg_vv_v": 16.7159176, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.285525799, "dclink_p_w": 41.4482231, "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": 34.7794495, "temp_inv2_c": 37.7141113, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.129562825, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1826.002197, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23626, "EncoderSin": 51388, "GapTicks": 54760, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7821999, "cg_dv": 50.2178001, "cg_dw": 49.8408051, "cg_id_a": 0.0846867412, "cg_id_raw_a": 0.0240668207, "cg_iq_a": -0.0339761674, "cg_iq_raw_a": -0.368513405, "cg_iu_a": 0.188463748, "cg_iv_a": 0.227756351, "cg_iw_a": -0.416220099, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11152913, "cg_sample_valid": 1, "cg_theta_rad": 2.02098608, "cg_vd_req_v": -0.187826395, "cg_vd_v": -0.187826395, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.347544491, "cg_vq_v": 0.347544491, "cg_vu_v": 105.134323, "cg_vv_v": 98.5359344, "cg_vw_v": 79.6205521, "control_outputs_enabled": 1, "dclink_i_a": -0.700306535, "dclink_p_w": -101.351624, "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": 34.7304688, "temp_inv2_c": 37.6755981, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000201419083, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124577709, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1827.002686, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23614, "EncoderSin": 51298, "GapTicks": 54759, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7814598, "cg_dv": 50.2185402, "cg_dw": 49.8357735, "cg_id_a": 0.128391415, "cg_id_raw_a": 0.132239252, "cg_iq_a": -0.162815839, "cg_iq_raw_a": -0.132930055, "cg_iu_a": 0.152219951, "cg_iv_a": -0.170925781, "cg_iw_a": 0.01870583, "cg_sample_age_us": 23.6490917, "cg_sample_seq": 11157862, "cg_sample_valid": 1, "cg_theta_rad": 2.02257037, "cg_vd_req_v": -0.182041764, "cg_vd_v": -0.182041764, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.355401516, "cg_vq_v": 0.355401516, "cg_vu_v": 0.43989256, "cg_vv_v": 0.87978512, "cg_vw_v": 2.63935518, "control_outputs_enabled": 1, "dclink_i_a": -0.582513928, "dclink_p_w": -84.5603714, "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": 34.7059937, "temp_inv2_c": 37.6451416, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.125584796, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1827.996948, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23623, "EncoderSin": 51351, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7886086, "cg_dv": 50.2113914, "cg_dw": 49.880455, "cg_id_a": 0.0271665305, "cg_id_raw_a": 0.1337661, "cg_iq_a": -0.162645444, "cg_iq_raw_a": 0.567116857, "cg_iu_a": -0.0289992094, "cg_iv_a": 0.0465371981, "cg_iw_a": -0.0175379887, "cg_sample_age_us": 23.7145462, "cg_sample_seq": 11162714, "cg_sample_valid": 1, "cg_theta_rad": 2.02146101, "cg_vd_req_v": -0.202612773, "cg_vd_v": -0.202612773, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.312871337, "cg_vq_v": 0.312871337, "cg_vu_v": 116.571533, "cg_vv_v": 131.527878, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": -0.412167907, "dclink_p_w": -59.8321686, "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": 34.7059937, "temp_inv2_c": 37.6467285, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124225222, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1829.005737, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51353, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7904396, "cg_dv": 50.2095604, "cg_dw": 49.8345108, "cg_id_a": -0.217211157, "cg_id_raw_a": 0.00871002767, "cg_iq_a": 0.0900582597, "cg_iq_raw_a": 0.247796297, "cg_iu_a": -0.826363564, "cg_iv_a": 0.264000177, "cg_iw_a": 0.562363386, "cg_sample_age_us": 26.6054554, "cg_sample_seq": 11167866, "cg_sample_valid": 1, "cg_theta_rad": 2.02107811, "cg_vd_req_v": -0.173300117, "cg_vd_v": -0.173300117, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.343660325, "cg_vq_v": 0.343660325, "cg_vu_v": 24.1940918, "cg_vv_v": 4.39892578, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": 0.116991997, "dclink_p_w": 16.9316273, "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": 34.6081543, "temp_inv2_c": 37.5746155, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123973452, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1829.994629, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23610, "EncoderSin": 51414, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7932434, "cg_dv": 50.2067566, "cg_dw": 49.8282318, "cg_id_a": -0.137993425, "cg_id_raw_a": 0.0798466578, "cg_iq_a": -0.157540053, "cg_iq_raw_a": 0.469744176, "cg_iu_a": -0.0289992094, "cg_iv_a": -0.243413448, "cg_iw_a": 0.272412658, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 11172863, "cg_sample_valid": 1, "cg_theta_rad": 2.02165437, "cg_vd_req_v": -0.166080132, "cg_vd_v": -0.166080132, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.346640259, "cg_vq_v": 0.346640259, "cg_vu_v": 120.090675, "cg_vv_v": 142.085297, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.0807482004, "dclink_p_w": 11.6862555, "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": 34.6081543, "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": 0.126894027, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1830.994995, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23616, "EncoderSin": 51371, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7907028, "cg_dv": 50.2092972, "cg_dw": 49.8471527, "cg_id_a": -0.114810742, "cg_id_raw_a": -0.348443896, "cg_iq_a": -0.18795754, "cg_iq_raw_a": -0.394845754, "cg_iu_a": 0.0797322989, "cg_iv_a": 0.481463194, "cg_iw_a": -0.561195493, "cg_sample_age_us": 23.6745453, "cg_sample_seq": 11177913, "cg_sample_valid": 1, "cg_theta_rad": 2.02148938, "cg_vd_req_v": -0.179796368, "cg_vd_v": -0.179796368, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.335609406, "cg_vq_v": 0.335609406, "cg_vu_v": 25.0738773, "cg_vv_v": 7.03828096, "cg_vw_v": 0.87978512, "control_outputs_enabled": 1, "dclink_i_a": -0.0297955275, "dclink_p_w": -4.32525444, "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": 34.5348816, "temp_inv2_c": 37.4849548, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.122664221, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1832.003906, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23636, "EncoderSin": 51380, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.790905, "cg_dv": 50.209095, "cg_dw": 49.8447189, "cg_id_a": -0.239218086, "cg_id_raw_a": 0.635980606, "cg_iq_a": 0.0182977319, "cg_iq_raw_a": 0.998933494, "cg_iu_a": -0.572656751, "cg_iv_a": -0.31590116, "cg_iw_a": 0.888557911, "cg_sample_age_us": 23.6527271, "cg_sample_seq": 11182913, "cg_sample_valid": 1, "cg_theta_rad": 2.02177596, "cg_vd_req_v": -0.179291531, "cg_vd_v": -0.179291531, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.335256845, "cg_vq_v": 0.335256845, "cg_vu_v": 136.366699, "cg_vv_v": 143.844864, "cg_vw_v": 143.404984, "control_outputs_enabled": 1, "dclink_i_a": -0.586138368, "dclink_p_w": -84.8286743, "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": 34.5592957, "temp_inv2_c": 37.4801941, "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": 0.125735864, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1833.004272, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23603, "EncoderSin": 51356, "GapTicks": 54765, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7866478, "cg_dv": 50.2133522, "cg_dw": 49.8820801, "cg_id_a": 0.376761526, "cg_id_raw_a": 0.408753008, "cg_iq_a": 0.591744542, "cg_iq_raw_a": 0.437563628, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.662682354, "cg_iw_a": -0.706170738, "cg_sample_age_us": 23.630909, "cg_sample_seq": 11187862, "cg_sample_valid": 1, "cg_theta_rad": 2.02123809, "cg_vd_req_v": -0.20432727, "cg_vd_v": -0.20432727, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.313551873, "cg_vq_v": 0.313551873, "cg_vu_v": 109.093361, "cg_vv_v": 109.093361, "cg_vw_v": 112.172607, "control_outputs_enabled": 1, "dclink_i_a": -0.0660393238, "dclink_p_w": -9.55751801, "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": 34.486084, "temp_inv2_c": 37.4370117, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126843661, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1833.996216, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23639, "EncoderSin": 51374, "GapTicks": 54767, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7887115, "cg_dv": 50.2112885, "cg_dw": 49.935154, "cg_id_a": -0.385063678, "cg_id_raw_a": -0.179021716, "cg_iq_a": -0.155091643, "cg_iq_raw_a": -0.0200003814, "cg_iu_a": 0.405926704, "cg_iv_a": 0.191512525, "cg_iw_a": -0.597439229, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 11192862, "cg_sample_valid": 1, "cg_theta_rad": 2.02127504, "cg_vd_req_v": -0.236665606, "cg_vd_v": -0.236665606, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.269404143, "cg_vq_v": 0.269404143, "cg_vu_v": 1.31967759, "cg_vv_v": 3.07924795, "cg_vw_v": 8.35795879, "control_outputs_enabled": 1, "dclink_i_a": -0.299812078, "dclink_p_w": -43.5220871, "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": 34.4129333, "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": 0.126944378, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1834.996704, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23653, "EncoderSin": 51334, "GapTicks": 54766, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7874718, "cg_dv": 50.2125282, "cg_dw": 49.8467865, "cg_id_a": 0.0394093618, "cg_id_raw_a": 0.391353905, "cg_iq_a": -0.0213633925, "cg_iq_raw_a": 0.591341078, "cg_iu_a": -0.282706141, "cg_iv_a": -0.497120261, "cg_iw_a": 0.779826403, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11197862, "cg_sample_valid": 1, "cg_theta_rad": 2.02187634, "cg_vd_req_v": -0.184641272, "cg_vd_v": -0.184641272, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.337490171, "cg_vq_v": 0.337490171, "cg_vu_v": 1.31967759, "cg_vv_v": 2.63935518, "cg_vw_v": 7.47817326, "control_outputs_enabled": 1, "dclink_i_a": 0.312708735, "dclink_p_w": 45.3942223, "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": 34.4373169, "temp_inv2_c": 37.3827209, "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": 0.125987634, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1835.99707, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23623, "EncoderSin": 51368, "GapTicks": 54756, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7788734, "cg_dv": 50.2211266, "cg_dw": 49.8200035, "cg_id_a": -0.639652133, "cg_id_raw_a": 0.172275826, "cg_iq_a": -1.1040262, "cg_iq_raw_a": 0.116397426, "cg_iu_a": 0.0434884429, "cg_iv_a": -0.0984381437, "cg_iw_a": 0.0549497008, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 11202762, "cg_sample_valid": 1, "cg_theta_rad": 2.02178979, "cg_vd_req_v": -0.178595901, "cg_vd_v": -0.178595901, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.367174059, "cg_vq_v": 0.367174059, "cg_vu_v": 42.6695786, "cg_vv_v": 54.5466805, "cg_vw_v": 73.0221634, "control_outputs_enabled": 1, "dclink_i_a": -0.533584833, "dclink_p_w": -77.4576035, "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": 34.3885803, "temp_inv2_c": 37.3571777, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000251773861, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.12628977, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1836.997437, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23627, "EncoderSin": 51352, "GapTicks": 54764, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7859726, "cg_dv": 50.2140274, "cg_dw": 49.8669357, "cg_id_a": 0.0706939697, "cg_id_raw_a": 0.23092474, "cg_iq_a": 0.115255937, "cg_iq_raw_a": 0.255329221, "cg_iu_a": -0.101486921, "cg_iv_a": -0.207169622, "cg_iw_a": 0.308656543, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11207862, "cg_sample_valid": 1, "cg_theta_rad": 2.0212605, "cg_vd_req_v": -0.197529122, "cg_vd_v": -0.197529122, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.32463941, "cg_vq_v": 0.32463941, "cg_vu_v": 118.3311, "cg_vv_v": 137.246475, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 0.0318189859, "dclink_p_w": 4.60499191, "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": 34.3398743, "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": 0.127246514, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1838.007324, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23642, "EncoderSin": 51416, "GapTicks": 54769, "Mech_RPM": -3.50324616e-44, "cg_du": 49.790535, "cg_dv": 50.209465, "cg_dw": 49.8691063, "cg_id_a": 0.175345063, "cg_id_raw_a": -0.256723255, "cg_iq_a": 0.508146048, "cg_iq_raw_a": -0.0517630018, "cg_iu_a": 0.44217056, "cg_iv_a": 0.445219338, "cg_iw_a": -0.887389898, "cg_sample_age_us": 26.6018181, "cg_sample_seq": 11212965, "cg_sample_valid": 1, "cg_theta_rad": 2.02064633, "cg_vd_req_v": -0.19607769, "cg_vd_v": -0.19607769, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.316278845, "cg_vq_v": 0.316278845, "cg_vu_v": 0.87978512, "cg_vv_v": 0.87978512, "cg_vw_v": 3.07924795, "control_outputs_enabled": 1, "dclink_i_a": 0.294586778, "dclink_p_w": 42.6339684, "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": 34.3642273, "temp_inv2_c": 37.3045349, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000352483388, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127548635, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1839.008911, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23646, "EncoderSin": 51406, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7957611, "cg_dv": 50.2042389, "cg_dw": 49.9007607, "cg_id_a": -0.0409203991, "cg_id_raw_a": -0.498590857, "cg_iq_a": -0.0157216582, "cg_iq_raw_a": 0.0473387763, "cg_iu_a": 0.405926824, "cg_iv_a": 0.0827810466, "cg_iw_a": -0.48870787, "cg_sample_age_us": 26.6236362, "cg_sample_seq": 11217866, "cg_sample_valid": 1, "cg_theta_rad": 2.02201962, "cg_vd_req_v": -0.208770245, "cg_vd_v": -0.208770245, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.28782472, "cg_vq_v": 0.28782472, "cg_vu_v": 36.0711899, "cg_vv_v": 34.7515144, "cg_vw_v": 32.9919434, "control_outputs_enabled": 1, "dclink_i_a": 0.439562142, "dclink_p_w": 63.8088417, "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": 34.2669067, "temp_inv2_c": 37.2471619, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.00015106432, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123620957, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1839.98938, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23616, "EncoderSin": 51328, "GapTicks": 54770, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7909622, "cg_dv": 50.2090378, "cg_dw": 49.9225616, "cg_id_a": -0.0929299444, "cg_id_raw_a": 0.518385768, "cg_iq_a": -0.0542169288, "cg_iq_raw_a": 0.207743362, "cg_iu_a": -0.173974633, "cg_iv_a": 0.336487859, "cg_iw_a": -0.162513226, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11222862, "cg_sample_valid": 1, "cg_theta_rad": 2.02118134, "cg_vd_req_v": -0.224082381, "cg_vd_v": -0.224082381, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.279604137, "cg_vq_v": 0.279604137, "cg_vu_v": 6.1584959, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": 0.323581934, "dclink_p_w": 46.9726257, "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": 34.2425842, "temp_inv2_c": 37.2280579, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124426633, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1840.998169, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23638, "EncoderSin": 51339, "GapTicks": 54765, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7864952, "cg_dv": 50.2135048, "cg_dw": 49.9342613, "cg_id_a": 0.136652142, "cg_id_raw_a": 0.250033587, "cg_iq_a": -0.227551579, "cg_iq_raw_a": 0.379616529, "cg_iu_a": 0.188463807, "cg_iv_a": -0.533364177, "cg_iw_a": 0.34490034, "cg_sample_age_us": 23.7399998, "cg_sample_seq": 11227862, "cg_sample_valid": 1, "cg_theta_rad": 2.02094531, "cg_vd_req_v": -0.238680035, "cg_vd_v": -0.238680035, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.274147451, "cg_vq_v": 0.274147451, "cg_vu_v": 19.795166, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.134902596, "dclink_p_w": -19.5830746, "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": 34.2425842, "temp_inv2_c": 37.1914368, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124678418, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1841.998657, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23619, "EncoderSin": 51387, "GapTicks": 54762, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7837524, "cg_dv": 50.2162476, "cg_dw": 49.8665886, "cg_id_a": 0.453501642, "cg_id_raw_a": -0.306996703, "cg_iq_a": -0.201956153, "cg_iq_raw_a": -1.079584, "cg_iu_a": 0.514658213, "cg_iv_a": 0.191512525, "cg_iw_a": -0.706170738, "cg_sample_age_us": 23.7800007, "cg_sample_seq": 11232912, "cg_sample_valid": 1, "cg_theta_rad": 2.01986623, "cg_vd_req_v": -0.201446742, "cg_vd_v": -0.201446742, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.327837616, "cg_vq_v": 0.327837616, "cg_vu_v": 36.0711899, "cg_vv_v": 35.1914063, "cg_vw_v": 33.4318352, "control_outputs_enabled": 1, "dclink_i_a": 0.0680629015, "dclink_p_w": 9.88032055, "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": 34.2182922, "temp_inv2_c": 37.1739502, "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": 0.12855573, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1842.999146, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23622, "EncoderSin": 51376, "GapTicks": 54774, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7948723, "cg_dv": 50.2051277, "cg_dw": 49.878891, "cg_id_a": -0.125176966, "cg_id_raw_a": 0.133170992, "cg_iq_a": 0.205806583, "cg_iq_raw_a": 0.101406686, "cg_iu_a": -0.101486921, "cg_iv_a": 0.155268699, "cg_iw_a": -0.0537817702, "cg_sample_age_us": 23.7545452, "cg_sample_seq": 11237912, "cg_sample_valid": 1, "cg_theta_rad": 2.02131534, "cg_vd_req_v": -0.19364728, "cg_vd_v": -0.19364728, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.306046993, "cg_vq_v": 0.306046993, "cg_vu_v": 40.9100075, "cg_vv_v": 49.2679672, "cg_vw_v": 71.7024918, "control_outputs_enabled": 1, "dclink_i_a": -0.488279939, "dclink_p_w": -70.6661453, "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": 34.1454163, "temp_inv2_c": 37.1469116, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000402838166, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124980539, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1843.999512, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23621, "EncoderSin": 51352, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7930984, "cg_dv": 50.2069016, "cg_dw": 49.9154396, "cg_id_a": 0.121971406, "cg_id_raw_a": 0.491666645, "cg_iq_a": -0.0186402202, "cg_iq_raw_a": 0.277293503, "cg_iu_a": 0.188463688, "cg_iv_a": -0.424632639, "cg_iw_a": 0.489875764, "cg_sample_age_us": 23.7618179, "cg_sample_seq": 11242813, "cg_sample_valid": 1, "cg_theta_rad": 2.02177262, "cg_vd_req_v": -0.217308775, "cg_vd_v": -0.217308775, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.28103894, "cg_vq_v": 0.28103894, "cg_vu_v": 136.806595, "cg_vv_v": 123.60981, "cg_vw_v": 108.653458, "control_outputs_enabled": 1, "dclink_i_a": -0.390421629, "dclink_p_w": -56.3318901, "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": 34.0969238, "temp_inv2_c": 37.102417, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.121858545, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1844.999878, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51367, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7930984, "cg_dv": 50.2069016, "cg_dw": 49.8874435, "cg_id_a": 0.427304238, "cg_id_raw_a": 0.555709779, "cg_iq_a": 0.108680397, "cg_iq_raw_a": 0.227058128, "cg_iu_a": 0.0797322392, "cg_iv_a": -0.315901101, "cg_iw_a": 0.236168861, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11247912, "cg_sample_valid": 1, "cg_theta_rad": 2.02057624, "cg_vd_req_v": -0.201634586, "cg_vd_v": -0.201634586, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.301141441, "cg_vq_v": 0.301141441, "cg_vu_v": 125.369385, "cg_vv_v": 144.28476, "cg_vw_v": 144.28476, "control_outputs_enabled": 1, "dclink_i_a": 0.702329934, "dclink_p_w": 101.644455, "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": 34.0969238, "temp_inv2_c": 37.0754089, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124275573, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1846.000366, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23634, "EncoderSin": 51368, "GapTicks": 54771, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7927208, "cg_dv": 50.2072792, "cg_dw": 49.9341354, "cg_id_a": 0.257358819, "cg_id_raw_a": 0.32165131, "cg_iq_a": 0.663736701, "cg_iq_raw_a": 0.136115029, "cg_iu_a": 0.804608941, "cg_iv_a": 0.408975601, "cg_iw_a": -1.21358454, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 11252863, "cg_sample_valid": 1, "cg_theta_rad": 2.0202322, "cg_vd_req_v": -0.231060535, "cg_vd_v": -0.231060535, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.267190725, "cg_vq_v": 0.267190725, "cg_vu_v": 116.131638, "cg_vv_v": 130.208206, "cg_vw_v": 144.724655, "control_outputs_enabled": 1, "dclink_i_a": 0.0807482004, "dclink_p_w": 11.6862555, "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": 34.0484009, "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": 0.124577709, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1847.000732, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23641, "EncoderSin": 51388, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7958488, "cg_dv": 50.2041512, "cg_dw": 49.8666496, "cg_id_a": -0.0475456528, "cg_id_raw_a": -0.0588478483, "cg_iq_a": -0.114906192, "cg_iq_raw_a": -0.440435112, "cg_iu_a": -0.355193734, "cg_iv_a": 0.372731715, "cg_iw_a": 0.0549497008, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 11257812, "cg_sample_valid": 1, "cg_theta_rad": 2.02272892, "cg_vd_req_v": -0.187230065, "cg_vd_v": -0.187230065, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.314167947, "cg_vq_v": 0.314167947, "cg_vu_v": 20.2350578, "cg_vv_v": 0.43989256, "cg_vw_v": 1.31967759, "control_outputs_enabled": 1, "dclink_i_a": -0.0624150038, "dclink_p_w": -9.06044579, "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": 34.0241699, "temp_inv2_c": 36.9992065, "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": 0.128908217, "tim_isr_running": 1, "vdc_v": 145.164551}}
{"type": "telemetry", "t": 1847.994995, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51406, "GapTicks": 54776, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7968216, "cg_dv": 50.2031784, "cg_dw": 49.9401932, "cg_id_a": 0.268152207, "cg_id_raw_a": 0.212396249, "cg_iq_a": 0.144508958, "cg_iq_raw_a": -0.0997776389, "cg_iu_a": -0.282706022, "cg_iv_a": 0.0827810466, "cg_iw_a": 0.199924976, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 11262713, "cg_sample_valid": 1, "cg_theta_rad": 2.02031589, "cg_vd_req_v": -0.230196685, "cg_vd_v": -0.230196685, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.2561737, "cg_vq_v": 0.2561737, "cg_vu_v": 1.75957024, "cg_vv_v": 0.87978512, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.481031179, "dclink_p_w": -69.8286743, "enc_isr_hz": 4999, "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": 33.9757385, "temp_inv2_c": 36.9944763, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123872742, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1849.012329, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23636, "EncoderSin": 51396, "GapTicks": 54771, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7922211, "cg_dv": 50.2077789, "cg_dw": 49.9846001, "cg_id_a": -0.370192558, "cg_id_raw_a": 0.184059396, "cg_iq_a": -0.133889198, "cg_iq_raw_a": 0.200157851, "cg_iu_a": 0.369682908, "cg_iv_a": -0.13468197, "cg_iw_a": -0.235000938, "cg_sample_age_us": 26.6127281, "cg_sample_seq": 11267865, "cg_sample_valid": 1, "cg_theta_rad": 2.01932907, "cg_vd_req_v": -0.262257993, "cg_vd_v": -0.262257993, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.228050843, "cg_vq_v": 0.228050843, "cg_vu_v": 144.724655, "cg_vv_v": 143.404984, "cg_vw_v": 142.525192, "control_outputs_enabled": 1, "dclink_i_a": 0.238408923, "dclink_p_w": 34.5036507, "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": 33.9515381, "temp_inv2_c": 36.9516602, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000100709542, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127145797, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1850.012695, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23643, "EncoderSin": 51403, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7931137, "cg_dv": 50.2068863, "cg_dw": 50.0007935, "cg_id_a": -0.301353544, "cg_id_raw_a": -0.680683613, "cg_iq_a": -0.283093482, "cg_iq_raw_a": -0.686728716, "cg_iu_a": 0.224707603, "cg_iv_a": 0.336487889, "cg_iw_a": -0.561195493, "cg_sample_age_us": 23.6599998, "cg_sample_seq": 11272917, "cg_sample_valid": 1, "cg_theta_rad": 2.02013159, "cg_vd_req_v": -0.271314174, "cg_vd_v": -0.271314174, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.214293882, "cg_vq_v": 0.214293882, "cg_vu_v": 106.014107, "cg_vv_v": 101.615181, "cg_vw_v": 89.7380829, "control_outputs_enabled": 1, "dclink_i_a": -0.828971982, "dclink_p_w": -120.337349, "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": 33.9757385, "temp_inv2_c": 36.9801636, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.123268478, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1850.99292, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23610, "EncoderSin": 51340, "GapTicks": 54786, "Mech_RPM": -3.50324616e-44, "cg_du": 49.8058281, "cg_dv": 50.1941719, "cg_dw": 50.0970726, "cg_id_a": -0.0142832547, "cg_id_raw_a": 0.487078667, "cg_iq_a": 0.150344998, "cg_iq_raw_a": 0.467194647, "cg_iu_a": -0.536412954, "cg_iv_a": 0.119024843, "cg_iw_a": 0.417388111, "cg_sample_age_us": 23.6454544, "cg_sample_seq": 11277912, "cg_sample_valid": 1, "cg_theta_rad": 2.02186012, "cg_vd_req_v": -0.310579091, "cg_vd_v": -0.309353054, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.13267906, "cg_vq_v": 0.13267906, "cg_vu_v": 2.63935518, "cg_vv_v": 0.87978512, "cg_vw_v": 2.19946289, "control_outputs_enabled": 1, "dclink_i_a": -0.136714816, "dclink_p_w": -19.8461456, "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": 33.9031677, "temp_inv2_c": 36.8613892, "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": 0.125886932, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1852.001831, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23611, "EncoderSin": 51373, "GapTicks": 54778, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7982292, "cg_dv": 50.2017708, "cg_dw": 50.0261497, "cg_id_a": 0.0184135735, "cg_id_raw_a": 0.263030231, "cg_iq_a": -0.166894168, "cg_iq_raw_a": -0.47035557, "cg_iu_a": -0.101486862, "cg_iv_a": 0.300244033, "cg_iw_a": -0.198757157, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11282862, "cg_sample_valid": 1, "cg_theta_rad": 2.01960897, "cg_vd_req_v": -0.277888268, "cg_vd_v": -0.277888268, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.192634195, "cg_vq_v": 0.192634195, "cg_vu_v": 4.39892578, "cg_vv_v": 0.43989256, "cg_vw_v": 1.75957024, "control_outputs_enabled": 1, "dclink_i_a": -0.00442481041, "dclink_p_w": -0.640379131, "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": 33.8789673, "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": 0.126037985, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1853.002319, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23636, "EncoderSin": 51432, "GapTicks": 54772, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7930756, "cg_dv": 50.2069244, "cg_dw": 49.9875183, "cg_id_a": -0.167975336, "cg_id_raw_a": 0.449510455, "cg_iq_a": -0.470196933, "cg_iq_raw_a": 0.267550707, "cg_iu_a": -0.427681446, "cg_iv_a": -0.170925796, "cg_iw_a": 0.598607242, "cg_sample_age_us": 23.6563644, "cg_sample_seq": 11287913, "cg_sample_valid": 1, "cg_theta_rad": 2.02080393, "cg_vd_req_v": -0.263738155, "cg_vd_v": -0.263738155, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.223970875, "cg_vq_v": 0.223970875, "cg_vu_v": 109.533249, "cg_vv_v": 109.973145, "cg_vw_v": 113.492287, "control_outputs_enabled": 1, "dclink_i_a": -0.683996797, "dclink_p_w": -99.2920914, "enc_isr_hz": 5000, "enc_rejects": 0, "foc_running": 0, "gate_fault": 0, "gate_ready": 1, "hz_adc_isr": 4999, "hz_app_loop": 2588, "hz_tim_isr": 4999, "hz_vsense": 2588, "pwm_moe": 1, "temp_inv1_c": 33.8306274, "temp_inv2_c": 36.8455505, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 5.03547708e-05, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127347216, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1854.002686, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23605, "EncoderSin": 51354, "GapTicks": 54778, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7989273, "cg_dv": 50.2010727, "cg_dw": 50.0404968, "cg_id_a": 0.0411320217, "cg_id_raw_a": -0.166841015, "cg_iq_a": -0.381430477, "cg_iq_raw_a": -0.168684438, "cg_iu_a": 0.152219892, "cg_iv_a": -0.170925796, "cg_iw_a": 0.0187059045, "cg_sample_age_us": 23.7509098, "cg_sample_seq": 11292912, "cg_sample_valid": 1, "cg_theta_rad": 2.01918578, "cg_vd_req_v": -0.285096854, "cg_vd_v": -0.285096854, "cg_vdc_v": 145.164551, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.182085648, "cg_vq_v": 0.182085648, "cg_vu_v": 39.590332, "cg_vv_v": 45.7488289, "cg_vw_v": 62.9046364, "control_outputs_enabled": 1, "dclink_i_a": -0.336055875, "dclink_p_w": -48.6355705, "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": 33.8064575, "temp_inv2_c": 36.7996826, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.124879837, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1855.003174, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23628, "EncoderSin": 51428, "GapTicks": 54776, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7966995, "cg_dv": 50.2033005, "cg_dw": 50.0317802, "cg_id_a": 0.0622276068, "cg_id_raw_a": -0.0929784402, "cg_iq_a": -0.120975681, "cg_iq_raw_a": -0.1814726, "cg_iu_a": 0.297195315, "cg_iv_a": 0.0102933645, "cg_iw_a": -0.30748868, "cg_sample_age_us": 23.7363644, "cg_sample_seq": 11297813, "cg_sample_valid": 1, "cg_theta_rad": 2.02087283, "cg_vd_req_v": -0.285080343, "cg_vd_v": -0.285080343, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.187335342, "cg_vq_v": 0.187335342, "cg_vu_v": 107.333786, "cg_vv_v": 104.254532, "cg_vw_v": 97.6561432, "control_outputs_enabled": 1, "dclink_i_a": -0.738362432, "dclink_p_w": -106.859245, "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": 33.7581787, "temp_inv2_c": 36.7822876, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0.000453192944, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.127447918, "tim_isr_running": 1, "vdc_v": 144.724655}}
{"type": "telemetry", "t": 1856.00354, "values": {"Elec_RPM": -1.75162308e-43, "EncoderCos": 23631, "EncoderSin": 51400, "GapTicks": 54775, "Mech_RPM": -3.50324616e-44, "cg_du": 49.7957916, "cg_dv": 50.2042084, "cg_dw": 49.902565, "cg_id_a": -0.341443777, "cg_id_raw_a": -0.333435059, "cg_iq_a": -0.0648010075, "cg_iq_raw_a": -0.314273447, "cg_iu_a": 0.0434883833, "cg_iv_a": 0.0465372056, "cg_iw_a": -0.0900255889, "cg_sample_age_us": 23.7472725, "cg_sample_seq": 11302863, "cg_sample_valid": 1, "cg_theta_rad": 2.01939845, "cg_vd_req_v": -0.208060652, "cg_vd_v": -0.208060652, "cg_vdc_v": 144.724655, "cg_vlimit_scale": 1, "cg_vq_req_v": 0.286365807, "cg_vq_v": 0.286365807, "cg_vu_v": 129.768311, "cg_vv_v": 143.844864, "cg_vw_v": 143.844864, "control_outputs_enabled": 1, "dclink_i_a": -0.336055875, "dclink_p_w": -48.6355705, "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": 33.7340698, "temp_inv2_c": 36.7728271, "temp_inv3_c": null, "temp_motor_c": null, "thr_a": 0, "thr_a_norm": 0, "thr_a_v": 0, "thr_b": 0, "thr_b_norm": 0, "thr_b_v": 0.126088351, "tim_isr_running": 1, "vdc_v": 144.724655}}
