{"step":0,"t":0,"command":[5.1087096899384552e-09,-9.8709649071742366e-09,-9.8709649071742366e-09,0,0],"target_ned_yaw":[0,0,2,0],"error":[-4.8572257327350599e-17,-1.3010426069826053e-17,0,0],"integral":[-9.7144514654701207e-19,-2.6020852139652105e-19,0,0],"effort":[-9.74359481986653e-17,-2.6098914696071063e-17,0,0]}
{"step":4,"t":0.02,"command":[0.00085520194728641889,-0.059321825182242639,-0.059395934382938616,0.092624464291338651,0.092624464291338651],"target_ned_yaw":[0,0,2,0],"error":[-1.4558123997220063e-05,-2.2708087425954253e-09,2.6600835773438192e-05,2.183145820093655e-08],"integral":[-2.9116247994537269e-07,-4.5416175112117028e-11,5.3201671546876383e-07,4.3662916401873102e-10],"effort":[-0.0035234779820874531,-7.3137037064248273e-07,0.0085792913852574693,4.3990391348962053e-06]}
{"step":8,"t":0.040000000000000001,"command":[0.0010772809612071864,-0.083830992667909804,-0.083939496184249618,0.13112913375387356,0.13112913375387356],"target_ned_yaw":[0,0,2,0],"error":[-5.2168144206769795e-05,-7.2725352031743212e-09,9.5547669355156017e-05,7.9479130374464797e-08],"integral":[-1.3345253640807686e-06,-1.9086687917560346e-10,2.4429701025718839e-06,2.0262117715080268e-09],"effort":[-0.0070367371756764018,-1.1605342693794797e-06,0.017194849719041259,9.1018439892533662e-06]}
{"step":12,"t":0.059999999999999998,"command":[0.00099135428060117626,-0.10256069983462454,-0.10270871296684621,0.16071382840372495,0.16071382840372495],"target_ned_yaw":[0,0,2,0],"error":[-0.00011241604928386578,-1.2615984533697732e-08,0.00020644324231477995,1.797907196829424e-07],"integral":[-3.5828463497580845e-06,-4.431865698495581e-10,6.5718349488674833e-06,5.6220261651668751e-09],"effort":[-0.010533888434936979,-9.8278330966627554e-07,0.025828934640181947,1.5191284369024363e-05]}
{"step":16,"t":0.080000000000000002,"command":[-0.00050390257146165531,-0.11824601297008153,-0.11845112052896288,0.18561975932190355,0.18561975932190355],"target_ned_yaw":[0,0,2,0],"error":[-0.00019483166378846117,-1.3902580977339252e-08,0.00035877563152264536,3.410519465212795e-07],"integral":[-7.4794796255273079e-06,-7.2123818939634312e-10,1.374734757932039e-05,1.2443065095592464e-08],"effort":[-0.01400639376894379,2.5391780152566865e-07,0.034454695050721407,2.4274185623101476e-05]}
{"step":20,"t":0.10000000000000001,"command":[-0.001742136553069758,-0.13193493087963373,-0.1322233489646871,0.20746710783669095,0.20746710783669095],"target_ned_yaw":[0,0,2,0],"error":[-0.00029888088878343017,-4.3961287646732301e-09,0.00055189575517533562,5.9492171368949795e-07],"integral":[-1.3457097401195911e-05,-8.0916076468980771e-10,2.4785262682827104e-05,2.4341499369382422e-08],"effort":[-0.017444919998825578,3.0350397695417778e-06,0.043042600834121154,3.809401261184554e-05]}
{"step":24,"t":0.12,"command":[-0.0027969225005869841,-0.14415964540466647,-0.14456365152359207,0.22707679234297182,0.22707679234297182],"target_ned_yaw":[0,0,2,0],"error":[-0.00042396646666881255,2.4925861317678932e-08,0.00078501682784892779,9.8624002310157238e-07],"integral":[-2.1936426734572163e-05,-3.10643538336229e-10,4.0485599239805661e-05,4.406629983141387e-08],"effort":[-0.020840326352516869,7.8227754742897484e-06,0.051563869620773146,5.8322989317692609e-05]}
{"step":28,"t":0.14000000000000001,"command":[-0.0038761352594740939,-0.15523446369786392,-0.15579035624030832,0.24493325119136033,0.24493325119136033],"target_ned_yaw":[0,0,2,0],"error":[-0.0005694332935236579,8.5130053391379093e-08,0.0010572255417988785,1.5716793601159885e-06],"integral":[-3.3325092605045319e-05,1.3919575294913528e-09,6.1630110075783223e-05,7.5499887033733638e-08],"effort":[-0.024184186908522805,1.50244245497383e-05,0.059992297539170014,8.6448188959371082e-05]}
{"step":32,"t":0.16,"command":[-0.0049974478471852858,-0.16536413495465418,-0.1661106328439208,0.26135250236025093,0.26135250236025093],"target_ned_yaw":[0,0,2,0],"error":[-0.00073457587636278215,1.8896926193187049e-07,0.0013674990278678134,2.417845896154002e-06],"integral":[-4.801661013230096e-05,5.171342768128763e-09,8.8980090633139494e-05,1.2385680495681368e-07],"effort":[-0.027469019736554471,2.4974484985336845e-05,0.068305130489964977,0.00012372260725338453]}
{"step":36,"t":0.17999999999999999,"command":[-0.0061589167454786558,-0.17469180416368529,-0.17566875351538991,0.27655620897514904,0.27655620897514904],"target_ned_yaw":[0,0,2,0],"error":[-0.00091864657132417066,3.5049158624201769e-07,0.0017147239626298383,3.5991532032503084e-06],"integral":[-6.6389541558784366e-05,1.2181174492969116e-08,0.00012327456988573627,1.9583986902181985e-07],"effort":[-0.030688368701807092,3.7932255477737397e-05,0.076483336722706297,0.0001711422598437184]}
{"step":40,"t":0.20000000000000001,"command":[-0.0073542941066870437,-0.18332301167680531,-0.18457041059025139,0.29070869448658265,0.29070869448658265],"target_ned_yaw":[0,0,2,0],"error":[-0.0011208637918546857,5.8466280568146697e-07,0.0020977156946444531,5.1957030084513432e-06],"integral":[-8.8806817395878078e-05,2.3874430606598454e-08,0.00016522888377862533,2.9975392919084672e-07],"effort":[-0.033836781537854042,5.4085641807651785e-05,0.084511545050093242,0.00022945492759994583]}
{"step":44,"t":0.22,"command":[-0.0085764275298988932,-0.19133887780142408,-0.19289612389941999,0.30393714594865695,0.30393714594865695],"target_ned_yaw":[0,0,2,0],"error":[-0.0013404197258841469,9.0701258524938108e-07,0.0025152361973095338,7.2912920518818554e-06],"integral":[-0.00011561521191356101,4.201468231158608e-08,0.00021553360772481601,4.4557977022848386e-07],"effort":[-0.036909740386864343,7.3555109175607624e-05,0.092377788687415197,0.00029917422855604581]}
{"step":48,"t":0.23999999999999999,"command":[-0.0098184688628516637,-0.19880382292666343,-0.20070917905868318,0.31634341974442121,0.31634341974442121],"target_ned_yaw":[0,0,2,0],"error":[-0.0015764873403415758,1.3333191515487309e-06,0.0029660102436981362,9.9716258445452111e-06],"integral":[-0.00014714495872039253,6.8681065342560693e-08,0.00027485381259877872,6.4501228711938809e-07],"effort":[-0.039903567284333349,9.6402330810787634e-05,0.10007315921559506,0.00038060727407720617]}
{"step":52,"t":0.26000000000000001,"command":[-0.011074145177244202,-0.20577036136895177,-0.20806056090451444,0.32801131163068581,0.32801131163068581],"target_ned_yaw":[0,0,2,0],"error":[-0.001828226572746304,1.87933395401406e-06,0.0034487395477671434,1.3322753783945453e-05],"integral":[-0.0001837094901753186,1.062677444228419e-07,0.00034382860355412157,9.1146736279829717e-07],"effort":[-0.042815319310905077,0.00012263669140668104,0.10759142055768289,0.00047387769299608488]}
{"step":56,"t":0.28000000000000003,"command":[-0.012337908422274948,-0.21228220780185517,-0.2149921902693735,0.33901124847919789,0.33901124847919789],"target_ned_yaw":[0,0,2,0],"error":[-0.0020947897129909923,2.5605485836655028e-06,0.0039621148425721398,1.7429730743613984e-05],"integral":[-0.00022560528443513845,1.5747871609615196e-07,0.00042307090040556434,1.260061977670577e-06],"effort":[-0.045642688813026258,0.00015222398423644308,0.11492862659542444,0.00057895306379623782]}
{"step":60,"t":0.29999999999999999,"command":[-0.013604870656314376,-0.21837636843314723,-0.22153911978143953,0.34940343864867007,0.34940343864867007],"target_ned_yaw":[0,0,2,0],"error":[-0.0023753260233686652,3.3919994243962644e-06,0.0045048260078845992,2.2375511889222672e-05],"integral":[-0.00027311180490251176,2.2531870458407725e-07,0.00051316742056325634,1.7075722154550304e-06],"effort":[-0.048383909941792341,0.00018509250557504394,0.12208276293951494,0.00069567165174267353]}
{"step":64,"t":0.32000000000000001,"command":[-0.014870697861152983,-0.22408459744315651,-0.22773105683184425,0.35924005414982274,0.35924005414982274],"target_ned_yaw":[0,0,2,0],"error":[-0.0026689856448271071,4.388100098054275e-06,0.005075570405240537,2.8240048789512521e-05],"integral":[-0.00032649151779905389,3.1308070654516275e-07,0.00061467882866806712,2.2723731912452807e-06],"effort":[-0.051037670528505087,0.00022113765487769991,0.12905341650556759,0.00082376371724359083]}
{"step":68,"t":0.34000000000000002,"command":[-0.016131702721089505,-0.22943445710182073,-0.2335935008667101,0.36856679522399177,0.36856679522399177],"target_ned_yaw":[0,0,2,0],"error":[-0.0029749229080708872,5.5625150277290947e-06,0.005673059612159026,3.5099587707772399e-05],"integral":[-0.00038598997596047161,4.2433100709974463e-07,0.00072814002091124762,2.9743649454007288e-06],"effort":[-0.053603046876386451,0.00026023183268160659,0.13584148254168388,0.00096287677077923838]}
{"step":72,"t":0.35999999999999999,"command":[-0.017384608249909273,-0.23445007800000811,-0.23914853820826851,0.37742404860325163,0.37742404860325163],"target_ned_yaw":[0,0,2,0],"error":[-0.0032922990857181325,6.9280533032876315e-06,0.006296024771625941,4.3026136074963747e-05],"integral":[-0.00045183595767483428,5.628920731654973e-07,0.00085406051634376637,3.8348876669000041e-06],"effort":[-0.056079431200680777,0.00030222460400281356,0.14244891246406965,0.0011125921264708936]}
{"step":76,"t":0.38,"command":[-0.018626593947423695,-0.23915276505158459,-0.24441548410083314,0.38584775661282017,0.38584775661282017],"target_ned_yaw":[0,0,2,0],"error":[-0.0036202846924974288,8.4965866511494607e-06,0.0069432207417108316,5.2087071415548061e-05],"integral":[-0.00052424165152478285,7.3282380618848649e-07,0.00099292493117798309,4.8766290952109656e-06],"effort":[-0.058466486950031517,0.00034695000208220101,0.14887849128314612,0.0012724419182130987]}
{"step":80,"t":0.40000000000000002,"command":[-0.019855206972603897,-0.24356144081076905,-0.24941134686722566,0.39387009514467963,0.39387009514467963],"target_ned_yaw":[0,0,2,0],"error":[-0.0039580613848583523,1.027899029201778e-05,0.0076134292286280658,6.234487303841207e-05],"integral":[-0.00060340287922194986,9.3840361202884207e-07,0.0011451935157505443,6.1235265559792071e-06],"effort":[-0.060764097697970657,0.00039422924392493842,0.15513365184927899,0.0014419222481528973]}
{"step":84,"t":0.41999999999999998,"command":[-0.021068302228739389,-0.24769300154527102,-0.25415121294064374,0.40152001331269171,0.40152001331269171],"target_ned_yaw":[0,0,2,0],"error":[-0.0043048235140929342,1.228509762044353e-05,0.0083054610825565867,7.3856971688763298e-05],"integral":[-0.00068949934950380859,1.1841055644377126e-06,0.001311302737401676,7.6006659897544727e-06],"effort":[-0.06297233102685304,0.00044387335880150506,0.16121832109062412,0.0016205080123474042]}
{"step":88,"t":0.44,"command":[-0.022264008332000668,-0.25156261762900378,-0.25864854262982284,0.40882365913067953,0.40882365913067953],"target_ned_yaw":[0,0,2,0],"error":[-0.0046597794076951721,1.4523669178652496e-05,0.0090181578812531527,8.6675677318908648e-05],"integral":[-0.00078269493765771201,1.4745789480107625e-06,0.001491665895026739,9.3341795361326452e-06],"effort":[-0.065091409596443828,0.00049568606700739514,0.16713678426499806,0.0018076590080874531]}
{"step":92,"t":0.46000000000000002,"command":[-0.023440652002502598,-0.25518396522528852,-0.26291542402224155,0.41580473684061131,0.41580473684061131],"target_ned_yaw":[0,0,2,0],"error":[-0.0050221524277452786,1.7002368507132535e-05,0.0097503929358471186,0.0001008481876930559],"integral":[-0.00088313798621261763,1.8146263181534133e-06,0.0016866737537436815,1.1351143289993762e-05],"effort":[-0.067121688148448169,0.00054946416630242902,0.17289357917909004,0.0020028320403468959]}
{"step":96,"t":0.47999999999999998,"command":[-0.024596958523344939,-0.2585699508763229,-0.26696326469226661,0.42248480421351126,0.42248480421351126],"target_ned_yaw":[0,0,2,0],"error":[-0.005391182948704637,1.972777894062623e-05,0.010501071862977662,0.00011641664281581644],"integral":[-0.00099096164518671032,2.2091818969659381e-06,0.0018966951910032348,1.3679476146310091e-05],"effort":[-0.069063902095668622,0.00060501036859915132,0.17849340979132894,0.0022054825994845951]}
{"step":100,"t":0.5,"command":[-0.025731692015618309,-0.26173193577617077,-0.27080205913492333,0.42888351893063031,0.42888351893063031],"target_ned_yaw":[0,0,2,0],"error":[-0.0057661288804290792,2.2705402662884136e-05,0.011269132761211331,0.00013341823289882371],"integral":[-0.0011062842227952919,2.6632899502236207e-06,0.0021220778462274614,1.6347840804286565e-05],"effort":[-0.070918680718428051,0.00066211997398663513,0.18394107281032032,0.0024150745132864786]}
{"step":104,"t":0.52000000000000002,"command":[-0.026843726207034794,-0.26468011469356117,-0.27444076241464982,0.43501882344107606,0.43501882344107606],"target_ned_yaw":[0,0,2,0],"error":[-0.006146265362281654,2.5939649692438896e-05,0.012053546001766779,0.00015188535750967162],"integral":[-0.001229209530040925,3.1820829440723988e-06,0.0023631487662627969,1.9385547954479996e-05],"effort":[-0.072686647594465484,0.00072058563667824662,0.18924137674805813,0.0026310844802687828]}
{"step":108,"t":0.54000000000000004,"command":[-0.027932040617404813,-0.26742375572631039,-0.27788752586042814,0.4409071223274344,0.4409071223274344],"target_ned_yaw":[0,0,2,0],"error":[-0.0065308848923143342,2.9433840650112931e-05,0.012853313736532535,0.00017184581662381119],"integral":[-0.0013598272278872118,3.7707597570746575e-06,0.0026202150409934477,2.2822464286956221e-05],"effort":[-0.074368471077797732,0.00078019889305235219,0.19439909051905921,0.0028530059510323961]}
{"step":112,"t":0.56000000000000005,"command":[-0.028995775784209983,-0.26997143405067175,-0.28114989228318621,0.4465635152937254,0.4465635152937254],"target_ned_yaw":[0,0,2,0],"error":[-0.0069192977733498612,3.3190227450854374e-05,0.013667469434026414,0.00019332298311599725],"integral":[-0.001498213183354209,4.4345643060917453e-06,0.002893564429673976,2.6688923949276167e-05],"effort":[-0.075964918567111711,0.00084075501332817808,0.19941897319148932,0.0030803433637355015]}
{"step":116,"t":0.57999999999999996,"command":[-0.030034160660834565,-0.27233102098022055,-0.28423482849094922,0.45200188790202428,0.45200188790202428],"target_ned_yaw":[0,0,2,0],"error":[-0.007310832475957256,3.7210016005889354e-05,0.014495077284782276,0.00021633602721383662],"integral":[-0.001644429832873354,5.1787646262095327e-06,0.0031834659753696218,3.10156444935529e-05],"effort":[-0.077476811357704317,0.00090205080660082264,0.20430570666699413,0.0033126263695749981]}
{"step":120,"t":0.59999999999999998,"command":[-0.03104648930683588,-0.27450977240083135,-0.28714876682023704,0.4572350264295727,0.4572350264295727],"target_ned_yaw":[0,0,2,0],"error":[-0.0077048358226633404,4.1493384263698745e-05,0.015335231420295026,0.00024090013024372154],"integral":[-0.0017985265493266208,6.008632311483508e-06,0.0034901706037755225,3.5833647098427333e-05],"effort":[-0.078905014714969551,0.00096388449827947468,0.20906386939405203,0.0035493995714133073]}
{"step":124,"t":0.62,"command":[-0.032032166561072765,-0.27651438214668356,-0.28989769181974023,0.4622747236443005,0.4622747236443005],"target_ned_yaw":[0,0,2,0],"error":[-0.0081006731234112561,4.60395121676741e-05,0.016187055056974264,0.00026702672301513026],"integral":[-0.0019605400117948461,6.9294225548369901e-06,0.003813911704915008,4.117418155872994e-05],"effort":[-0.080250437628187621,0.0010260596945963084,0.21369792012041441,0.0037902340942254763]}
{"step":128,"t":0.64000000000000001,"command":[-0.032990643552285481,-0.27835106020476602,-0.2924871707836279,0.46713187502394643,0.46713187502394643],"target_ned_yaw":[0,0,2,0],"error":[-0.0084977282728898595,5.0846609987336366e-05,0.017049699605772295,0.00029472369935631964],"integral":[-0.0021304945772526434,7.9463547545837173e-06,0.0041549056970304537,4.7068655545856331e-05],"effort":[-0.081514028895064206,0.0010883825619939554,0.2182121886633879,0.0040347161779469157]}
{"step":132,"t":0.66000000000000003,"command":[-0.033921411487202395,-0.2800255692529427,-0.2949224209117427,0.47181655699868297,0.47181655699868297],"target_ned_yaw":[0,0,2,0],"error":[-0.0088954038183236481,5.5911942167374406e-05,0.017922343750292669,0.00032399564419398889],"integral":[-0.0023084026536191165,9.0645935979312051e-06,0.0045133525720363072,5.3548568429736111e-05],"effort":[-0.082696776895938864,0.0011506621572841065,0.22261086345809145,0.0042824574605042458]}
{"step":136,"t":0.68000000000000005,"command":[-0.034824016612189972,-0.28154327200481738,-0.29720833449881484,0.47633810250760822,0.47633810250760822],"target_ned_yaw":[0,0,2,0],"error":[-0.009293120986530963,6.1231856914440688e-05,0.018804192513732776,0.00035484406500504913],"integral":[-0.0024942650733497359,1.028923073622002e-05,0.0048894364223109627,6.0645449729837097e-05],"effort":[-0.083799704053369006,0.001212712133006083,0.22689798790054866,0.0045330900421904213]}
{"step":140,"t":0.70000000000000007,"command":[-0.03569807310411522,-0.28290916684385758,-0.29934952365702217,0.48070516685945613,0.48070516685945613],"target_ned_yaw":[0,0,2,0],"error":[-0.0096903196822747603,6.6801823940573768e-05,0.019694476332881905,0.00038726762457925507],"integral":[-0.0026880714669952309,1.1625267215031496e-05,0.0052833259489686009,6.83908022214222e-05],"effort":[-0.084823866998985864,0.0012743524233467544,0.23107745744537758,0.0047862703147002073]}
{"step":144,"t":0.71999999999999997,"command":[-0.036543201311493204,-0.28412793911605927,-0.30135033027338209,0.4849257863621364,0.4849257863621364],"target_ned_yaw":[0,0,2,0],"error":[-0.010086458461024267,7.2616463592420214e-05,0.020592450144572894,0.00042126232705984421],"integral":[-0.0028898006362157161,1.30775964868799e-05,0.0056951749518600586,7.6816048762619083e-05],"effort":[-0.085770353671107774,0.0013354055620923187,0.23515301827893637,0.0050416678847687059]}
{"step":148,"t":0.73999999999999999,"command":[-0.037359061590631834,-0.28520397385163365,-0.30321488122185264,0.48900743147787279,0.48900743147787279],"target_ned_yaw":[0,0,2,0],"error":[-0.010481014490662986,7.8669577567447714e-05,0.021497392493381673,0.00045682173375113624],"integral":[-0.0030994209260289756,1.4650988038228855e-05,0.0061251228017276923,8.5952483437641813e-05],"effort":[-0.086640285447572768,0.001395699482932623,0.23912826804058643,0.0052989787468094495]}
{"step":152,"t":0.76000000000000001,"command":[-0.038145361294571786,-0.28614140510565955,-0.3049470957055091,0.49295705252358701,0.49295705252358701],"target_ned_yaw":[0,0,2,0],"error":[-0.010873483508375775,8.4954187937676692e-05,0.022408604660811404,0.00049393715772120888],"integral":[-0.0033168905961964909,1.6350071796982389e-05,0.0065732948949439205,9.583122659206599e-05],"effort":[-0.08743481744753305,0.0014550685882934152,0.24300665563274254,0.0055579137316918758]}
{"step":156,"t":0.78000000000000003,"command":[-0.0389018118212731,-0.28694411929142494,-0.30655070252434091,0.49678112609416814,0.49678112609416814],"target_ned_yaw":[0,0,2,0],"error":[-0.011263379733877331,9.1462569147862248e-05,0.023325409830837085,0.00053259784240173094],"integral":[-0.0035421581908740376,1.8179323179939634e-05,0.0070398030915606626,0.00010648318344010061],"effort":[-0.08815513040704924,0.0015133509629777432,0.24679148724338978,0.0058182028111177257]}
{"step":160,"t":0.80000000000000004,"command":[-0.039628170620429108,-0.28761578882477856,-0.30802926439181183,0.50048568904637336,0.50048568904637336],"target_ned_yaw":[0,0,2,0],"error":[-0.011650235770993674,9.8186285523765924e-05,0.024247152280197692,0.00057279113915851415],"integral":[-0.0037751629062939109,2.0143048890414954e-05,0.0075247461371646162,0.00011793900622327089],"effort":[-0.088802434851530179,0.0015703919067218408,0.25048592494022309,0.0060795928702305491]}
{"step":164,"t":0.82000000000000006,"command":[-0.040324188004636732,-0.28815988478028148,-0.30938621072467998,0.50407637665418337,0.50407637665418337],"target_ned_yaw":[0,0,2,0],"error":[-0.012033602520420017,0.00010511622327033813,0.025173196605200898,0.00061450270703761439],"integral":[-0.0040158349567023114,2.2245373355821717e-05,0.0080282100692686334,0.00013022906036402318],"effort":[-0.089377973291580606,0.001626040138233289,0.2540929935008101,0.0063418540949954864]}
{"step":168,"t":0.83999999999999997,"command":[-0.040989655361384172,-0.28857970613099165,-0.31062481120640334,0.50755845389778154,0.50755845389778154],"target_ned_yaw":[0,0,2,0],"error":[-0.012413049048204068,0.00011224262770562725,0.026102926986939945,0.00065771664547895591],"integral":[-0.0042640959376663932,2.4490225909934264e-05,0.0085502686090074328,0.00014338339327360229],"effort":[-0.089883010063831606,0.0016801518466450502,0.25761558412310648,0.0066047632731821033]}
{"step":172,"t":0.85999999999999999,"command":[-0.041624384468910869,-0.2888783894887399,-0.31174822724761642,0.51093684358564773,0.51093684358564773],"target_ned_yaw":[0,0,2,0],"error":[-0.012788162460963579,0.00011955514362240745,0.027035746490132961,0.00070241563851316136],"integral":[-0.0045198591868856651,2.6881328782382412e-05,0.0090909835388100924,0.00015743170604386552],"effort":[-0.090318840552819787,0.0017325893824157083,0.26105645813326461,0.0068681166392116876]}
{"step":176,"t":0.88,"command":[-0.042228204048297316,-0.28905891902345626,-0.31275950579018919,0.51421615275369026,0.51421615275369026],"target_ned_yaw":[0,0,2,0],"error":[-0.013158547766752099,0.00012704285272235037,0.027971076396769545,0.00074858110992023503],"integral":[-0.0047830301422207072,2.9422185836829419e-05,0.0096504050667454832,0.00017240332824227023],"effort":[-0.09068678356456622,0.0017832212171446341,0.26441825175280653,0.0071317248975571561]}
{"step":180,"t":0.90000000000000002,"command":[-0.042800932822986235,-0.28912414878928727,-0.31366159238701186,0.51740069893380647,0.51740069893380647],"target_ned_yaw":[0,0,2,0],"error":[-0.013523827722586403,0.00013469430414340017,0.028908355582789813,0.00079619334754771939],"integral":[-0.0050535066966724352,3.211607191969742e-05,0.01022857217840128,0.00018832719519322461],"effort":[-0.090988183975942952,0.0018319198505177803,0.26770348325719145,0.0073954105628130417]}
{"step":184,"t":0.92000000000000004,"command":[-0.043342428877970345,-0.28907680438687333,-0.31445733800811548,0.52049452800313833,0.52049452800313833],"target_ned_yaw":[0,0,2,0],"error":[-0.013883642665750977,0.00014249755424689578,0.029847039920753549,0.00084523162390513773],"integral":[-0.005331179549987455,3.4966023004635337e-05,0.010825512976816351,0.00020523182767132736],"effort":[-0.091224408130838416,0.0018785661410419176,0.27091455368120976,0.0076590092963117811]}
{"step":188,"t":0.94000000000000006,"command":[-0.043852558260345897,-0.28891949931893107,-0.31514952037442379,0.52350143623628631,0.52350143623628631],"target_ned_yaw":[0,0,2,0],"error":[-0.014237650350082565,0.000150440206531306,0.030786601715942385,0.00089567432644546219],"integral":[-0.0056159325569891064,3.797482713526146e-05,0.011441245011135198,0.00022314531420023661],"effort":[-0.09139684863946558,0.0019230468659770315,0.27405375374145452,0.0079223715527637715]}
{"step":192,"t":0.95999999999999996,"command":[-0.044331188108506316,-0.28865474894576137,-0.31574082749237065,0.52642498948200178,0.52642498948200178],"target_ned_yaw":[0,0,2,0],"error":[-0.014585525760762892,0.00015850944511161622,0.031726529181156149,0.00094749904276348349],"integral":[-0.0059076430722043646,4.1145016037493782e-05,0.012075775594758321,0.00024209529505550629],"effort":[-0.091506917117253755,0.0019652542391117717,0.27712326955112565,0.0081853530283132244]}
{"step":196,"t":0.97999999999999998,"command":[-0.044778206726209607,-0.28828496593219877,-0.31623388190801621,0.52926853738340096,0.52926853738340096],"target_ned_yaw":[0,0,2,0],"error":[-0.014926960911925274,0.00016669207281273362,0.032666325935499119,0.0010006826579277927],"integral":[-0.0062061822904428705,4.4478857493748455e-05,0.012729102113468303,0.00026210894821406216],"effort":[-0.091556044824571081,0.0020050877976151636,0.28012518466396447,0.0084478232420420706]}
{"step":200,"t":1,"command":[-0.045193506651580527,-0.28781247993169723,-0.31663124679071003,0.5320352303341439,0.5320352303341439],"target_ned_yaw":[0,0,2,0],"error":[-0.01526166465400243,0.00017497454820578502,0.033605510534093996,0.0010552014547595932],"integral":[-0.0065114155835229188,4.7978348457864153e-05,0.013401212324150183,0.00028321297730925406],"effort":[-0.091545685024336562,0.0020424530434664536,0.28306148631670552,0.0087096614199029566]}
{"step":204,"t":1.02,"command":[-0.045576993324482735,-0.28723953212654824,-0.31693542731152174,0.53472803534150803,0.53472803534150803],"target_ned_yaw":[0,0,2,0],"error":[-0.015589362460205966,0.00018334302244420571,0.034543616034002245,0.0011110312078070046],"integral":[-0.0068232028327270379,5.1645208906748269e-05,0.014092084644830229,0.00030543360146539417],"effort":[-0.091477306950707618,0.0020772623204999437,0.28593407178018909,0.0089707581344292825]}
{"step":208,"t":1.04,"command":[-0.045928585897741889,-0.2865682952649215,-0.31714886638845857,0.53734974620669984,0.53734974620669984],"target_ned_yaw":[0,0,2,0],"error":[-0.015909796197244544,0.0001917833779362003,0.035480189580287202,0.0011681472427795985],"integral":[-0.0071413987566719284,5.5480876465472272e-05,0.014801688436435973,0.00032879654632098613],"effort":[-0.091352395651263796,0.0021094350025662552,0.28874474974840469,0.0092310078002205594]}
{"step":212,"t":1.0600000000000001,"command":[-0.04624819001675376,-0.28580086832558899,-0.31727396896033083,0.53990299718555579,0.53990299718555579],"target_ned_yaw":[0,0,2,0],"error":[-0.016222723903415406,0.0002002812594767294,0.03641479201809128,0.0012265245158798045],"integral":[-0.0074658532347402365,5.9486501655006861e-05,0.015529984276797798,0.00035332703663858221],"effort":[-0.091172453857750801,0.0021388950798257624,0.29149524636994628,0.0094903175220901626]}
{"step":216,"t":1.0800000000000001,"command":[-0.046535742646134803,-0.28493929072246155,-0.31731309246771006,0.54239027263660722,0.54239027263660722],"target_ned_yaw":[0,0,2,0],"error":[-0.016527919559530056,0.0002088221135594463,0.037346997526962022,0.0012861376805425775],"integral":[-0.007796411625930838,6.366294392619578e-05,0.01627692422733704,0.00037904979024943377],"effort":[-0.090938999024420486,0.0021655753436272897,0.29418720785081315,0.0097485996270010363]}
{"step":220,"t":1.1000000000000001,"command":[-0.046791170380056916,-0.28398554308904728,-0.31726854514848313,0.54481391890854791,0.54481391890854791],"target_ned_yaw":[0,0,2,0],"error":[-0.016825172836162861,0.00021739122335475222,0.038276393278849907,0.0013469611244988999],"integral":[-0.0081329150826540946,6.801076839329083e-05,0.017042452092914037,0.00040598901273941179],"effort":[-0.090653559212108104,0.002189413625535516,0.29682220623648981,0.010005770528526978]}
{"step":224,"t":1.1200000000000001,"command":[-0.047014412582277926,-0.28294154386573195,-0.31714260314985881,0.54717615312439094,0.54717615312439094],"target_ned_yaw":[0,0,2,0],"error":[-0.017114288835838612,0.00022597374309646996,0.039202579117895819,0.0014089690320718419],"integral":[-0.0084752008593708666,7.2530243255220232e-05,0.017826503675271953,0.00043416839338084864],"effort":[-0.090317673988896369,0.0022103549904566528,0.29940174254800689,0.010261756743772461]}
{"step":228,"t":1.1400000000000001,"command":[-0.047205408363808259,-0.28180916254982419,-0.31693751080350996,0.54947907148715169,0.54947907148715169],"target_ned_yaw":[0,0,2,0],"error":[-0.017395087841562934,0.00023455473261220174,0.040125167257486494,0.0014721354425910834],"integral":[-0.0088231026162021251,7.7221337907464269e-05,0.018629007020421685,0.0004636111022326703],"effort":[-0.089932894925679102,0.0022283505787938987,0.30192725000238241,0.010516490828645877]}
{"step":232,"t":1.1599999999999999,"command":[-0.047364097798286833,-0.28059022427646541,-0.31665547679956463,0.55172465876647947,0.55172465876647947],"target_ned_yaw":[0,0,2,0],"error":[-0.017667405055499075,0.00024311918978040399,0.041043781998680195,0.0015364342808948822],"integral":[-0.0091764507173121065,8.2083721703072351e-05,0.019449882660395289,0.00049433978785056799],"effort":[-0.089500782473338397,0.0022433577602456794,0.3044000990909882,0.010769908513821235]}
{"step":236,"t":1.1799999999999999,"command":[-0.04749043904922335,-0.27928650112815057,-0.31629868222088747,0.5539147954415341,0.5539147954415341],"target_ned_yaw":[0,0,2,0],"error":[-0.017931090320307777,0.00025165208804758371,0.041958059465746267,0.0016018394012229115],"integral":[-0.0095350725237182618,8.7116763464024027e-05,0.020289043849710215,0.00052637657587502622],"effort":[-0.089022903043537202,0.0022553418010879981,0.30682160060903652,0.01102195333113274]}
{"step":240,"t":1.2,"command":[-0.04758437695413343,-0.27789971798669055,-0.31586928530476666,0.5560512635285334,0.5560512635285334],"target_ned_yaw":[0,0,2,0],"error":[-0.018186007838078715,0.00026013840753410497,0.04286764735229287,0.0016683246409716392],"integral":[-0.0098987926804798357,9.2319531614706122e-05,0.021146396796756072,0.000559743068694459],"effort":[-0.088500829328013106,0.0022642729301130646,0.30919300767167851,0.011272576070930962]}
{"step":244,"t":1.22,"command":[-0.047645853025359612,-0.27643157891058379,-0.31536940284435061,0.55813575420799155,0.55813575420799155],"target_ned_yaw":[0,0,2,0],"error":[-0.018432035888135453,0.00026856316333953746,0.043772204683177218,0.001735863803945855],"integral":[-0.010267433398242544,9.7690794881496868e-05,0.022021840890419617,0.00059446034477337608],"effort":[-0.087936139034700295,0.0022701273105141698,0.31151552012532352,0.011521721215701998]}
{"step":248,"t":1.24,"command":[-0.047674818306658887,-0.27488373048582038,-0.31480114679720428,0.56016987463413714,0.56016987463413714],"target_ned_yaw":[0,0,2,0],"error":[-0.018669066539887605,0.00027691143919914593,0.044671401594262417,0.0018044307093460282],"integral":[-0.010640814729040297,0.00010322902366547978,0.022915268922304867,0.00063054895896029668],"effort":[-0.087330413655318045,0.0022728883005729375,0.31379028844762491,0.011769348369516913]}
{"step":252,"t":1.26,"command":[-0.047671218368006779,-0.27325778902589642,-0.31416659841832689,0.56215515290344575,0.56215515290344575],"target_ned_yaw":[0,0,2,0],"error":[-0.018897005354128672,0.00028516841878940206,0.045564919122566439,0.0018739992234797101],"integral":[-0.011018754836122871,0.00010893239204126782,0.023826567304756196,0.00066802894342989083],"effort":[-0.086685235412531814,0.0022725450606901872,0.31601841593589641,0.012015416149210473]}
{"step":256,"t":1.28,"command":[-0.047634999604831765,-0.27155533896124068,-0.31346782479656349,0.56409304262946458,0.56409304262946458],"target_ned_yaw":[0,0,2,0],"error":[-0.019115771091374717,0.00029331941603825268,0.046452449004312779,0.0019445432689986913],"integral":[-0.011401070257950365,0.00011479878036203288,0.024755616284842453,0.00070691980880986465],"effort":[-0.086002189650521671,0.0022690931873523227,0.318200960742967,0.012259887532167352]}
{"step":260,"t":1.3,"command":[-0.047566100302442245,-0.26977792713059928,-0.31270686880217619,0.56598492932480771,0.56598492932480771],"target_ned_yaw":[0,0,2,0],"error":[-0.019325295401728684,0.00030134990369237426,0.047333693485160477,0.0020160368399307601],"integral":[-0.011787576165984939,0.00012082577843588037,0.025702290154545664,0.00074724054560847987],"effort":[-0.08528285788147219,0.0022625338979819962,0.32033894022280762,0.012502727914589241]}
{"step":264,"t":1.3200000000000001,"command":[-0.0474644577233201,-0.26792706818707035,-0.31188576274100382,0.56783213443046143,0.56783213443046143],"target_ned_yaw":[0,0,2,0],"error":[-0.019525522517523319,0.00030924554224748263,0.048208365140957721,0.0020884540225450765],"integral":[-0.012178086616335406,0.00012701068928083002,0.026666457457364817,0.00078900962605938144],"effort":[-0.084528821433928397,0.0022528747469688411,0.32243333289185361,0.012743907566609345]}
{"step":268,"t":1.3400000000000001,"command":[-0.047330203533840653,-0.26600473903105915,-0.3110069222891958,0.56963591773374367,0.56963591773374367],"target_ned_yaw":[0,0,2,0],"error":[-0.01971640999741734,0.00031699226973746141,0.049076186800490085,0.0021617689764431565],"integral":[-0.012572414816283753,0.00013335053467557924,0.02764798119337462,0.00083224500558824461],"effort":[-0.083741913449389888,0.0022401481665547821,0.32448507877236443,0.012983392262408]}
{"step":272,"t":1.3600000000000001,"command":[-0.047163558856127552,-0.26401302518824515,-0.3100728775775155,0.57139747515687178,0.57139747515687178],"target_ned_yaw":[0,0,2,0],"error":[-0.019897929323529268,0.00032457639354638025,0.049936891441292985,0.0022359559506949685],"integral":[-0.012970373402754339,0.00013984206254650684,0.028646719022200479,0.00087696412460214397],"effort":[-0.082924033439124953,0.0022244012839754074,0.32649507461564786,0.013221155970075974]}
{"step":276,"t":1.3800000000000001,"command":[-0.046964460280430088,-0.26195343594272219,-0.3090856572719739,0.57311794822783324,0.57311794822783324],"target_ned_yaw":[0,0,2,0],"error":[-0.020070064494608519,0.00033198454815765117,0.050790221905887112,0.0023109892854398049],"integral":[-0.013371774692646509,0.00014648175350965987,0.029662523460318221,0.00092318391031094007],"effort":[-0.08207677306672298,0.0022056605294320953,0.32846418258088134,0.013457170464525124]}
{"step":280,"t":1.4000000000000001,"command":[-0.046732850589603685,-0.25982742632912437,-0.30804728212093829,0.57479842764762978,0.57479842764762978],"target_ned_yaw":[0,0,2,0],"error":[-0.020232810922431711,0.0003392036736447544,0.051635930660792972,0.0023868434469973866],"integral":[-0.013776430911095143,0.00015326582698255495,0.030695242073534079,0.00097092077925088778],"effort":[-0.081201709747456746,0.0021839593242302217,0.33039323242618746,0.013691418274640202]}
{"step":284,"t":1.4199999999999999,"command":[-0.046468639536972299,-0.25763643815549603,-0.30695975759057231,0.57643995985229723,0.57643995985229723],"target_ned_yaw":[0,0,2,0],"error":[-0.020386175097030224,0.00034622103621005445,0.052473779645079377,0.0024634930342616163],"integral":[-0.014184154413035747,0.00016019024770675604,0.031744717666435669,0.0010201906399361202],"effort":[-0.080300413522756825,0.0021593344604170653,0.33228302731451809,0.013923879257306105]}
{"step":288,"t":1.4399999999999999,"command":[-0.046171745518637848,-0.25538189405845046,-0.3058250665431117,0.57804354532659219,0.57804354532659219],"target_ned_yaw":[0,0,2,0],"error":[-0.020530174253885612,0.00035302425407485801,0.053303540113507575,0.0025409127405635239],"integral":[-0.01459475789811346,0.0001672507327882532,0.032810788468705818,0.0010710088947473906],"effort":[-0.079374441569490153,0.002131830084237854,0.33413434029373601,0.014154529756608539]}
{"step":292,"t":1.46,"command":[-0.045842051452738196,-0.25306517736855988,-0.30464519988320798,0.57961014526249155,0.57961014526249155],"target_ned_yaw":[0,0,2,0],"error":[-0.020664836045092949,0.00035960131800461686,0.054124992487312173,0.0026190773847962314],"integral":[-0.01500805461901532,0.00017444275914834553,0.033893288318452064,0.0011233904424433152],"effort":[-0.078425340904230215,0.0021014936813954963,0.33594792049120659,0.014383356907649542]}
{"step":296,"t":1.48,"command":[-0.045479425817206709,-0.25068764852454128,-0.3034221238625095,0.58114068428111032,0.58114068428111032],"target_ned_yaw":[0,0,2,0],"error":[-0.020790198193574277,0.00036594061056558034,0.054937926214822408,0.0026979619124131663],"integral":[-0.015423858582886805,0.00018176157135965713,0.034992046842748509,0.0011773496806915785],"effort":[-0.077454641186000012,0.0020683781726628082,0.33772449492671719,0.01461034406323606]}
{"step":300,"t":1.5,"command":[-0.045083708134974948,-0.24825063619569021,-0.30215779764297629,0.58263605001811469,0.58263605001811469],"target_ned_yaw":[0,0,2,0],"error":[-0.020906308145265541,0.00037203092538308567,0.055742139624010756,0.0027775413896102318],"integral":[-0.015841984745792115,0.00018920218986731886,0.036106889635228727,0.0012329005084837832],"effort":[-0.07646385652400936,0.0020325407391996063,0.33946476678071102,0.014835478152444428]}
{"step":304,"t":1.52,"command":[-0.04465471237163135,-0.24575544229088822,-0.30085417006252696,0.58409709863863335,0.58409709863863335],"target_ned_yaw":[0,0,2,0],"error":[-0.021013222728704761,0.0003778614855721161,0.056537439783182375,0.0028577910069733149],"integral":[-0.016262249200366209,0.00019675941957876118,0.037237638430892374,0.0012900563286232494],"effort":[-0.075454484529800997,0.0019940433369931257,0.34116942063806932,0.015058747114210902]}
{"step":308,"t":1.54,"command":[-0.044192208889066088,-0.24320333858493182,-0.29951317913382858,0.585524654071929,0.585524654071929],"target_ned_yaw":[0,0,2,0],"error":[-0.021111007811368154,0.00038342195863449763,0.057323642359204285,0.0029386860775795667],"integral":[-0.016684469356593571,0.00020442785875145113,0.038384111278076456,0.0013488300501748407],"effort":[-0.07442800418685494,0.0019529513264948516,0.34283912052605214,0.015280140287997956]}
{"step":312,"t":1.5600000000000001,"command":[-0.043695938749181845,-0.24059558066666639,-0.29813674972580817,0.58691951299245237,0.58691951299245237],"target_ned_yaw":[0,0,2,0],"error":[-0.021199737964548729,0.00038870247355470965,0.058100571482305075,0.0030202020147244478],"integral":[-0.017108464115884545,0.00021220190822254532,0.039546122707722557,0.0014092340904693296],"effort":[-0.07338587748669978,0.0019093350631722514,0.34447451473129748,0.01549964405036941]}
{"step":316,"t":1.5800000000000001,"command":[-0.04316558634230433,-0.23793338541561848,-0.29672681025506686,0.588282445540385,0.588282445540385],"target_ned_yaw":[0,0,2,0],"error":[-0.021279496133323639,0.00039369363427071134,0.058868059614557655,0.0031023143480661446],"integral":[-0.017534054038551017,0.00022007578090795955,0.040723483900013707,0.0014712803774306524],"effort":[-0.072329547909741859,0.00186326784427493,0.34607623573097601,0.01571725201440461]}
{"step":320,"t":1.6000000000000001,"command":[-0.042600781790983665,-0.23521794730376408,-0.29528526024210616,0.5896141946248793,0.5896141946248793],"target_ned_yaw":[0,0,2,0],"error":[-0.021350373284587928,0.00039838653127984979,0.059625947404773338,0.0031849987010636439],"integral":[-0.017961061504242776,0.00022804351153355655,0.041916002848109174,0.0015349803514519253],"effort":[-0.071260433825022354,0.0018148266092030056,0.34764489850314506,0.01593295109122601]}
{"step":324,"t":1.6200000000000001,"command":[-0.042001092904319873,-0.23245042684919262,-0.29381401297412174,0.59091548056050303,0.59091548056050303],"target_ned_yaw":[0,0,2,0],"error":[-0.021412468083512048,0.00040277275403960183,0.060374083552475533,0.0032682308027705675],"integral":[-0.018389310865913017,0.00023609896661434858,0.043123484519158685,0.0016003449675073367],"effort":[-0.070179937581164614,0.0017640918051573091,0.34918110516605017,0.016146736638792767]}
{"step":328,"t":1.6400000000000001,"command":[-0.041366015134759251,-0.22963195420306398,-0.2923149525665853,0.59218700338104124,0.59218700338104124],"target_ned_yaw":[0,0,2,0],"error":[-0.021465886547391025,0.00040684440232321138,0.061112324678781249,0.0033519864760166705],"integral":[-0.018818628596860839,0.00024423585466081281,0.044345731012734313,0.00166738469702767],"effort":[-0.069089432942561535,0.0017111472081291317,0.35068544697341741,0.016358598551443462]}
{"step":332,"t":1.6600000000000001,"command":[-0.040694954921030591,-0.22676362949552287,-0.29078996240272692,0.59342943859145103,0.59342943859145103],"target_ned_yaw":[0,0,2,0],"error":[-0.021510741711088036,0.00041059409538436698,0.061840535179033651,0.0034362416245260164],"integral":[-0.019248843431082598,0.00025244773656850014,0.045582541716314984,0.0017361095295181904],"effort":[-0.067990272948081049,0.0016560793560247116,0.3521584985869648,0.016568529286098279]}
{"step":336,"t":1.6799999999999999,"command":[-0.039987210294836983,-0.22384651907242686,-0.28924091837025528,0.59464344331976515,0.59464344331976515],"target_ned_yaw":[0,0,2,0],"error":[-0.021547153305115849,0.00041401497823544337,0.062558587081797512,0.0035209722373570201],"integral":[-0.019679786497184916,0.000260728036133209,0.046833713457950933,0.0018065289742653307],"effort":[-0.066883786480255517,0.0015989769871635169,0.35360082468318677,0.016776522379413156]}
{"step":340,"t":1.7,"command":[-0.039241962177249338,-0.22088164948026162,-0.28766968396291459,0.59582966092572365,0.59582966092572365],"target_ned_yaw":[0,0,2,0],"error":[-0.021575247417240928,0.00041710072842071546,0.063266359928596305,0.003606154387180665],"integral":[-0.020111291445529735,0.00026907005070162329,0.04809904065652286,0.001878652062008944],"effort":[-0.06577127507422216,0.0015399315955206675,0.35501298483886284,0.016982571997101001]}
{"step":344,"t":1.72,"command":[-0.038458260905713235,-0.21787000864513587,-0.28607811199308236,0.59698871534813391,0.59698871534813391],"target_ned_yaw":[0,0,2,0],"error":[-0.021595156158413426,0.00041984556500985766,0.063963740635518462,0.0036917642268702493],"integral":[-0.020543194568698003,0.00027746696200182046,0.049378315469233228,0.0019524873465463491],"effort":[-0.06465401341427908,0.0014790378318919111,0.35639552625301524,0.0171866727472475]}
{"step":348,"t":1.74,"command":[-0.037634961608915982,-0.21481255578672165,-0.28446803949147914,0.59812121564652954,0.59812121564652954],"target_ned_yaw":[0,0,2,0],"error":[-0.021607017340210685,0.000422244248426199,0.06465062335306504,0.0037777779661488644],"integral":[-0.020975334915502217,0.00028591184697034447,0.05067132793629453,0.0020280429058693265],"effort":[-0.063533249807874573,0.0014163903353045799,0.35774898860648224,0.017388815684251172]}
{"step":352,"t":1.76,"command":[-0.036770736171298155,-0.21171019186951251,-0.28284129961872584,0.59922775604964118,0.59922775604964118],"target_ned_yaw":[0,0,2,0],"error":[-0.021610974148011747,0.00042429208458354703,0.065326909328787597,0.0038641718842337223],"integral":[-0.021407554398462453,0.00029439768866201539,0.051977866122870281,0.002105326343554001],"effort":[-0.06241020305571781,0.0013520870385792146,0.35907390362028824,0.01758899771429201]}
{"step":356,"t":1.78,"command":[-0.035863997946672103,-0.20856378827848271,-0.28119970680025952,0.60030891665814556,0.60030891665814556],"target_ned_yaw":[0,0,2,0],"error":[-0.02160717482298305,0.00042598492641345942,0.065992506767029946,0.0039509223164684104],"integral":[-0.021839697894922114,0.0003029173871902846,0.053297716258210878,0.0021843447898833692],"effort":[-0.061286064442811844,0.0012862263487189011,0.36037079541927641,0.017787210661740077]}
{"step":360,"t":1.8,"command":[-0.034912875530969757,-0.2053741574456916,-0.27954506565405318,0.60136526351615072,0.60136526351615072],"target_ned_yaw":[0,0,2,0],"error":[-0.021595772342501249,0.00042731917546161085,0.06664733068399098,0.0040380056506000416],"integral":[-0.022271613341772138,0.00031146377069951679,0.054630662871890695,0.00226510490289537],"effort":[-0.060161994139028313,0.0012189088778409866,0.36164018016384941,0.017983449592500592]}
{"step":364,"t":1.8200000000000001,"command":[-0.033915115940374788,-0.20214207468143797,-0.27787916119659006,0.60239735016488982,0.60239735016488982],"target_ned_yaw":[0,0,2,0],"error":[-0.021576924108081458,0.00042829177940292579,0.067291302763748062,0.0041253983093415235],"integral":[-0.022703151823933766,0.00032002960628757532,0.055976488927165655,0.0023476128690822005],"effort":[-0.059039123291918266,0.0011502350892490642,0.36288256748568093,0.018177704935402217]}
{"step":368,"t":1.8400000000000001,"command":[-0.032868010239060712,-0.1988682432374656,-0.27620376924214302,0.60340571639243445,0.60340571639243445],"target_ned_yaw":[0,0,2,0],"error":[-0.021550791631111399,0.00042890022765667581,0.067924351207170108,0.00421307675774347],"integral":[-0.023134167656555994,0.00032860761084070882,0.057334975951309056,0.0024318744042370701],"effort":[-0.057918550155961382,0.0010803060970749996,0.36409845857506706,0.01836997198760559]}
{"step":372,"t":1.8600000000000001,"command":[-0.031768272292025189,-0.19555330785749375,-0.27452063926580034,0.60439088991112122,0.60439088991112122],"target_ned_yaw":[0,0,2,0],"error":[-0.021517540211679467,0.00042914254681857564,0.068546410578178785,0.0043010174981086852],"integral":[-0.023564518460789583,0.00033719046177708035,0.058705904162872628,0.002517894754199244],"effort":[-0.056801338798455711,0.0010092231244202554,0.36528834780755703,0.018560242584447984]}
{"step":376,"t":1.8800000000000001,"command":[-0.030611893781470858,-0.19219786477381179,-0.27283151000230532,0.60535338890420975,0.60535338890420975],"target_ned_yaw":[0,0,2,0],"error":[-0.021477338649286845,0.00042901729689357392,0.069157421662672469,0.0043891970490161367],"integral":[-0.02399406523377532,0.00034577080771495185,0.060089052596126076,0.0026056786951795669],"effort":[-0.055688526036875234,0.00093708804088805421,0.36645272545781138,0.018748506813262792]}
{"step":380,"t":1.9000000000000001,"command":[-0.029393905472031242,-0.1888024293865101,-0.27113810781640141,0.60629372071172793,0.60629372071172793],"target_ned_yaw":[0,0,2,0],"error":[-0.021430358953704348,0.00042852356333650319,0.069757331323716532,0.0044775919558287958],"integral":[-0.024422672412849407,0.00035434127898168193,0.061484199222600407,0.0026952305342961428],"effort":[-0.054581115426253324,0.00086400167889870818,0.36759207577447073,0.018934758084005195]}
{"step":384,"t":1.9199999999999999,"command":[-0.028108079207208172,-0.18536745695347684,-0.2694421348850467,0.60721238293656299,0.60721238293656299],"target_ned_yaw":[0,0,2,0],"error":[-0.021376776056077226,0.00042766094692286332,0.070346092353755552,0.0045661787762415881],"integral":[-0.024850207933970952,0.0003628944979201392,0.062891121069675524,0.0027865541098209745],"effort":[-0.053480079074405391,0.00079006411671868836,0.36870687799149926,0.019118984977006301]}
{"step":388,"t":1.9399999999999999,"command":[-0.026746479715720108,-0.18189332955977969,-0.26774526888905037,0.60810986430912439,0.60810986430912439],"target_ned_yaw":[0,0,2,0],"error":[-0.021316767525403083,0.0004264295526993832,0.070923663329452546,0.0046549340501244405],"integral":[-0.025276543284479012,0.00037142308897412685,0.064309594336264569,0.0028796527908234635],"effort":[-0.052386356175406254,0.00071537417718342728,0.36979760707006171,0.019301172837063629]}
{"step":392,"t":1.96,"command":[-0.025298815950201451,-0.17838033243348991,-0.26604917832539221,0.60898664351634035,0.60898664351634035],"target_ned_yaw":[0,0,2,0],"error":[-0.021250513293868067,0.00042482998020499003,0.071490008461653209,0.0047438343120729948],"integral":[-0.025701553550356374,0.00037991968857822666,0.065739394505497636,0.0029745294770649232],"effort":[-0.05130085414334936,0.00064003008848216732,0.37086473198129821,0.019481311144266988]}
{"step":396,"t":1.98,"command":[-0.02375117898687721,-0.17482851598828761,-0.26435533320305765,0.60984311457799145,0.60984311457799145],"target_ned_yaw":[0,0,2,0],"error":[-0.021178195133726818,0.0004228632802304609,0.072045097121229418,0.0048328559911634964],"integral":[-0.026125117453030911,0.00038837695418283589,0.067180296447922228,0.003071186596888193],"effort":[-0.05022437609778329,0.00056411850326667753,0.37190862439818523,0.019659366095116357]}
{"step":400,"t":2,"command":[-0.022084133818888935,-0.17123765290655779,-0.26266503354110993,0.61067956729575801,0.61067956729575801],"target_ned_yaw":[0,0,2,0],"error":[-0.0210999960250043,0.00042053087413621861,0.072588903102629443,0.0049219752933446796],"integral":[-0.026547117373530996,0.00039678757166556027,0.068632074509974814,0.0031696261027550866],"effort":[-0.049157626809049587,0.00048770896653059395,0.37292953391253419,0.019835293036102826]}
{"step":404,"t":2.02,"command":[-0.020270034346208589,-0.16760788128313969,-0.26097993938046005,0.61149529365452637,0.61149529365452637],"target_ned_yaw":[0,0,2,0],"error":[-0.021016101047130906,0.00041783454025140141,0.07312140062909922,0.0050111682524296786],"integral":[-0.026967439394473613,0.00040514426247058831,0.070094502522556792,0.0032698494678036804],"effort":[-0.04810146531362583,0.00041087429239647588,0.37392649416163543,0.020009063445402778]}
{"step":408,"t":2.04,"command":[-0.018267752598833488,-0.16393925385053865,-0.25930175566917962,0.61229074582733733,0.61229074582733733],"target_ned_yaw":[0,0,2,0],"error":[-0.020926697379075987,0.00041477648640158009,0.073642566477517768,0.0051004108420922151],"integral":[-0.027385973342055132,0.00041343979219861989,0.071567353852107149,0.0033718576846455245],"effort":[-0.047056739723095146,0.00033371078501218772,0.37489995742579696,0.020180660770023794]}
{"step":412,"t":2.0600000000000001,"command":[-0.016010161564654731,-0.16023167690365206,-0.25763222846755252,0.61306640379564448,0.61306640379564448],"target_ned_yaw":[0,0,2,0],"error":[-0.020831973771059525,0.0004113594154902425,0.074152382637506564,0.0051896791115448142],"integral":[-0.027802612817476324,0.00042166698050842474,0.073050401504857282,0.0034756512668764209],"effort":[-0.046024277714256767,0.00025632527332634762,0.37585041546292419,0.020350087430900422]}
{"step":416,"t":2.0800000000000001,"command":[-0.013373730745302844,-0.1564847850229279,-0.25597320685252134,0.6138227445687382,0.6138227445687382],"target_ned_yaw":[0,0,2,0],"error":[-0.020732120358009809,0.00040758663930704148,0.074650836271193732,0.0052789495041124929],"integral":[-0.028217255224636521,0.00042981871329456555,0.074543418230281155,0.0035812302569586708],"effort":[-0.045004885285017816,0.00017885667404785857,0.37677836174989843,0.020517397341345861]}
{"step":420,"t":2.1000000000000001,"command":[-0.010074491482397193,-0.15269720870549847,-0.25432630969838671,0.61456011415546374,0.61456011415546374],"target_ned_yaw":[0,0,2,0],"error":[-0.0206273277654688,0.00040346228821206581,0.075137919009655052,0.0053681993813966319],"integral":[-0.028629801779945896,0.00043788795905880685,0.076046176610474261,0.0036885942445866035],"effort":[-0.043999154675625124,0.00010149537862889359,0.37768413391077665,0.02068271712917457]}
{"step":424,"t":2.1200000000000001,"command":[-0.0049558287251182985,-0.14886682834922707,-0.25269368323236091,0.615278937660799,0.615278937660799],"target_ned_yaw":[0,0,2,0],"error":[-0.020517786714516595,0.00039899179365818801,0.075613626833764602,0.0054574082848969667],"integral":[-0.029040157514236227,0.00044586779493197058,0.077558449147149558,0.0037977424102845427],"effort":[-0.043007715064147495,2.4560238352707656e-05,0.37856817112900137,0.020846382481389258]}
{"step":428,"t":2.1400000000000001,"command":[0.0072066294812742392,-0.14499399444370148,-0.25107669716805991,0.61597948389032764,0.61597948389032764],"target_ned_yaw":[0,0,2,0],"error":[-0.020403688931026134,0.00039418115865956841,0.076077959710155518,0.0055465555176406577],"integral":[-0.029448231292856751,0.00045375141810516194,0.079080008341352662,0.0039086735206373558],"effort":[-0.042031383142780904,-5.1935508480371005e-05,0.3794307245737944,0.021008124718040769]}
{"step":432,"t":2.1600000000000001,"command":[0.011319257284223189,-0.1410813598136981,-0.24947585642912412,0.61666204926462187,0.61666204926462187],"target_ned_yaw":[0,0,2,0],"error":[-0.020285228039767206,0.00038903590211419523,0.076530921391329443,0.0056356155865073644],"integral":[-0.029853935853652095,0.00046153213614744587,0.080610626769179253,0.0040213858323675028],"effort":[-0.04107107651396355,-0.00012812558546643974,0.38027208300324294,0.021167126427081403]}
{"step":436,"t":2.1800000000000002,"command":[0.01428000990220709,-0.13712524733774104,-0.24789245060276466,0.61732674219465744,0.61732674219465744],"target_ned_yaw":[0,0,2,0],"error":[-0.020162596966381979,0.00038356184618233301,0.076972518326221095,0.0057245620790107015],"integral":[-0.030257187792979735,0.00046920337307109253,0.082150077135703672,0.0041358770739477165],"effort":[-0.040127000261640386,-0.00020391868280713254,0.38109230662866905,0.021323666804203729]}
{"step":440,"t":2.2000000000000002,"command":[0.016719652452139876,-0.13312241997318508,-0.24632780088203818,0.61797370462756074,0.61797370462756074],"target_ned_yaw":[0,0,2,0],"error":[-0.020035986729523461,0.0003777639485855733,0.077402759122372711,0.0058133704415188276],"integral":[-0.030657907527570204,0.00047675865204280401,0.083698132318151125,0.0042521444827780929],"effort":[-0.039199482093449062,-0.000279546778120347,0.38189149961111168,0.021477903393931994]}
{"step":444,"t":2.2200000000000002,"command":[0.018847832851209622,-0.12907004431744121,-0.24478352524617575,0.61860336458568632,0.61860336458568632],"target_ned_yaw":[0,0,2,0],"error":[-0.019905587334198532,0.00037164594149368974,0.077821655800317302,0.0059020173386364269],"integral":[-0.031056019274254176,0.00048419157087267782,0.085254565434157464,0.0043701848295508213],"effort":[-0.0382890252860257,-0.00035524080318713664,0.38267012267673151,0.021629948945919464]}
{"step":448,"t":2.2400000000000002,"command":[0.020761801190868987,-0.12496497470597635,-0.24326097338145161,0.61921615650849382,0.61921615650849382],"target_ned_yaw":[0,0,2,0],"error":[-0.0197715878715784,0.00036521078411389776,0.078229224432732281,0.0059904800808082302],"integral":[-0.031451451031685743,0.00049149578655495582,0.086819149922812117,0.0044899944311669856],"effort":[-0.037396073036878308,-0.00043105238868916887,0.38342864848115149,0.021779828133612997]}
{"step":452,"t":2.2600000000000002,"command":[0.022513987646751433,-0.12080417965187346,-0.24176044526789336,0.61981238354706403,0.61981238354706403],"target_ned_yaw":[0,0,2,0],"error":[-0.019634175692870626,0.00035846175008940608,0.078625484463234807,0.0060787346581757627],"integral":[-0.031844134545543155,0.00049866502155674394,0.088391659612076817,0.004611569124330501],"effort":[-0.036520881358746093,-0.00050687963975807606,0.38416739079829282,0.021927231537383976]}
{"step":456,"t":2.2800000000000002,"command":[0.024135339601674289,-0.11658379662739296,-0.24028298372594015,0.62039243704816571,0.62039243704816571],"target_ned_yaw":[0,0,2,0],"error":[-0.019493536543979798,0.00035140296832801923,0.079010458696114227,0.0061667558478944234],"integral":[-0.032234005276422749,0.00050569308092330428,0.089971868785999096,0.0047349042412883893],"effort":[-0.035663846952148873,-0.00058251461768814728,0.38488677594656229,0.022072065316091551]}
{"step":460,"t":2.3000000000000003,"command":[0.0256477101439989,-0.11229948294371886,-0.23882969540650464,0.62095672810382918,0.62095672810382918],"target_ned_yaw":[0,0,2,0],"error":[-0.019349855030337051,0.00034403938313880321,0.079384173577088823,0.0062545178361042564],"integral":[-0.032621002377029487,0.00051257386858608034,0.091559552257540866,0.0048599945980104748],"effort":[-0.034825398638695194,-0.00065780503563058401,0.38558725817741285,0.022214224769268591]}
{"step":464,"t":2.3199999999999998,"command":[0.02706753746978377,-0.10794646161448138,-0.23740191070297023,0.62150570651721315,0.62150570651721315],"target_ned_yaw":[0,0,2,0],"error":[-0.019203315052732067,0.000336376482256962,0.079746659380889318,0.0063419942444438672],"integral":[-0.033005068678084129,0.0005193013982312196,0.093154485445158655,0.0049868344828993523],"effort":[-0.034006052890253879,-0.00073265158467814831,0.38626934323346029,0.022353614315167178]}
{"step":468,"t":2.3399999999999999,"command":[0.028408126699818851,-0.10351891690666393,-0.23600130261021504,0.62203981725429458,0.62203981725429458],"target_ned_yaw":[0,0,2,0],"error":[-0.019054100297405618,0.00032841999087857736,0.080097950279097052,0.0064291586017758444],"integral":[-0.033386150684032244,0.0005258697980487911,0.094756444450740593,0.0051154176549348691],"effort":[-0.033206390495623545,-0.00080702166259296064,0.38693353424975624,0.022490224338094753]}
{"step":472,"t":2.3599999999999999,"command":[0.029681180196744966,-0.099008046717670009,-0.23463081546526662,0.62255949963995894,0.62255949963995894],"target_ned_yaw":[0,0,2,0],"error":[-0.018902394883166418,0.00032017547328347894,0.080438084323833481,0.0065159869559787203],"integral":[-0.033764198581695569,0.00053227330751446072,0.09636520613721726,0.0052457373940544439],"effort":[-0.03242710644037216,-0.00088097245787164559,0.38758033059195607,0.022624513125523833]}
{"step":476,"t":2.3799999999999999,"command":[0.030899517099818967,-0.094394473796685335,-0.2332965117402877,0.62306511593329039,0.62306511593329039],"target_ned_yaw":[0,0,2,0],"error":[-0.018748383264923549,0.00031164749118079923,0.080767103043329236,0.0066024669525434378],"integral":[-0.034139166246994042,0.00053850625733807675,0.097980548198083842,0.0053777867331053124],"effort":[-0.031668789536769652,-0.00095478015700200484,0.38821013869296461,0.022758472853416537]}
{"step":480,"t":2.3999999999999999,"command":[0.03207836797835243,-0.089635160748034626,-0.23200865908616747,0.62355711772412559,0.62355711772412559],"target_ned_yaw":[0,0,2,0],"error":[-0.018592246745259527,0.00030283825499438535,0.081085051039465839,0.0066886157860529356],"integral":[-0.034511011181899233,0.00054456302243796443,0.09960224921887316,0.005511559048826371],"effort":[-0.03093123996664374,-0.0010290216921545867,0.38882347906441905,0.022896777924317734]}
{"step":484,"t":2.4199999999999999,"command":[0.033209229801608391,-0.084780856155907677,-0.23074142031259703,0.62403594763289327,0.62403594763289327],"target_ned_yaw":[0,0,2,0],"error":[-0.018434163350953534,0.00029375149769695361,0.081391976087346274,0.006774401705561644],"integral":[-0.034879694448918301,0.00055043805239190352,0.10123008874062009,0.0056470470829376035],"effort":[-0.030214698309201638,-0.0011028529440160347,0.38942086393808317,0.023026904738672929]}
{"step":488,"t":2.4399999999999999,"command":[0.034306393547864425,-0.079788303893400303,-0.22950702547072743,0.62450206011430243,0.62450206011430243],"target_ned_yaw":[0,0,2,0],"error":[-0.018274310703960336,0.00028439046869957484,0.081687929497462619,0.0068597796546501612],"integral":[-0.035245180662997505,0.00055612586176589506,0.10286384733056934,0.0057842426760306067],"effort":[-0.029519824089303363,-0.0011769286382609537,0.39000282308700784,0.023153650651117765]}
{"step":492,"t":2.46,"command":[0.035381014371297481,-0.074614315106197884,-0.22831021573300198,0.62495592779518871,0.62495592779518871],"target_ned_yaw":[0,0,2,0],"error":[-0.018112863594883649,0.00027475540436650513,0.081972965791270225,0.0069447301508720732],"integral":[-0.035607437934895181,0.00056162096985322516,0.10450330664639475,0.0059231372790480479],"effort":[-0.02884642531340845,-0.0012518161779419587,0.39056991168634514,0.02327912929464146]}
{"step":496,"t":2.48,"command":[0.036442915016511972,-0.069211673487764039,-0.22715268838699029,0.62539803471789734,0.62539803471789734],"target_ned_yaw":[0,0,2,0],"error":[-0.017949991900987228,0.00026484370180442128,0.082247142425675213,0.0070292438420072045],"integral":[-0.035966437772914923,0.00056691784388931358,0.10614824949490825,0.0060637221558881918],"effort":[-0.028194299794206987,-0.0013280860549007136,0.39112270182900832,0.023404044047230128]}
{"step":500,"t":2.5,"command":[0.037502355927870448,-0.063517677118087174,-0.2260356575331201,0.62582889864523794,0.62582889864523794],"target_ned_yaw":[0,0,2,0],"error":[-0.017785860885531427,0.00025464957961723379,0.082510519932061044,0.007113315702052302],"integral":[-0.036322154990625549,0.00057201083548165822,0.10779845989354947,0.0062059884699292378],"effort":[-0.027563306891453768,-0.0014064267001406799,0.39166181037951153,0.023528811584976193]}
{"step":504,"t":2.52,"command":[0.038570790716843238,-0.05743941337185763,-0.22496062950163445,0.62624907022154697,0.62624907022154697],"target_ned_yaw":[0,0,2,0],"error":[-0.017620631330482819,0.0002441633359196668,0.082763162079365404,0.007196944872963686],"integral":[-0.036674567617235206,0.00057689410220005159,0.10945372313513678,0.006349927367388512],"effort":[-0.026953285517137389,-0.0014877058965225205,0.39218789795335207,0.023653999308634252]}
{"step":508,"t":2.54,"command":[0.039660928270918216,-0.050827598649269265,-0.22392959537183876,0.62665914469119188,0.62665914469119188],"target_ned_yaw":[0,0,2,0],"error":[-0.017454459053699148,0.00023337043794423177,0.083005135992562984,0.0072801367496130136],"integral":[-0.037023656798309192,0.00058156151095893626,0.11111382585498804,0.0064955301023807725],"effort":[-0.026363954233923317,-0.0015729892313109198,0.39270168362509617,0.023780509449472118]}
{"step":512,"t":2.5600000000000001,"command":[0.040786191449659892,-0.043415644493838806,-0.22294538314225804,0.62705976719190704,0.62705976719190704],"target_ned_yaw":[0,0,2,0],"error":[-0.017287493648609389,0.00022225066374280378,0.083236512209581281,0.0073629070176941666],"integral":[-0.037369406671281379,0.00058600652423379236,0.11277855609917967,0.0066427882427346555],"effort":[-0.025794781025631812,-0.0016635134129683099,0.39320395163076871,0.023909862838816416]}
{"step":516,"t":2.5800000000000001,"command":[0.041958492323304869,-0.034647313472573861,-0.22201169084586719,0.62745163195256992,0.62745163195256992],"target_ned_yaw":[0,0,2,0],"error":[-0.017119876221324756,0.00021077782601840395,0.083457364608599649,0.0074452873938057858],"integral":[-0.037711804195707875,0.00059022208075416047,0.11444770339135166,0.0067916939906107711],"effort":[-0.025244813601553857,-0.0017605150780448339,0.39369555043994331,0.024044377270687058]}
{"step":520,"t":2.6000000000000001,"command":[0.043135214712581249,-0.022920493398782472,-0.2211312896964415,0.62783546511348487,0.62783546511348487],"target_ned_yaw":[0,0,2,0],"error":[-0.016951734667004004,0.00019893402708518653,0.083667769952539661,0.0075273302527377227],"integral":[-0.038050838889047957,0.00059420076129586415,0.11612105879040245,0.0069422405956655253],"effort":[-0.024712198150227585,-0.0018606467483004857,0.39417737125426583,0.024186849132583954]}
{"step":524,"t":2.6200000000000001,"command":[0.044232710256582521,0.011988305201375509,-0.22030441428556269,0.62821196975411986,0.62821196975411986],"target_ned_yaw":[0,0,2,0],"error":[-0.016783181776650224,0.00018673059654946973,0.083867807602840516,0.0076091038837011737],"integral":[-0.038386502524580958,0.00059793537322685357,0.11779841494245927,0.0070944226733395486],"effort":[-0.024195157746051757,-0.0019565326566427805,0.39465027894235127,0.024338877207653084]}
{"step":528,"t":2.6400000000000001,"command":[0.045063424186260949,0.028294392862389529,-0.21952192759216765,0.62858173866332823,0.62858173866332823],"target_ned_yaw":[0,0,2,0],"error":[-0.016614325685623377,0.00017424669051962138,0.084057560547023957,0.0076906558730389495],"integral":[-0.038718789038293427,0.00060142030703724597,0.11947956615339975,0.0072482357908003276],"effort":[-0.023694652013164827,-0.002030712199390888,0.3951150021810127,0.024495224680616066]}
{"step":532,"t":2.6600000000000001,"command":[0.045600390900824989,0.037999227435659567,-0.21877881089786222,0.62894390446804516,0.62894390446804516],"target_ned_yaw":[0,0,2,0],"error":[-0.016445275810564444,0.00016160484358996837,0.08423711012179691,0.0077720030498159703],"integral":[-0.039047694554504714,0.00060465240390904533,0.12116430835583568,0.0074036758517966473],"effort":[-0.023210113406087786,-0.0020793956503080422,0.39557043496750954,0.024654054691794769]}
{"step":536,"t":2.6800000000000002,"command":[0.045879913579550659,0.045551818093237217,-0.21807151435044361,0.62929860783885561,0.62929860783885561],"target_ned_yaw":[0,0,2,0],"error":[-0.01627613046088533,0.00014892594457844546,0.084406534650216525,0.007853158218765123],"integral":[-0.03937321716372242,0.0006076309228006142,0.12285243904884001,0.0075607390161719495],"effort":[-0.022740108619748178,-0.0021049664700670372,0.39601673782792174,0.024815076751347552]}
{"step":540,"t":2.7000000000000002,"command":[0.046097086797616177,0.051771941921887873,-0.2173692424429825,0.62964695442702956,0.62964695442702956],"target_ned_yaw":[0,0,2,0],"error":[-0.016106981334334178,0.00013627076230345427,0.084565916174597078,0.0079340667698879087],"integral":[-0.0396953567904091,0.00061035633804668325,0.12454375737233195,0.0077194203515697076],"effort":[-0.022284526794936386,-0.0021249414112269596,0.3964552872192339,0.024964860765299718]}
{"step":544,"t":2.7200000000000002,"command":[0.046271198555711983,0.05713195166797768,-0.21668121634751297,0.62998961184948099,0.62998961184948099],"target_ned_yaw":[0,0,2,0],"error":[-0.015937916193357327,0.00012366152768299946,0.084715341379300702,0.0080146565633822317],"integral":[-0.040014115114276244,0.0006128295686003432,0.12623806419991795,0.0078797134828373517],"effort":[-0.021843344808222788,-0.0021410238157821226,0.39688691103825968,0.025107404709614926]}
{"step":548,"t":2.7400000000000002,"command":[0.046399248261685837,0.061852423993813681,-0.21601759267308651,0.63032752531497849,0.63032752531497849],"target_ned_yaw":[0,0,2,0],"error":[-0.015769031008942599,0.00011111813212189166,0.084854903369408152,0.0080948767822529074],"integral":[-0.040329495734455094,0.00061505193124278105,0.12793516226730611,0.0080416110184824106],"effort":[-0.021418938995182515,-0.0021528902392495561,0.39731278916970481,0.025244661349093013]}
{"step":552,"t":2.7600000000000002,"command":[0.046472241642741059,0.066071430170691489,-0.2153853717026333,0.63066068366902372,0.63066068366902372],"target_ned_yaw":[0,0,2,0],"error":[-0.015600432043829673,9.866366283873911e-05,0.084984698751248366,0.0081746895915807589],"integral":[-0.040641504375331684,0.00061702520449955585,0.12963485624233109,0.0082051048103140255],"effort":[-0.021012712229340477,-0.0021596692433013165,0.3977328979258804,0.025378146114141038]}
{"step":556,"t":2.7800000000000002,"command":[0.046478832411677017,0.069848203456439481,-0.21478241557805372,0.63098874471421273,0.63098874471421273],"target_ned_yaw":[0,0,2,0],"error":[-0.015432234182567534,8.6326056245660324e-05,0.085104823747710778,0.0082540487169602429],"integral":[-0.040950149058983032,0.00061875172562446911,0.13133695271728532,0.00837018578465323],"effort":[-0.020626357257725804,-0.0021602818623527578,0.39814679595601798,0.025505128783817967]}
{"step":560,"t":2.8000000000000003,"command":[0.046440014993150959,0.073250963413143202,-0.21421182292682342,0.63131260631466679,0.63131260631466679],"target_ned_yaw":[0,0,2,0],"error":[-0.015264556708337193,7.4129007499508645e-05,0.08521537767869658,0.0083329034387150148],"integral":[-0.041255440193149778,0.00062023430577445924,0.13304126027085925,0.0085368438534275306],"effort":[-0.020260500720339553,-0.002156674992564086,0.39855560689181746,0.025626204361293196]}
{"step":564,"t":2.8199999999999998,"command":[0.046375718987290544,0.076309378300459002,-0.21368087994185403,0.63163275164890564,0.63163275164890564],"target_ned_yaw":[0,0,2,0],"error":[-0.015097530480120011,6.2086713224719561e-05,0.08531646519456193,0.0084112053752357068],"integral":[-0.041557390802752177,0.00062147604003895364,0.1347475895747505,0.0087050679609322439],"effort":[-0.019918198618061236,-0.0021507073115881407,0.39895993295556809,0.025741319834663798]}
{"step":568,"t":2.8399999999999999,"command":[0.046301415440348985,0.079052154253304405,-0.21319919906259674,0.63194731014825689,0.63194731014825689],"target_ned_yaw":[0,0,2,0],"error":[-0.014931304455734984,5.0205495184968982e-05,0.085408186787417906,0.0084889122381218186],"integral":[-0.041856016891866875,0.00062248014994265304,0.13645575331049886,0.0088748462056946805],"effort":[-0.019602327694422255,-0.0021438210717797872,0.3993574028036172,0.025851570786510489]}
{"step":572,"t":2.8599999999999999,"command":[0.046209132767287213,0.081507545428731579,-0.21276984594426734,0.63225607265105743,0.63225607265105743],"target_ned_yaw":[0,0,2,0],"error":[-0.014766036646727099,3.8491338811101226e-05,0.085490638523260554,0.0085659871652168946],"integral":[-0.042151337624801416,0.00062324997671887503,0.13816556608096409,0.0090461659489990184],"effort":[-0.019313763690665262,-0.0021352839511047769,0.39974774140413921,0.025957243652482004]}
{"step":576,"t":2.8799999999999999,"command":[0.046095191242786368,0.083700186666432932,-0.21239627688615279,0.63255850169203265,0.63255850169203265],"target_ned_yaw":[0,0,2,0],"error":[-0.014601888087034165,2.695264882713439e-05,0.085563913868941466,0.0086423978501115033],"integral":[-0.042443375386542102,0.0006237890296954177,0.13987684435834291,0.0092190139060012478],"effort":[-0.019053228593551783,-0.0021247666557090493,0.40013025806286923,0.0260589498415475]}
{"step":580,"t":2.8999999999999999,"command":[0.045959779203525029,0.085650759529808121,-0.21208052981414841,0.63285378475455523,0.63285378475455523],"target_ned_yaw":[0,0,2,0],"error":[-0.014439021088056003,1.5598337799084625e-05,0.085628101578719251,0.008718116461722953],"integral":[-0.042732155808303224,0.00062410099645139941,0.14158940638991729,0.0093933762352357061],"effort":[-0.018821049259108436,-0.0021123013044367718,0.40050391287816495,0.026157101867141451]}
{"step":584,"t":2.9199999999999999,"command":[0.045799039595842882,0.087374845547868424,-0.21182413666026204,0.63314052522096886,0.63314052522096886],"target_ned_yaw":[0,0,2,0],"error":[-0.014277598652357074,4.4382862803974462e-06,0.085683282673307826,0.0087931179939621899],"integral":[-0.043017707781350369,0.00062418976217700731,0.14330307204338344,0.0095692385951149494],"effort":[-0.018617550618675753,-0.0020975520279015842,0.40086692467708429,0.026251914253189616]}
{"step":588,"t":2.9399999999999999,"command":[0.045608460308506647,0.088885736296448095,-0.21162772761926979,0.63341776332956845,0.63341776332956845],"target_ned_yaw":[0,0,2,0],"error":[-0.014117783395500599,-6.5158319503240761e-06,0.08572953070110545,0.0088673790461597391],"integral":[-0.043300063449260379,0.00062405944553800086,0.14501766265740554,0.0097465861760381439],"effort":[-0.018442810490167067,-0.002080131651712626,0.40121806290143319,0.026343484607128778]}
{"step":592,"t":2.96,"command":[0.045387578566736628,0.090195635433678881,-0.21149171484587245,0.63368461742403182,0.63368461742403182],"target_ned_yaw":[0,0,2,0],"error":[-0.013959736114106933,-1.7251664255878195e-05,0.085766912957050856,0.0089408778931626583],"integral":[-0.043579258171542519,0.00062371441225288335,0.14673300091654656,0.0099254037339013973],"effort":[-0.018296746398581358,-0.0020600322881516898,0.40155619435984158,0.026431999049866466]}
{"step":596,"t":2.98,"command":[0.045136912195214415,0.091315807521799727,-0.21141613130646753,0.63394024071273702,0.63394024071273702],"target_ned_yaw":[0,0,2,0],"error":[-0.013803614669824951,-2.7757198612574085e-05,0.085795490711512601,0.0090135949040325361],"integral":[-0.043855330464939016,0.00062315926828063184,0.14844891073077682,0.010105675631982048],"effort":[-0.018179101936617568,-0.0020373408425184958,0.40188022879492297,0.026517678639975943]}
{"step":600,"t":3,"command":[0.044856843541957757,0.092256470848858907,-0.21140089185129421,0.63418394052577687,0.63418394052577687],"target_ned_yaw":[0,0,2,0],"error":[-0.013649573180022037,-3.8020921516658491e-05,0.085815319855530703,0.0090855128812677311],"integral":[-0.044128321928539459,0.00062239884985029867,0.15016521712788744,0.010287385889607403],"effort":[-0.018089540331018113,-0.0020121364125476773,0.4021892704208021,0.026600796744504468]}
{"step":604,"t":3.02,"command":[0.044547427118187446,0.09302679722529765,-0.21144666754461333,0.63441520773781457,0.63441520773781457],"target_ned_yaw":[0,0,2,0],"error":[-0.013497762252852957,-4.8031720856267068e-05,0.085826452086625871,0.0091566182495291387],"integral":[-0.044398277173596519,0.00062143821543317334,0.15188174616961997,0.010470518254597985],"effort":[-0.018027854106862799,-0.0019844732628502221,0.40248265580901438,0.026681839108859445]}
{"step":608,"t":3.04,"command":[0.04420850706883548,0.093635142138345215,-0.21155254462417336,0.63463366555711198,0.63463366555711198],"target_ned_yaw":[0,0,2,0],"error":[-0.013348327726231582,-5.7778806682163859e-05,0.085828935747154445,0.0092269002364921589],"integral":[-0.044665243728121154,0.00062028263929953008,0.15359832488456307,0.010655056259327828],"effort":[-0.017993469646847372,-0.0019543920972552764,0.4027598894584562,0.026761009490115485]}
{"step":612,"t":3.0600000000000001,"command":[0.043843190994566454,0.094110808691115641,-0.21170791624553215,0.63483904826294113,0.63483904826294113],"target_ned_yaw":[0,0,2,0],"error":[-0.013201392893425645,-6.7252755635009492e-05,0.085822814223087907,0.0092963501457516712],"integral":[-0.044929271585989666,0.00061893758418682995,0.15531478116902483,0.010840983262242861],"effort":[-0.017981698744264744,-0.0019222253965860327,0.40302061719939691,0.026838543056760512]}
{"step":616,"t":3.0800000000000001,"command":[0.043448591589788532,0.094436035333748419,-0.21192210520319243,0.63503102537198663,0.63503102537198663],"target_ned_yaw":[0,0,2,0],"error":[-0.01305708370457194,-7.6444180202625989e-05,0.085808129433245561,0.0093649609080118969],"integral":[-0.045190413260081108,0.0006174087005827774,0.15703094375768975,0.0110282824804031],"effort":[-0.01799640695209799,-0.0018877801111362429,0.40326440318499668,0.02691457172165497]}
{"step":620,"t":3.1000000000000001,"command":[0.043027633207671001,0.094640015660710869,-0.21218353696812128,0.63520996659029749,0.63520996659029749],"target_ned_yaw":[0,0,2,0],"error":[-0.012915512984360986,-8.5344494763033496e-05,0.085784922361876959,0.0094327270746751481],"integral":[-0.045448723519768329,0.00061570181068751676,0.15874664220492729,0.011216937021896602],"effort":[-0.018032560398021244,-0.0018513772194538721,0.4034917016556468,0.026989292962280843]}
{"step":624,"t":3.1200000000000001,"command":[0.042580019489112803,0.094729186960814782,-0.21249009600931576,0.63537657564781469,0.63537657564781469],"target_ned_yaw":[0,0,2,0],"error":[-0.012776775075863916,-9.3946050172155626e-05,0.08575323536717816,0.009499644621074747],"integral":[-0.045704259021285609,0.00061382288968407368,0.16046170691227085,0.011406929914318097],"effort":[-0.018089211019895617,-0.0018130580596932258,0.40370339288194318,0.027062829882152618]}
{"step":628,"t":3.1400000000000001,"command":[0.042106814551099284,0.094702658082004051,-0.21284001235670807,0.63553147839714619,0.63553147839714619],"target_ned_yaw":[0,0,2,0],"error":[-0.012640959068248969,-0.00010224185575578664,0.085713114453307426,0.0095657078307674285],"integral":[-0.045957078202650589,0.00061177805256895797,0.16217596920133701,0.011598244070933445],"effort":[-0.018166138706103337,-0.0017729838316406666,0.40390026003366236,0.027134732153900304]}
{"step":632,"t":3.1600000000000001,"command":[0.041608350852956867,0.094564165287851304,-0.21323204444920599,0.63567526944441088,0.63567526944441088],"target_ned_yaw":[0,0,2,0],"error":[-0.012508149242761793,-0.00011022560373207652,0.085664608985658308,0.0096309105608403962],"integral":[-0.046207241187505826,0.00060957354049431648,0.16388926138105017,0.011790862282150254],"effort":[-0.018262761711700048,-0.0017312548607027562,0.40408304818322438,0.027205143068288109]}
{"step":636,"t":3.1800000000000002,"command":[0.041084391895765467,0.094317081798488786,-0.21366486402493362,0.6358085190927224,0.6358085190927224],"target_ned_yaw":[0,0,2,0],"error":[-0.012378424222952322,-0.00011789142073292155,0.085607771376101871,0.0096952479635628568],"integral":[-0.046454809671964872,0.00060721571207965808,0.16560141680857221,0.011984767241421512],"effort":[-0.01837848109990527,-0.0016879272574448392,0.40425247295088068,0.027274193018888095]}
{"step":640,"t":3.2000000000000002,"command":[0.040534722586631655,0.093964441920563468,-0.21413712228724194,0.63593177546208279,0.63593177546208279],"target_ned_yaw":[0,0,2,0],"error":[-0.012251857040231934,-0.00012523380214674831,0.085542656919519233,0.0097587164244586303],"integral":[-0.046699846812769508,0.00060471103603672316,0.16731226994696261,0.012179941569910684],"effort":[-0.018512695398009135,-0.0016430637351751867,0.40440922304235682,0.027342011743452081]}
{"step":644,"t":3.2200000000000002,"command":[0.039959131087667313,0.09350886280103822,-0.21464746511795049,0.63604556226515629,0.63604556226515629],"target_ned_yaw":[0,0,2,0],"error":[-0.01212851528772578,-0.00013224763653838954,0.085469323639610018,0.0098213135003919587],"integral":[-0.046942417118524024,0.0006020660833059554,0.16902165641975481,0.012376367839918523],"effort":[-0.018664813429609194,-0.0015967321572813802,0.40455395727719884,0.027408720851952582]}
{"step":648,"t":3.2400000000000002,"command":[0.039357389289667123,0.092952569755332393,-0.21519455179863242,0.63615037531945851,0.63615037531945851],"target_ned_yaw":[0,0,2,0],"error":[-0.012008461318084557,-0.00013892822221916491,0.085387832122501228,0.0098830378550576314],"integral":[-0.047182586344885716,0.00059928751886157209,0.17072941306220482,0.012574028597019676],"effort":[-0.018834257449847177,-0.0015490040916984044,0.40468730001908793,0.027474437673967112]}
{"step":652,"t":3.2600000000000002,"command":[0.038729251635425108,0.092297376410001478,-0.21577705594249327,0.63624667766635068,0.63624667766635068],"target_ned_yaw":[0,0,2,0],"error":[-0.011891752461087257,-0.00014527128114815596,0.085298245326450584,0.0099438891892920222],"integral":[-0.047420421394107459,0.00059638209323860901,0.17243537796873384,0.012772906380805516],"effort":[-0.019020466089520186,-0.0014999549322400783,0.40480983484146921,0.027539271781689682]}
{"step":656,"t":3.2800000000000002,"command":[0.038074424073936193,0.091544691270900522,-0.21639367498293588,0.63633489319142156,0.63633489319142156],"target_ned_yaw":[0,0,2,0],"error":[-0.011778441256118016,-0.00015127296616383843,0.085200628357950059,0.010003868169419153],"integral":[-0.047655990219229817,0.00059335663391533219,0.17413939053589284,0.0129729837441939],"effort":[-0.019222896036368002,-0.0014496617685619321,0.40492209629293785,0.027603326536252491]}
{"step":660,"t":3.3000000000000003,"command":[0.03739255060386025,0.090695510612609165,-0.21704312991809899,0.63641540092982263,0.63641540092982263],"target_ned_yaw":[0,0,2,0],"error":[-0.011668575690331293,-0.00015692986242206311,0.085095048212576962,0.010062976355324773],"integral":[-0.047889361733036442,0.00059021803666689098,0.17584129150014438,0.013174243271300396],"effort":[-0.019441022299681449,-0.0013982028406622493,0.40502456254066693,0.027666697944963351]}
{"step":664,"t":3.3200000000000003,"command":[0.036683187177182837,0.089750414662751549,-0.21772415817485247,0.63648852882464979,0.63648852882464979],"target_ned_yaw":[0,0,2,0],"error":[-0.011562199428923156,-0.0001622389837953955,0.08498157347873958,0.010121216117563355],"integral":[-0.048120605721614904,0.00058697325699098304,0.17754092296971918,0.013376667593651663],"effort":[-0.019674336060406163,-0.0013456562214762312,0.40511764732536709,0.027729472992542012]}
{"step":668,"t":3.3399999999999999,"command":[0.035945781813670884,0.08870956177065463,-0.21843550357116634,0.63655455013002615,0.63655455013002615],"target_ned_yaw":[0,0,2,0],"error":[-0.011459352025862707,-0.00016719776523401678,0.084860274012560133,0.010178590541150605],"integral":[-0.048349792762132159,0.00058362930168630268,0.17923812844997039,0.013580239404474675],"effort":[-0.019922341435423718,-0.0012920992301960323,0.40520169529124,0.027791727784965307]}
{"step":672,"t":3.3599999999999999,"command":[0.035179655962687531,0.08757267736205844,-0.21917590355199071,0.63661368264537233,0.63661368264537233],"target_ned_yaw":[0,0,2,0],"error":[-0.011360069107034701,-0.00017180405365970841,0.084731220600912094,0.010235103313484633],"integral":[-0.048576994144272856,0.00058019322061310852,0.18093275286198862,0.013784941470744367],"effort":[-0.020184551438736171,-0.0012376081936530565,0.40527698093130282,0.027853525259095353]}
{"step":676,"t":3.3799999999999999,"command":[0.034384004524327383,0.086339039998171899,-0.21994407263554586,0.63666609048074096,0.63666609048074096],"target_ned_yaw":[0,0,2,0],"error":[-0.011264382516667101,-0.00017605610300111692,0.084594484628571998,0.010290758593128365],"integral":[-0.048802281794606196,0.00057667209855308613,0.18262464255456007,0.013990756642606935],"effort":[-0.020460482629852172,-0.001182259767128966,0.40534371076803105,0.027914912457658099]}
{"step":680,"t":3.3999999999999999,"command":[0.033557684275064524,0.085008379831520181,-0.22073833064629808,0.63671189346032808,0.63671189346032808],"target_ned_yaw":[0,0,2,0],"error":[-0.011172319776636866,-0.00017995253923741008,0.084450137703640848,0.01034556085751738],"integral":[-0.049025728190138937,0.0005730730477683379,0.1843136453086329,0.014197667859757282],"effort":[-0.020749492987467207,-0.0011261181739049128,0.40540203527383623,0.027975917629047213]}
{"step":684,"t":3.4199999999999999,"command":[0.03269943650779028,0.083579964290505085,-0.22155699883308894,0.63675119131360947,0.63675119131360947],"target_ned_yaw":[0,0,2,0],"error":[-0.011083903812889012,-0.00018349235516177754,0.084298251441177197,0.010399514778161124],"integral":[-0.049247406266396718,0.00056940320066510238,0.18599961033745643,0.014405658155320505],"effort":[-0.021050946650561633,-0.0010692531479270079,0.40545207963930091,0.028036557081363739]}
{"step":688,"t":3.4399999999999999,"command":[0.03180617869973125,0.082053608048702265,-0.22239669115362182,0.63678409559674443,0.63678409559674443],"target_ned_yaw":[0,0,2,0],"error":[-0.01099915114864454,-0.00018667462288698847,0.084138897242700184,0.010452623648804416],"integral":[-0.049467389289369605,0.00056566970820736264,0.18768238828231043,0.014614710628296593],"effort":[-0.021363746821134698,-0.0010116330034792378,0.40549398440496381,0.028096541414944755]}
{"step":692,"t":3.46,"command":[0.030875686558425888,0.080429710220023612,-0.22325602200334901,0.63681085026399098,0.63681085026399098],"target_ned_yaw":[0,0,2,0],"error":[-0.010918072271114063,-0.00018949855667087234,0.083972146910222145,0.010504891048885665],"integral":[-0.049685750734791888,0.00056187973707394522,0.18936183122051486,0.014824808449274307],"effort":[-0.021687156537341445,-0.00095330802045416108,0.40552805901394717,0.028156094823418416]}
{"step":696,"t":3.48,"command":[0.029905856254925825,0.078705646794297354,-0.22413368548381105,0.63683165529438435,0.63683165529438435],"target_ned_yaw":[0,0,2,0],"error":[-0.010840673520427349,-0.00019196374549239792,0.08379807302812381,0.010556321388849724],"integral":[-0.049902564205200436,0.00055804046216409724,0.19103779268107735,0.015035934877051302],"effort":[-0.022020665065623616,-0.00089436023834028617,0.40555455718498562,0.028215243902932306]}
{"step":700,"t":3.5,"command":[0.028894261272437001,0.07687823767034864,-0.22502833459704633,0.63684663930087326,0.63684663930087326],"target_ned_yaw":[0,0,2,0],"error":[-0.010766957688862738,-0.00019407022469991207,0.083616748644874006,0.010606919262018974],"integral":[-0.050117903358977693,0.00055415905767009898,0.19271012765397483,0.015248073262291682],"effort":[-0.022363743972110814,-0.00083487833447985272,0.40557364198881651,0.028274007399409426]}
{"step":704,"t":3.52,"command":[0.027838040563204956,0.074943447513733316,-0.22593867596144698,0.63685589649680074,0.63685589649680074],"target_ned_yaw":[0,0,2,0],"error":[-0.010696924144227363,-0.00019581850152329181,0.083428246979541765,0.010656689408097867],"integral":[-0.050331841841862242,0.00055024268763963311,0.19437869259356566,0.015461207050453639],"effort":[-0.022715882484984021,-0.00077495650239864443,0.40558543290274385,0.028332402810227721]}
{"step":708,"t":3.54,"command":[0.02673372729428344,0.072896154731616855,-0.22686349066333625,0.63685949093127203,0.63685949093127203],"target_ned_yaw":[0,0,2,0],"error":[-0.01063056906320517,-0.00019720956998174892,0.083232641250303496,0.010705636697078766],"integral":[-0.050544453223126347,0.00054629849623999817,0.19604334541857174,0.015675319784395216],"effort":[-0.02307659701064891,-0.0007146921750451154,0.40559001118923899,0.028390446385304736]}
{"step":712,"t":3.5600000000000001,"command":[0.025576303498214853,0.070730907507816423,-0.22780181741638689,0.63685746027819512,0.63685746027819512],"target_ned_yaw":[0,0,2,0],"error":[-0.010567885565647764,-0.00019824480205290216,0.083030004517441025,0.010753766671007969],"integral":[-0.050755810934439302,0.00054233360019894012,0.19770394550892056,0.015890395117815374],"effort":[-0.023445403370664794,-0.00065414730063279741,0.40558742471199283,0.028448264647544075]}
{"step":716,"t":3.5800000000000001,"command":[0.024359307451739028,0.068440788302887523,-0.22875268369147345,0.63684981913044758,0.63684981913044758],"target_ned_yaw":[0,0,2,0],"error":[-0.010508863806215865,-0.00019892585358167753,0.082820409544733797,0.01080108577165226],"integral":[-0.050965988210563619,0.0005383550831273066,0.19936035369981525,0.01610641683324842],"effort":[-0.023821824396265321,-0.0005933758595283485,0.40557769212648381,0.028505965899785986]}
{"step":720,"t":3.6000000000000001,"command":[0.023076387040076293,0.066015036952390901,-0.22971453734076808,0.63683656220468754,0.63683656220468754],"target_ned_yaw":[0,0,2,0],"error":[-0.010453491091352088,-0.00019925491980681584,0.082603928685642591,0.010847599862933242],"integral":[-0.051175058032390662,0.00053436998473117023,0.20101243227352811,0.016323368830507085],"effort":[-0.024205391780928794,-0.00053251963882340104,0.40556080696068492,0.02856337688475433]}
{"step":724,"t":3.6200000000000001,"command":[0.021718176745738123,0.063441796169207448,-0.23068625610797663,0.63681766643422377,0.63681766643422377],"target_ned_yaw":[0,0,2,0],"error":[-0.010401751984106172,-0.00019923476623920204,0.08238063378517535,0.010893314292295326],"integral":[-0.051383093072072783,0.0005303852894063862,0.20266004494923162,0.016541235116352991],"effort":[-0.024595643627969861,-0.00047167920115912009,0.40553674028273029,0.028620505129145126]}
{"step":728,"t":3.6400000000000001,"command":[0.020271795590291748,0.060706321967555162,-0.23166681209738235,0.63679309427896769,0.63679309427896769],"target_ned_yaw":[0,0,2,0],"error":[-0.01035362840800591,-0.00019886861752760397,0.082150596100747819,0.010938234568579995],"integral":[-0.051590165640232902,0.00052640791705583416,0.20430305687124659,0.01675999980772459],"effort":[-0.024992127150267697,-0.00041094569645457204,0.40550544492138219,0.028677384677096168]}
{"step":732,"t":3.6600000000000001,"command":[0.018719166089184638,0.057789749713842709,-0.23265522209366923,0.63676279608336883,0.63676279608336883],"target_ned_yaw":[0,0,2,0],"error":[-0.010309099753993897,-0.00019816012621018115,0.081913886241218758,0.010982366457014232],"integral":[-0.051796347635312781,0.00052244471453163053,0.20594133459607097,0.016979647136864874],"effort":[-0.025394398597732987,-0.00035040717907448008,0.40546685847590991,0.02873405376972157]}
{"step":736,"t":3.6800000000000002,"command":[0.017031718673685491,0.054672816605588849,-0.23364922676541811,0.63672672959906784,0.63672672959906784],"target_ned_yaw":[0,0,2,0],"error":[-0.010268140506861895,-0.00019711316600409703,0.081670573891762466,0.011025715927112895],"integral":[-0.052001710445450017,0.0005185024512115486,0.20757474607390622,0.017200161455407131],"effort":[-0.025801422146244708,-0.00029007944097956699,0.4054209281859244,0.02879053902183306]}
{"step":740,"t":3.7000000000000002,"command":[0.015165107335520527,0.051328932502905031,-0.23464670762903816,0.63668494782757112,0.63668494782757112],"target_ned_yaw":[0,0,2,0],"error":[-0.010230718997766397,-0.00019573171746623181,0.081420728077210125,0.011068289118702305],"integral":[-0.052206324825405347,0.00051458781686222396,0.20920316063545041,0.017421527237781176],"effort":[-0.026212209044629769,-0.00022998048049785848,0.40536772279019695,0.028846868356517549]}
{"step":744,"t":3.7200000000000002,"command":[0.0130456888277438,0.047715406539122998,-0.23564678950606979,0.63663751591433293,0.63663751591433293],"target_ned_yaw":[0,0,2,0],"error":[-0.010196799846740573,-0.00019402003794074195,0.081164417743942563,0.011110092415425868],"integral":[-0.052410260822340161,0.00051070741610340911,0.21082644899032926,0.017643729086089695],"effort":[-0.026626324691662092,-0.00017018999699031941,0.40530732666957253,0.028903084712855874]}
{"step":748,"t":3.7400000000000002,"command":[0.010525654809126535,0.04377079020871931,-0.2366486503840044,0.63658449559989749,0.63658449559989749],"target_ned_yaw":[0,0,2,0],"error":[-0.010166345446905076,-0.00019198276440822839,0.080901711955020827,0.011151132492668161],"integral":[-0.052613587731278263,0.0005068677608152445,0.21244448322942969,0.017866751735943057],"effort":[-0.027043350826537509,-0.00011078940916088857,0.40523982003817588,0.028959232902033227]}
{"step":752,"t":3.7600000000000002,"command":[0.0072017352045273108,0.039406172645266239,-0.23765074039581635,0.63652619518196119,0.63652619518196119],"target_ned_yaw":[0,0,2,0],"error":[-0.010139314467073487,-0.00018962494500902481,0.080632680682313884,0.011191416329642146],"integral":[-0.052816374020619734,0.00050307526191506404,0.21405713684307595,0.018090580062535899],"effort":[-0.027462513984065587,-5.1864989956128022e-05,0.40516559715282419,0.029015360426614116]}
{"step":756,"t":3.7800000000000002,"command":[-0.0025461500086868911,0.034469844703509125,-0.23865220895436054,0.63646272417245786,0.63646272417245786],"target_ned_yaw":[0,0,2,0],"error":[-0.010115662338874232,-0.00018695208116222494,0.080357394650605318,0.011230951253686181],"integral":[-0.053018687267397217,0.00049933622029181958,0.21566428473608806,0.018315199087609622],"effort":[-0.027883353322455867,6.4828798667362561e-06,0.40508479926102614,0.029071523516339903]}
{"step":760,"t":3.8000000000000003,"command":[-0.0079977224088085466,0.02867635483121669,-0.23965241376412932,0.63639414165705999,0.63639414165705999],"target_ned_yaw":[0,0,2,0],"error":[-0.010095342430158222,-0.00018397064573473683,0.080075924790048436,0.011269745087603568],"integral":[-0.053220594116000379,0.00049565680737712482,0.21726580323188904,0.018540593989361694],"effort":[-0.028305473048283795,6.396356372835837e-05,0.40499750353542607,0.02912780637468964]}
{"step":764,"t":3.8200000000000003,"command":[-0.010977643046403534,0.021350340906266679,-0.24065072905111379,0.63632050100741455,0.63632050100741455],"target_ned_yaw":[0,0,2,0],"error":[-0.010078306206849269,-0.00018068809373085319,0.079788342106751342,0.01130780632083677],"integral":[-0.053422160240137365,0.00049204304550250775,0.21886157007402407,0.018766750115778431],"effort":[-0.028728468168009391,0.00012050864685425188,0.40490378000232702,0.029184305224823195]}
{"step":768,"t":3.8399999999999999,"command":[-0.013278170842693121,0.0094494559087039496,-0.24164653813398526,0.63624186535351956,0.63624186535351956],"target_ned_yaw":[0,0,2,0],"error":[-0.010064503016904772,-0.0001771112421473616,0.079494717679197135,0.011345144340481523],"integral":[-0.05362345030047546,0.00048850082065956049,0.22045146442760802,0.018993653002588061],"effort":[-0.029151878587584525,0.00017630982092774574,0.40480371122852615,0.029241170804555065]}
{"step":772,"t":3.8599999999999999,"command":[-0.015218268744422819,-0.016616942530780731,-0.24263938081455788,0.63615827400223335,0.63615827400223335],"target_ned_yaw":[0,0,2,0],"error":[-0.010053879070242577,-0.0001732457570805244,0.079195122464321255,0.011381771021945103],"integral":[-0.053824527881880309,0.00048503590551794999,0.22203536687689443,0.019221288423026964],"effort":[-0.029574995950571652,0.00023159570357747647,0.40469734958150055,0.029298873171500383]}
{"step":776,"t":3.8799999999999999,"command":[-0.016928358973989359,-0.025251402279365762,-0.24362916170503138,0.63606975720541703,0.63606975720541703],"target_ned_yaw":[0,0,2,0],"error":[-0.010046374032574482,-0.00016909625663475455,0.078889626808573254,0.011417705970744013],"integral":[-0.054025455362531796,0.00048165398038525488,0.22361315941306589,0.019449642542441845],"effort":[-0.029996400875085344,0.00028656933755224611,0.40458473603135819,0.029358767558010986]}
{"step":780,"t":3.8999999999999999,"command":[-0.018470114162932167,-0.031566957492338156,-0.24461478870368808,0.63597634940910819,0.63597634940910819],"target_ned_yaw":[0,0,2,0],"error":[-0.010041924592094006,-0.0001646670944120568,0.078578300856897654,0.011452970935478167],"integral":[-0.054226293854373678,0.00047836063849701372,0.22518472543020385,0.019678701961151408],"effort":[-0.030416433828936523,0.00034114511719174746,0.4044659170077361,0.029419961023613439]}
{"step":784,"t":3.9199999999999999,"command":[-0.019877751226975531,-0.036824171071597321,-0.24559487568195779,0.63587808635970944,0.63587808635970944],"target_ned_yaw":[0,0,2,0],"error":[-0.010040476182590755,-0.00015996344205217541,0.078261215930949479,0.011487572285839704],"integral":[-0.05442710337802549,0.00047516136965597021,0.22674994974882284,0.019908453406868202],"effort":[-0.030836431268173283,0.00039512499384152726,0.40434094071248605,0.029480411693063018]}
{"step":788,"t":3.9399999999999999,"command":[-0.021180577252692446,-0.041459911569936732,-0.24656921053137074,0.63577499574076624,0.63577499574076624],"target_ned_yaw":[0,0,2,0],"error":[-0.010041983656700129,-0.0001549903710545569,0.077938444538567575,0.011521503044658736],"integral":[-0.054627943051159492,0.00047206156223487906,0.2283087186395942,0.020138883467761378],"effort":[-0.031257649924725198,0.00044861685275727266,0.4042098452091713,0.029538725657338224]}
{"step":792,"t":3.96,"command":[-0.022381724040756619,-0.045698026105894025,-0.2475351965201302,0.63566709859145298,0.63566709859145298],"target_ned_yaw":[0,0,2,0],"error":[-0.010046409735251047,-0.00014975474079950745,0.0776100601130707,0.011554740555994097],"integral":[-0.054828871245864511,0.00046906646741888894,0.22986091984185561,0.020369978278881259],"effort":[-0.031680991553117224,0.00050094157103658279,0.40407266023167604,0.029592681963142253]}
{"step":796,"t":3.98,"command":[-0.023501300819836278,-0.049625153725007157,-0.24849375820181785,0.63555440155543175,0.63555440155543175],"target_ned_yaw":[0,0,2,0],"error":[-0.010053717989272057,-0.00014426396018557574,0.077276136108381355,0.011587260200419572],"integral":[-0.055029945605649951,0.00046618118821517741,0.23140644256402323,0.020601723482889651],"effort":[-0.032105901873747053,0.0005523111402244373,0.40392939733648298,0.029643245991516461]}
{"step":800,"t":4,"command":[-0.024551882095530535,-0.053290834692192153,-0.24944566891926623,0.63543690526106233,0.63543690526106233],"target_ned_yaw":[0,0,2,0],"error":[-0.010063866937164753,-0.00013852480105024491,0.0769367452551597,0.011619047783129725],"integral":[-0.055231222944393248,0.00046341069219417251,0.23294517746912644,0.020834104438552246],"effort":[-0.032531527402385366,0.00060279491443283287,0.40378006056775628,0.029691614340194815]}
{"step":804,"t":4.0200000000000005,"command":[-0.025541200481934152,-0.056732680314078555,-0.25039114411767766,0.63531461185182758,0.63531461185182758],"target_ned_yaw":[0,0,2,0],"error":[-0.0100768108097984,-0.00013254402619009053,0.076591959649113583,0.011650096723758782],"integral":[-0.055432759160589214,0.00046075981167037071,0.23447701666210871,0.02106710637302742],"effort":[-0.032957161034089535,0.00065235292205835331,0.4036246560324383,0.029738564018470099]}
{"step":808,"t":4.04,"command":[-0.026475029603993096,-0.059979650238477372,-0.25133017251253698,0.63518752335622097,0.63518752335622097],"target_ned_yaw":[0,0,2,0],"error":[-0.010092500419352377,-0.00012632863995331038,0.07624185085737345,0.011680405597962773],"integral":[-0.055634609168976258,0.00045823323887130452,0.23600185367925619,0.021300714484986674],"effort":[-0.033382207028955835,0.0007009271925323109,0.40346318982740981,0.029784648586225756]}
{"step":812,"t":4.0600000000000005,"command":[-0.027358067000039267,-0.063054690960891072,-0.25226263780747837,0.635055642208461,0.635055642208461],"target_ned_yaw":[0,0,2,0],"error":[-0.010110883869830528,-0.00011988589962268312,0.075886490002313067,0.011709976662942797],"integral":[-0.055836826846372867,0.00045583552087885088,0.23751958347930247,0.021534914018245529],"effort":[-0.033806166242880256,0.00074846382997863746,0.4032956687008008,0.029830272190706778]}
{"step":816,"t":4.0800000000000001,"command":[-0.028194270211125222,-0.065976456004303283,-0.25318837188400989,0.63491897012916876,0.63491897012916876],"target_ned_yaw":[0,0,2,0],"error":[-0.010131907164584522,-0.00011322327469592657,0.075525947828153583,0.011738814821925321],"integral":[-0.056039464989664556,0.00045357105538493237,0.23903010243586553,0.021769690314684034],"effort":[-0.034228622202081734,0.00079491687273794301,0.40312209862988435,0.029875729455193966]}
{"step":820,"t":4.0999999999999996,"command":[-0.028987043859223956,-0.068760417355497094,-0.25410717324094129,0.63477750861091253,0.63477750861091253],"target_ned_yaw":[0,0,2,0],"error":[-0.010155514706672475,-0.00010634839922657848,0.075160294752766754,0.011766926844151938],"integral":[-0.056242575283798002,0.00045144408740040078,0.24053330833092088,0.022005028851567073],"effort":[-0.034649225243701953,0.00084024871169657335,0.40294248543827715,0.029921230248799807]}
{"step":824,"t":4.1200000000000001,"command":[-0.029739319986666821,-0.071419685119816265,-0.2550188388213952,0.6346312579244241,0.6346312579244241],"target_ned_yaw":[0,0,2,0],"error":[-0.010181649743081819,-9.9269033543358982e-05,0.074789600908777398,0.011794320761503579],"integral":[-0.056446208278659642,0.00044945870672953358,0.24202910034909642,0.022240915266797143],"effort":[-0.035067689788213223,0.00088442715326936066,0.4027568335347369,0.029966918365599518]}
{"step":828,"t":4.1399999999999997,"command":[-0.030453653981626017,-0.073965508183106252,-0.25592317663064484,0.63448021847470026,0.63448021847470026],"target_ned_yaw":[0,0,2,0],"error":[-0.010210254755509698,-9.1993033533928088e-05,0.074413936180349527,0.011821005410194362],"integral":[-0.056650413373769838,0.00044761884605885502,0.2435173790727034,0.022477335375001031],"effort":[-0.035483784368752692,0.00092742504083260613,0.40256514763570339,0.030012887967967534]}
{"step":832,"t":4.1600000000000001,"command":[-0.031132289946223114,-0.076407445259229642,-0.25681994744710585,0.63432438951658143,0.63432438951658143],"target_ned_yaw":[0,0,2,0],"error":[-0.010241271657242146,-8.4528325566938806e-05,0.074033370215282668,0.011846990078137044],"integral":[-0.056855238806914683,0.00044592827954751627,0.24499804647700907,0.022714275176563773],"effort":[-0.03589729154888819,0.0009692194772957047,0.40236743113558376,0.030059193857846014]}
{"step":836,"t":4.1799999999999997,"command":[-0.031777221050872613,-0.078753789281048703,-0.25770891469802693,0.63416376966385724,0.63416376966385724],"target_ned_yaw":[0,0,2,0],"error":[-0.010274641946752261,-7.6882883717618519e-05,0.073647972430713526,0.011872284243152554],"integral":[-0.057060731645849731,0.00044439062187316388,0.24647100592562335,0.022951720861426824],"effort":[-0.036308022020479364,0.0010097917777160217,0.40216368675427372,0.030105862694355542]}
{"step":840,"t":4.2000000000000002,"command":[-0.032390205256113448,-0.081011768405002488,-0.25858984294843379,0.63399835939458504,0.63399835939458504],"target_ned_yaw":[0,0,2,0],"error":[-0.010310306860664864,-6.9064713713779457e-05,0.073257812029485336,0.011896897383463343],"integral":[-0.057266937783063028,0.0004430093275988883,0.24793616216621306,0.023189658809096091],"effort":[-0.036715806748100703,0.0010491253965331593,0.40195391971502548,0.030152900127994944]}
{"step":844,"t":4.2199999999999998,"command":[-0.03297282077523786,-0.083187727086322799,-0.25946249317148429,0.63382816627715821,0.63382816627715821],"target_ned_yaw":[0,0,2,0],"error":[-0.010348207480673319,-6.1081838353912272e-05,0.072862958037526626,0.011920838826252059],"integral":[-0.057473901932676492,0.00044178769083181007,0.2493934213269636,0.023428075585621131],"effort":[-0.037120491650275533,0.0010872069098759576,0.40173814436626493,0.03020029371248701]}
{"step":848,"t":4.2400000000000002,"command":[-0.033526489184525436,-0.085287285507927496,-0.26032664429100993,0.63365318589125963,0.63365318589125963],"target_ned_yaw":[0,0,2,0],"error":[-0.010388284848539875,-5.294228278587311e-05,0.072463479278352283,0.011944117643752569],"integral":[-0.057681667629647292,0.00044072884517609262,0.25084269091253064,0.023666957938496182],"effort":[-0.037521941398564379,0.0011240254770401011,0.40151635999014323,0.030248020329253639]}
{"step":852,"t":4.2599999999999998,"command":[-0.034052492146007085,-0.087315433726328884,-0.26118208317153169,0.63347341070994079,0.63347341070994079],"target_ned_yaw":[0,0,2,0],"error":[-0.01043048006273832,-4.4654063035016751e-05,0.072059444335529577,0.011966742580832938],"integral":[-0.057890277230902058,0.00043983576391539228,0.25228387979924122,0.023906292790112842],"effort":[-0.037920032768318915,0.0011595722213538742,0.40128856207648539,0.030296047801501982]}
{"step":856,"t":4.2800000000000002,"command":[-0.034551959551247208,-0.089276802940511935,-0.26202865439781825,0.63328886309053589,0.63328886309053589],"target_ned_yaw":[0,0,2,0],"error":[-0.010474734451974721,-3.6225182028121932e-05,0.07165092167544107,0.011988721984263394],"integral":[-0.058099771919941555,0.00043911126027482985,0.25371689823275007,0.024146067229798111],"effort":[-0.038314681634405129,0.0011938379088310229,0.40105478411450346,0.030344334091126128]}
{"step":860,"t":4.2999999999999998,"command":[-0.035025944888377708,-0.091175440335087218,-0.2628661898366651,0.63309957324315336,0.63309957324315336],"target_ned_yaw":[0,0,2,0],"error":[-0.01052098962676927,-2.7663619394038266e-05,0.071237979745923496,0.012010063775857409],"integral":[-0.058310191712476943,0.00043855798788694907,0.25514165782766851,0.024386268505315261],"effort":[-0.03870579733977135,0.0012268168153236727,0.40081506964066288,0.030392836419474302]}
{"step":864,"t":4.3200000000000003,"command":[-0.035475353557545386,-0.093015078582474542,-0.26369457254586626,0.63290572357245889,0.63290572357245889],"target_ned_yaw":[0,0,2,0],"error":[-0.010569187499941249,-1.8977333173161902e-05,0.070820687587749065,0.012030775453749101],"integral":[-0.058521575462475765,0.00043817844122348581,0.25655807157942351,0.024626884014390244],"effort":[-0.039093316216925515,0.0012585007100328479,0.40056965493077779,0.0304415113732216]}
{"step":868,"t":4.3399999999999999,"command":[-0.035901071154705796,-0.094798970251629935,-0.26451364235757518,0.63270738321650932,0.63270738321650932],"target_ned_yaw":[0,0,2,0],"error":[-0.010619270279282583,-1.0174248088158687e-05,0.070399114728426859,0.012050864075023196],"integral":[-0.058733960868061416,0.00043797495626172263,0.25796605387399202,0.024867901295890709],"effort":[-0.039477155877020297,0.0012888869100552488,0.40031863277668273,0.03049031111625088]}
{"step":872,"t":4.3600000000000003,"command":[-0.036303927772199346,-0.09652996100535445,-0.26532322278261472,0.63250452742095431,0.63250452742095431],"target_ned_yaw":[0,0,2,0],"error":[-0.010671180438785136,-1.2622387833710353e-06,0.069973330522338228,0.012070336258192161],"integral":[-0.058947384476837117,0.00043794971148605522,0.25936552048443878,0.025109308021054551],"effort":[-0.039857222959724131,0.0013179751716890669,0.40006197720800468,0.03053918958802888]}
{"step":876,"t":4.3799999999999999,"command":[-0.036684703864075213,-0.098210637438366846,-0.26612314876313325,0.63229712916911507,0.63229712916911507],"target_ned_yaw":[0,0,2,0],"error":[-0.010724860732281141,7.7508809751521482e-06,0.069543403912324386,0.012089198194252351],"integral":[-0.059161881691482739,0.00043810472910555824,0.26075638856268529,0.025351091984939598],"effort":[-0.040233429806827543,0.0013457674975948951,0.39979965955550456,0.030588100500777201]}
{"step":880,"t":4.4000000000000004,"command":[-0.037044090693398597,-0.099843477256065044,-0.26691330041901651,0.63208517330658687,0.63208517330658687],"target_ned_yaw":[0,0,2,0],"error":[-0.010780254302419745,1.6857359015175991e-05,0.069109403477827014,0.012107455639850832],"integral":[-0.059377486777531137,0.00043844187628586177,0.26213857663224183,0.025593241097736613],"effort":[-0.04060571494557727,0.0013722646553007403,0.39953166631401793,0.030636994994994893]}
{"step":884,"t":4.4199999999999999,"command":[-0.037382727734322281,-0.10143084171873588,-0.2676935954751688,0.63186865570389183,0.63186865570389183],"target_ned_yaw":[0,0,2,0],"error":[-0.01083730481633613,2.6049506031624583e-05,0.068671397515359223,0.012125113908737715],"integral":[-0.059594232873857858,0.00043896286640649428,0.26351200458254903,0.025835743375911366],"effort":[-0.040974038355097282,0.001397468332858468,0.39925799806104345,0.030685822703326031]}
{"step":888,"t":4.4400000000000004,"command":[-0.037701230297278669,-0.10297469594922941,-0.26846389692936379,0.63164754456198124,0.63164754456198124],"target_ned_yaw":[0,0,2,0],"error":[-0.010895956376561725,3.5319703266734146e-05,0.068229453938870144,0.012142177897644936],"integral":[-0.059812152001389091,0.00043966926047182896,0.26487659366132643,0.026078586933864265],"effort":[-0.041338325980168164,0.0014213827659284432,0.39897862055118005,0.03073453797433192]}
{"step":892,"t":4.46,"command":[-0.038000170286248483,-0.1044768537738897,-0.26922407910666379,0.63142180716772722,0.63142180716772722],"target_ned_yaw":[0,0,2,0],"error":[-0.01095615345538363,4.4660407881184092e-05,0.067783640198055606,0.012158652110670716],"integral":[-0.060031275070496763,0.00044056246862945265,0.26623226646528753,0.026321759976077677],"effort":[-0.041698508872660939,0.0014440129417838824,0.39869349856695857,0.030783095898170208]}
{"step":896,"t":4.4800000000000004,"command":[-0.038280079122666372,-0.10593899401470322,-0.26997402598597181,0.63119141076705232,0.63119141076705232],"target_ned_yaw":[0,0,2,0],"error":[-0.01101784091679614,5.406415556047546e-05,0.067334023274184363,0.012174540670520269],"integral":[-0.060251631888832688,0.00044164375174066215,0.26757894693077122,0.026565250789488081],"effort":[-0.042054522579960764,0.0014653644576375978,0.39840259702610181,0.03083145212711344]}
{"step":900,"t":4.5,"command":[-0.038541417386797727,-0.10736277010436682,-0.2707136596505374,0.63095633399378015,0.63095633399378015],"target_ned_yaw":[0,0,2,0],"error":[-0.011080964105092864,6.3523555376185804e-05,0.066880669730329911,0.012189847317411297],"integral":[-0.060473251170934543,0.00044291422284818585,0.26891656032537781,0.026809047735836308],"effort":[-0.04240632496293506,0.001485440854183354,0.39810589540687069,0.030879560558451938]}
{"step":904,"t":4.5200000000000005,"command":[-0.038784613859631681,-0.10874972632957025,-0.27144290963374978,0.63071655428325013,0.63071655428325013],"target_ned_yaw":[0,0,2,0],"error":[-0.011145468904457487,7.3031287659760039e-05,0.06642364573527626,0.012204575409853242],"integral":[-0.060696160549023694,0.00044437484860138104,0.27024503324008331,0.027053139244033374],"effort":[-0.042753878083596243,0.0015042462722407337,0.39780337184693604,0.030927375106839818]}
{"step":908,"t":4.54,"command":[-0.039010047338918712,-0.11010123120909485,-0.27216169271343299,0.63047204113055966,0.63047204113055966],"target_ned_yaw":[0,0,2,0],"error":[-0.011211301701074927,8.2580100552627706e-05,0.065963017020352677,0.012218727946903259],"integral":[-0.060920386583045195,0.00044602645061243357,0.27156429358049039,0.027297513802971438],"effort":[-0.043097134047199837,0.001521783793384679,0.39749499464733407,0.030974852933441276]}
{"step":912,"t":4.5600000000000005,"command":[-0.039218074875326893,-0.1114185712395815,-0.27286993829276451,0.63022276421745249,0.63022276421745249],"target_ned_yaw":[0,0,2,0],"error":[-0.011278409373227175,9.2162809929995267e-05,0.065498848856078595,0.012232307590582964],"integral":[-0.061145954770509742,0.00044786970681103347,0.27287427055761199,0.027542159954783096],"effort":[-0.043436050620483412,0.0015380573969267465,0.39718073253788677,0.031021952603413713]}
{"step":916,"t":4.5800000000000001,"command":[-0.039409039643206786,-0.11270296939811568,-0.27356758584386531,0.62996869602552241,0.62996869602552241],"target_ned_yaw":[0,0,2,0],"error":[-0.011346739318682741,0.0001017723048336069,0.065031206062760694,0.012245316673797958],"integral":[-0.061372889556883393,0.0004499051529077056,0.27417489467886719,0.027787066288259055],"effort":[-0.043770591667796607,0.001553072405599844,0.39686055797209702,0.031068632356644008]}
{"step":920,"t":4.6000000000000005,"command":[-0.039583251917991009,-0.11395558558410177,-0.27425458966571148,0.62970980994832881,0.62970980994832881],"target_ned_yaw":[0,0,2,0],"error":[-0.011416239485491517,0.00011140154861993237,0.064560153020154054,0.012257757213526487],"integral":[-0.061601214346593221,0.00045213318388010425,0.27546609773927028,0.028032221432529585],"effort":[-0.044100727719261663,0.0015668338324031387,0.39653444474516042,0.031114852233446122]}
{"step":924,"t":4.6200000000000001,"command":[-0.039740926181056367,-0.11517776700917395,-0.27493098277879763,0.62944611278406815,0.62944611278406815],"target_ned_yaw":[0,0,2,0],"error":[-0.011486858578980685,0.00012104356308108191,0.06408575381922077,0.012269630877773564],"integral":[-0.061830951518172833,0.0004545540551417259,0.27674781281565469,0.028277614050085057],"effort":[-0.044426481652467535,0.0015793412137281712,0.39620240889897385,0.031160563639247976]}
{"step":928,"t":4.6399999999999997,"command":[-0.039882307694071417,-0.11637061522925786,-0.27559675651087939,0.6291775896678905,0.6291775896678905],"target_ned_yaw":[0,0,2,0],"error":[-0.01155854605456523,0.00013069143117787666,0.063608072249138115,0.012280939005296755],"integral":[-0.062062122439264136,0.00045716788376528342,0.27801997426063746,0.028523232830190991],"effort":[-0.044747846144076467,0.0015905984670045881,0.39586443934029636,0.031205726055240485]}
{"step":932,"t":4.6600000000000001,"command":[-0.040007605638847608,-0.11753518580278823,-0.27625191380800457,0.62890422771128074,0.62890422771128074],"target_ned_yaw":[0,0,2,0],"error":[-0.011631252059900413,0.00014033830083058098,0.063127171742149102,0.01229168264005159],"integral":[-0.062294747480462147,0.00045997464978189505,0.27928251769548046,0.028769066482992024],"effort":[-0.045064819892140576,0.0016006085089535511,0.39552052763312251,0.031250299990444624]}
{"step":936,"t":4.6799999999999997,"command":[-0.040117020375958677,-0.11867247239151901,-0.27689646323425404,0.62862601478684754,0.62862601478684754],"target_ned_yaw":[0,0,2,0],"error":[-0.011704927444920354,0.00014997738589201857,0.062643115377571279,0.012301862548161431],"integral":[-0.062528846029360555,0.00046297419749973543,0.28053538000303191,0.029015103733955251],"effort":[-0.045377403527577229,0.0016093753238450835,0.39517066646679389,0.031294247824061386]}
{"step":940,"t":4.7000000000000002,"command":[-0.040210737733664029,-0.11978340216221398,-0.27753041490322022,0.62834293643201833,0.62834293643201833],"target_ned_yaw":[0,0,2,0],"error":[-0.011779523753903898,0.00015960196911728327,0.062155965868942786,0.012311479237573274],"integral":[-0.062764436504438637,0.00046616623688208107,0.28177849932041077,0.029261333318706718],"effort":[-0.045685597314954127,0.0016169034290855122,0.39481484576401138,0.03133753388139944]}
{"step":944,"t":4.7199999999999998,"command":[-0.040288927577229454,-0.12086887341015157,-0.27815379167696391,0.62805498192052045,0.62805498192052045],"target_ned_yaw":[0,0,2,0],"error":[-0.011854993239272402,0.00016920540379884979,0.061665785570325538,0.012320532973616682],"integral":[-0.063001536369224079,0.00046955034495805805,0.28301181503181727,0.029507743978179051],"effort":[-0.045989408191855541,0.0016231976853232403,0.39445306031518523,0.031380123632416296]}
{"step":948,"t":4.7400000000000002,"command":[-0.040351747829002485,-0.12192975938326202,-0.27876662709941225,0.62776214424556143,0.62776214424556143],"target_ned_yaw":[0,0,2,0],"error":[-0.01193128888930603,0.00017878111601555484,0.061172636498357136,0.012329023788837915],"integral":[-0.063240162147010198,0.00047312596727836913,0.28423526776178443,0.029754324453955809],"effort":[-0.046288849303821461,0.0016282635528554069,0.39408530974778505,0.031421983080561287]}
{"step":952,"t":4.7599999999999998,"command":[-0.040399356505108362,-0.12296690738209833,-0.27936896686902629,0.62746441916219309,0.62746441916219309],"target_ned_yaw":[0,0,2,0],"error":[-0.012008364454815776,0.00018832261019178175,0.060676580350210951,0.012336951495345526],"integral":[-0.063480329436106514,0.00047689241948220475,0.28544879936878864,0.030001063483862719],"effort":[-0.046583939980292324,0.0016321080060268415,0.39371159731454841,0.031463079669174776]}
{"step":956,"t":4.7800000000000002,"command":[-0.040431901703561354,-0.12398114673709947,-0.27996086751038451,0.62716180666883337,0.62716180666883337],"target_ned_yaw":[0,0,2,0],"error":[-0.012086174476499831,0.00019782347367764373,0.060177678525035416,0.012344315694740308],"integral":[-0.063722052925636513,0.00048084888895575761,0.28665235293928937,0.030247949797757526],"effort":[-0.046874706041706619,0.0016347386753664476,0.39333193174411518,0.031503381295460431]}
{"step":960,"t":4.7999999999999998,"command":[-0.040449429029063601,-0.12497329346188903,-0.28054239143066739,0.62685431052234897,0.62685431052234897],"target_ned_yaw":[0,0,2,0],"error":[-0.012164674308660126,0.00020727735622272565,0.059675992146339896,0.012351115776663367],"integral":[-0.063965346411809718,0.00048499443608021213,0.28784587278221618,0.030494972113290792],"effort":[-0.047161178734174622,0.0016361563087772533,0.39294632662044948,0.031542854655463186]}
{"step":964,"t":4.8200000000000003,"command":[-0.040452024893748467,-0.12594413121147732,-0.28111360871396068,0.62654193848601669,0.62654193848601669],"target_ned_yaw":[0,0,2,0],"error":[-0.012243820131142294,0.00021667797131770679,0.05917158208277562,0.012357350928164985],"integral":[-0.06421022281443256,0.0004893279955065663,0.2890293044238717,0.030742119131854092],"effort":[-0.047443392595399807,0.0016363663180044459,0.39255480068181559,0.031581468408785993]}
{"step":968,"t":4.8399999999999999,"command":[-0.040439820918829139,-0.12689442201097895,-0.28167459817043927,0.62622470122633367,0.62622470122633367],"target_ned_yaw":[0,0,2,0],"error":[-0.012323568961654527,0.00022601912014925691,0.058664508965081241,0.012363020148813767],"integral":[-0.064456694193665648,0.00049384837790955149,0.29020259460317333,0.030989379534830368],"effort":[-0.047721386795989418,0.0016353791159469709,0.3921573764260109,0.031619192458489001]}
{"step":972,"t":4.8600000000000003,"command":[-0.040412937771505633,-0.12782490943415342,-0.28222544368639235,0.62590261438615757,0.62590261438615757],"target_ned_yaw":[0,0,2,0],"error":[-0.012403878667395146,0.00023529470175757809,0.058154833208292622,0.012368122257640697],"integral":[-0.064704771767013544,0.0004985542719447031,0.29136569126733919,0.031236741979983183],"effort":[-0.047995204267915266,0.0016332055393235869,0.39175408269542711,0.03165599679606574]}
{"step":976,"t":4.8799999999999999,"command":[-0.040371491633639019,-0.1287363171576672,-0.28276623338981643,0.62557569659304202,0.62557569659304202],"target_ned_yaw":[0,0,2,0],"error":[-0.01248470797224753,0.0002444987160473951,0.057642615030322197,0.012372655897481516],"integral":[-0.064954465926458496,0.00050344424626565102,0.29251854356794565,0.031484195097932814],"effort":[-0.048264891050391813,0.0016298573367249853,0.3913449521678698,0.031691851695072333]}
{"step":980,"t":4.9000000000000004,"command":[-0.040315597422951162,-0.12962934605073725,-0.28329705677050682,0.62524397055888792,0.62524397055888792],"target_ned_yaw":[0,0,2,0],"error":[-0.012566016456581425,0.00025362526831342698,0.057127914469184971,0.012376619538808011],"integral":[-0.06520578625559012,0.00050851675163191955,0.29366110185732935,0.031731727488708977],"effort":[-0.048530494866186782,0.0016253473955694666,0.39093002272024352,0.03172672750864499]}
{"step":984,"t":4.9199999999999999,"command":[-0.040245370825807494,-0.13050467662991369,-0.28381800517997258,0.62490746259116403,0.62490746259116403],"target_ned_yaw":[0,0,2,0],"error":[-0.012647764554505531,0.00026266857453691801,0.056610791400454996,0.012380011483135726],"integral":[-0.06545874154668023,0.00051377012312265788,0.29479331768533845,0.03197932771837169],"effort":[-0.048792065343308641,0.0016196898729067572,0.39050933680212702,0.031760594721030301]}
{"step":988,"t":4.9400000000000004,"command":[-0.040160882608135731,-0.13136305221595332,-0.28432920198887618,0.62456621567472992,0.62456621567472992],"target_ned_yaw":[0,0,2,0],"error":[-0.012729913625992129,0.00027162295625934125,0.056091305612397502,0.012382829855537448],"integral":[-0.065713339819200078,0.00051920258224784474,0.29591514379758638,0.032226984315482439],"effort":[-0.049049673295561202,0.0016128964918644593,0.39008295776225327,0.031793421808069926]}
{"step":992,"t":4.96,"command":[-0.040047490856085395,-0.13220594373025615,-0.28483134409252253,0.62422092064888302,0.62422092064888302],"target_ned_yaw":[0,0,2,0],"error":[-0.012812426854065515,0.00028047918264098625,0.055569519448649407,0.01238507291791638],"integral":[-0.065969588356281389,0.00052481216590066445,0.29702653418655939,0.032474685773840765],"effort":[-0.049303653067580312,0.0016038015238682432,0.38965175777573907,0.031825241509972658]}
{"step":996,"t":4.9800000000000004,"command":[-0.039911243461598314,-0.13303468495003684,-0.28532495572682398,0.62387248035067433,0.62387248035067433],"target_ned_yaw":[0,0,2,0],"error":[-0.012895269343285345,0.0002892274871351241,0.055045500119168311,0.012386739084365413],"integral":[-0.066227493743147098,0.00053059671564336698,0.29812744418894277,0.032722420555528077],"effort":[-0.049554278880134819,0.0015929073546509743,0.38921687173890257,0.03185605148037926]}
{"step":1000,"t":5,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4870215931431234,1.0002978591718812,1.554519316578358,0.79778599026786545],"integral":[-0.036487061880284624,0.020536553899080989,0.3292178305205099,0.048678140360885386],"effort":[1,1,1,1]}
{"step":1004,"t":5.0200000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4869368544696666,1.0003057830997477,1.5539874910232463,0.79778686249908493],"integral":[-0.0067483247908912899,0.040542669561075939,0.36029758034097481,0.064633877610867085],"effort":[1,1,1,1]}
{"step":1008,"t":5.04,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.486846986473862,1.0003101813852957,1.5534399480604435,0.79778847196244074],"integral":[0.022988614938585953,0.060548873188781854,0.39136637930218365,0.080589647050115898],"effort":[1,1,1,1]}
{"step":1012,"t":5.0600000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4867468106339281,1.0003066209657103,1.5528672917149668,0.79778821071608863],"integral":[0.052723551151264515,0.080555005608096059,0.42242372513648296,0.096545411264437664],"effort":[1,1,1,1]}
{"step":1016,"t":5.0800000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4866300274831838,1.0002900703302855,1.5522616322311524,0.79778053204929356],"integral":[0.082456151700928196,0.10056080701470177,0.45346895778110602,0.11250102190542353],"effort":[1,1,1,1]}
{"step":1020,"t":5.1000000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4864901388014662,1.0002555714199455,1.5516164767540184,0.79775868747689027],"integral":[0.11218595447695752,0.12056591844310068,0.48450128731618641,0.12845619565496133],"effort":[1,1,1,1]}
{"step":1024,"t":5.1200000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4863209963831447,1.0001985537187952,1.5509265452683303,0.79771584742704849],"integral":[0.1419123744046204,0.14056988951747657,0.51551981822155302,0.14441051260350229],"effort":[1,1,1,1]}
{"step":1028,"t":5.1399999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4861170727032575,1.0001149451732878,1.5501875807415826,0.79764570486163855],"integral":[0.17163471585868556,0.16057218842094231,0.54652356983638462,0.16036342670073506],"effort":[1,1,1,1]}
{"step":1032,"t":5.1600000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4858735619602497,1.0000011978618584,1.549396183480686,0.79754274286090243],"integral":[0.20135218709789054,0.18057221237817947,0.57751149350599829,0.17631428155795312],"effort":[1,1,1,1]}
{"step":1036,"t":5.1799999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4855863914079537,0.99985429395793446,1.548549666826053,0.7974023707887764],"integral":[0.23106391492604961,0.20056929825733816,0.60848248684251938,0.19226232897372864],"effort":[1,1,1,1]}
{"step":1040,"t":5.2000000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4852521852996634,0.99967171099675711,1.5476459361263182,0.79722089904812188],"integral":[0.26076895863204286,0.22056273247727332,0.63943540556504574,0.20820674695469107],"effort":[1,1,1,1]}
{"step":1044,"t":5.2199999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4848681975214744,0.99945136392519607,1.5466833893192637,0.79699543915505389],"integral":[0.29046632258247235,0.24055175975577725,0.67036907335143103,0.22414665573779216],"effort":[1,1,1,1]}
{"step":1048,"t":5.2400000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4844322322367514,0.99919155181786123,1.545660834869875,0.79672381254004099],"integral":[0.32015496722720738,0.26053559079213445,0.70128229004882858,0.24008113198859299],"effort":[1,1,1,1]}
{"step":1052,"t":5.2599999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4839425659772438,0.99889090527300328,1.5445774231830653,0.79640446007416987],"integral":[0.34983381854675227,0.28051340889759452,0.73217383851248985,0.25600922119007641],"effort":[1,1,1,1]}
{"step":1056,"t":5.2800000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4833978758220938,0.99854833617575611,1.5434325889498741,0.79603635383222038],"integral":[0.37950177606319413,0.30048437562110963,0.7630424902914873,0.27192994826672079],"effort":[1,1,1,1]}
{"step":1060,"t":5.2999999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4827971754752332,0.99816299197321423,1.5422260025808043,0.79561891506894411],"integral":[0.40915771957269881,0.32044763546057392,0.79388701034310338,0.28784232656809966],"effort":[1,1,1,1]}
{"step":1064,"t":5.3200000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4821397596583616,0.99773421543473428,1.5409575293605491,0.79515194047032423],"integral":[0.43880051476586601,0.3404023197692686,0.80000000000000004,0.30374536537750613],"effort":[1,1,1,1]}
{"step":1068,"t":5.3399999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4814251565066112,0.99726151001233265,1.5396271951592015,0.79463553740974202],"integral":[0.46842901789599822,0.36034754996951524,0.80000000000000004,0.31963807612570094],"effort":[1,1,1,1]}
{"step":1072,"t":5.3600000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4806530879504605,0.99674451050989066,1.5382351576630517,0.79407006709890005],"integral":[0.49804207965500741,0.38028244017971302,0.80000000000000004,0.33551947746767896],"effort":[1,1,1,1]}
{"step":1076,"t":5.3799999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4798234355214495,0.9961829584308034,1.5367816824402167,0.79345609759960956],"integral":[0.52763854836543644,0.40020609934832907,0.80000000000000004,0.35138859941967115],"effort":[1,1,1,1]}
{"step":1080,"t":5.4000000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4789362113347897,0.99557668146035327,1.5352671230355619,0.79279436500468436],"integral":[0.55721727259213227,0.42011763297753613,0.80000000000000004,0.36724448671976484],"effort":[1,1,1,1]}
{"step":1084,"t":5.4199999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4779915349326755,0.99492557684692495,1.5336919043100916,0.79208573963164752],"integral":[0.58677710329078581,0.44001614451447463,0.80000000000000004,0.38308620151239781],"effort":[1,1,1,1]}
{"step":1088,"t":5.4400000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4769896145094346,0.99422959802248267,1.5320565085728743,0.79133119840768018],"integral":[0.61631689558097447,0.4599007364749243,0.80000000000000004,0.3989128254805514],"effort":[1,1,1,1]}
{"step":1092,"t":5.46,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4759307316605186,0.9934887436433727,1.5303614640648182,0.79053180236738485],"integral":[0.64583551021418484,0.47977051134779175,0.80000000000000004,0.41472346152789907],"effort":[1,1,1,1]}
{"step":1096,"t":5.4800000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.47481522874675,0.99270304855525093,1.528607335399413,0.78968867793750508],"integral":[0.67533181478911986,0.49962457231889679,0.80000000000000004,0.43051723508664919],"effort":[1,1,1,1]}
{"step":1100,"t":5.5,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4736434984155902,0.99187257640111826,1.5267947156903308,0.78880300132511671],"integral":[0.70480468475743163,0.5194620238469192,0.80000000000000004,0.44629329511315152],"effort":[1,1,1,1]}
{"step":1104,"t":5.5200000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4724159749357513,0.99099741356109228,1.5249242200691,0.78787598548328786],"integral":[0.7342530042561467,0.539281972118141,0.80000000000000004,0.46205081482281729],"effort":[1,1,1,1]}
{"step":1108,"t":5.54,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4711331270508143,0.99007766425252708,1.5229964803196845,0.78690886926117831],"integral":[0.76367566679716303,0.55908352540319151,0.80000000000000004,0.47778899220804083],"effort":[1,1,1,1]}
{"step":1112,"t":5.5600000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.469795452077606,0.9891134465716892,1.5210121404746286,0.78590290836775722],"integral":[0.79307157583871513,0.57886579433462526,0.80000000000000004,0.49350705037539599],"effort":[1,1,1,1]}
{"step":1116,"t":5.5800000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4684034710539264,0.9881048893108042,1.5189718531844694,0.78485936789764998],"integral":[0.82243964525979363,0.59862789212084133,0.80000000000000004,0.509204237733349],"effort":[1,1,1,1]}
{"step":1120,"t":5.6000000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4669577247565944,0.98705212941606735,1.5168762767287567,0.78377951604601748],"integral":[0.85177879975492554,0.61836893470916265,0.80000000000000004,0.52487982805426936],"effort":[1,1,1,1]}
{"step":1124,"t":5.6200000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4654587704016739,0.98595530999140113,1.5147260725848128,0.7826646188817965],"integral":[0.881087975162959,0.63808804090899063,0.80000000000000004,0.54053312043190527],"effort":[1,1,1,1]}
{"step":1128,"t":5.6399999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4639071789418352,0.98481457873593825,1.5125219034244821,0.78151593607706171],"integral":[0.91036611874179574,0.65778433248370938,0.80000000000000004,0.55616343915344646],"effort":[1,1,1,1]}
{"step":1132,"t":5.6600000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4623035328444518,0.9836300867455966,1.5102644314761966,0.78033471726609094],"integral":[0.93961218939868474,0.6774569342186213,0.80000000000000004,0.57177013349876826],"effort":[1,1,1,1]}
{"step":1136,"t":5.6799999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4606484242553364,0.98240198760370623,1.5079543172154972,0.77912219910245561],"integral":[0.96882515788379142,0.69710497397069537,0.80000000000000004,0.58735257748081737],"effort":[1,1,1,1]}
{"step":1140,"t":5.7000000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4589424534670989,0.98113043673444422,1.5055922183079289,0.77787960276501655],"integral":[0.9980040069531334,0.71672758270538428,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1144,"t":5.7199999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4571862276477832,0.97981559092543469,1.5031787887431718,0.77660813187503153],"integral":[1,0.73632389452389302,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1148,"t":5.7400000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.455380359831252,0.97845760801650172,1.5007146781715439,0.77530897081108496],"integral":[1,0.75589304668422308,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1152,"t":5.7599999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4535254680247305,0.97705664671580317,1.4982005313820257,0.77398328328292021],"integral":[1,0.77543417961853911,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1156,"t":5.7800000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4516221744699935,0.97561286654743573,1.4956369879173979,0.77263221116951719],"integral":[1,0.79494643694948786,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1160,"t":5.7999999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4496711050224591,0.97412642787081372,1.4930246817736776,0.77125687365600515],"integral":[1,0.81442896550690413,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1164,"t":5.8200000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4476728886088444,0.97259749193879619,1.4903642412042619,0.7698583664377695],"integral":[1,0.8338809153456801,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1168,"t":5.8399999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4456281567543487,0.9710262210519286,1.4876562885686453,0.76843776115280071],"integral":[1,0.85330143976671868,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1172,"t":5.8600000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4435375431730235,0.96941277872619536,1.4849014402819609,0.76699610491661152],"integral":[1,0.87268969534124263,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1176,"t":5.8799999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4414016834078456,0.96775732989988661,1.4821003067920793,0.76553441995099814],"integral":[1,0.89204484193924038,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1180,"t":5.9000000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4392212145011232,0.96606004118827893,1.4792534926346121,0.76405370342480305],"integral":[1,0.91136604276300592,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1184,"t":5.9199999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4369967746863466,0.96432108112743087,1.4763615964853209,0.76255492731649999],"integral":[1,0.93065246438555449,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1188,"t":5.9400000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4347290030944115,0.96254062107121663,1.4734252112560777,0.76103903969971898],"integral":[1,0.94990327680697884,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1192,"t":5.96,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4324185394732289,0.96071883936946811,1.4704449243594548,0.75950697277546597],"integral":[1,0.96911765359436819,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1196,"t":5.9800000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4300660240527137,0.9588559199737301,1.4674213177782365,0.75795963921453668],"integral":[1,0.98829477199384275,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1200,"t":6,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4276720973777621,0.95695205044037535,1.4643549681631929,0.75639792746956069],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1204,"t":6.0200000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4252374000837029,0.95500742218111145,1.4612464470398625,0.75482270189246925],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1208,"t":6.04,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4227625726728153,0.95302223073944092,1.4580963209653972,0.7532348028911976],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1212,"t":6.0600000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4202482553083884,0.95099667599682902,1.454905151717715,0.75163504710883555],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1216,"t":6.0800000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4176950876216532,0.94893096239169217,1.4516734964868148,0.75002422756836062],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1220,"t":6.1000000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4151037084537197,0.94682529910249968,1.4484019080796133,0.74840311392564951],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1224,"t":6.1200000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4124747556907049,0.94467990024773207,1.4450909351116179,0.74677245264009484],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1228,"t":6.1400000000000006,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4098088660462169,0.94249498504185913,1.4417411221778185,0.74513296730432432],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1232,"t":6.1600000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4071066748082606,0.94027077797734038,1.438353010053937,0.74348535910967251],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1236,"t":6.1799999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4043688156562233,0.93800750894803742,1.4349271358797928,0.74183030715003984],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1240,"t":6.2000000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.4015959204593802,0.93570541337381741,1.4314640333564554,0.74016846859920449],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1244,"t":6.2199999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3987886190691818,0.93336473234732198,1.4279642329049596,0.73850047896878568],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1248,"t":6.2400000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3959475391148135,0.93098571270898334,1.4244282618512494,0.73682695246765095],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1252,"t":6.2599999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.393073305822349,0.92856860709490929,1.4208566445485542,0.73514848231828045],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1256,"t":6.2800000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3901665417469506,0.92611367399152678,1.4172499025520104,0.73346564106475376],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1260,"t":6.2999999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3872278661900055,0.92362117611182915,1.4136085546952892,0.73177898102678929],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1264,"t":6.3200000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3842578941130661,0.92109137628152737,1.4099331171271436,0.73008903467353381],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1268,"t":6.3399999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3812572366044085,0.91852454021959495,1.4062241034859246,0.72839631486420475],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1272,"t":6.3600000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3782265013471549,0.91592093929739749,1.4024820250198244,0.72670131520898473],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1276,"t":6.3799999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3751662924031958,0.91328085057495101,1.3987073906882301,0.72500451042483904],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1280,"t":6.4000000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3720772100431871,0.91060455677493957,1.3949007072823485,0.72330635667516574],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1284,"t":6.4199999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3689598505853624,0.90789234625233073,1.3910624794652113,0.72160729192721074],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1288,"t":6.4400000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3658148062099271,0.9051445129561424,1.3871932098201047,0.7199077364111488],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1292,"t":6.46,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3626426647969334,0.90236135641506832,1.3832933989415537,0.71820809302918687],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1296,"t":6.4800000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3594440097835119,0.89954318164823599,1.3793635454588293,0.71650874768881656],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1300,"t":6.5,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3562194200066322,0.89669029910773768,1.3754041460572268,0.7148100696022035],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1304,"t":6.5200000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3529694695295049,0.89380302460501548,1.3714156954994805,0.71311241160542871],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1308,"t":6.54,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.349694727504088,0.89088167918601924,1.3673986866586842,0.71141611069808874],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1312,"t":6.5600000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3463957580382937,0.8879265890076371,1.3633536104972332,0.70972148836752447],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1316,"t":6.5800000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.343073120065571,0.88493808522432205,1.3592809560575563,0.70802885084316391],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1320,"t":6.6000000000000005,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3397273671909646,0.88191650382641318,1.355181210422514,0.70633848946561861],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1324,"t":6.6200000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3363590475559084,0.87886218550012229,1.3510548586556292,0.7046506810723594],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1328,"t":6.6400000000000006,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3329687037485334,0.87577547547957568,1.3469023838103631,0.70296568838568996],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1332,"t":6.6600000000000001,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3295568726908962,0.87265672339330413,1.3427242668464316,0.70128376035494799],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1336,"t":6.6799999999999997,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3261240855334755,0.86950628300446131,1.3385209865470515,0.69960513248962186],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1340,"t":6.7000000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3226708675386327,0.86632451207802474,1.3342930194749156,0.69793002719022068],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1344,"t":6.7199999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3191977379641697,0.8631117722157664,1.3300408398992967,0.69625865417020594],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1348,"t":6.7400000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3157052100291065,0.8598684286319177,1.3257649197096106,0.69459121079947328],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1352,"t":6.7599999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3121937908289232,0.85659484993597945,1.3214657283236475,0.69292788236593039],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1356,"t":6.7800000000000002,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3086639812211072,0.85329140788739721,1.3171437325674855,0.69126884242655406],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1360,"t":6.7999999999999998,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3051162758000736,0.84995847719553885,1.3127993965910574,0.68961425312228708],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1364,"t":6.8200000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.3015511628124408,0.84659643527837924,1.3084331817885193,0.68796426547396761],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1368,"t":6.8399999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2979691241290428,0.84320566202304437,1.3040455466536924,0.68631901959983577],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1372,"t":6.8600000000000003,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2943706351372644,0.83978653954716387,1.2996369466843909,0.68467864515692856],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1376,"t":6.8799999999999999,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2907561647044568,0.8363394519809435,1.295207834311471,0.68304326171000784],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1380,"t":6.9000000000000004,"command":[-1,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.287126175183398,0.8328647852143124,1.2907586587391355,0.6814129789882738],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,1,1,1]}
{"step":1384,"t":6.9199999999999999,"command":[-0.99333637733397362,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2834811223429354,0.82936292660854771,1.2862898658264008,0.67978789709866483],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.98671715853498243,1,1]}
{"step":1388,"t":6.9400000000000004,"command":[-0.98593103935658,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2798214502656671,0.82583430220848464,1.2818018995588001,0.67816810237067582],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.97206001436674605,1,1]}
{"step":1392,"t":6.96,"command":[-0.97853414731658261,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2761475817322629,0.82227944460339852,1.2772952044446724,0.67655365903143971],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.95752907746459137,1,1]}
{"step":1396,"t":6.9800000000000004,"command":[-0.97115594005669226,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.272459918081998,0.8186989867776403,1.272770224552394,0.67494460933599532],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.94314385990739757,1,1]}
{"step":1400,"t":7,"command":[-0.9638050465597946,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.268758840971975,0.81509364241758719,1.2682274020213771,0.67334097538730087],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.92892016777412789,1,1]}
{"step":1404,"t":7.0200000000000005,"command":[-0.95648872040575306,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2650447140726686,0.81146418856830493,1.2636671757212539,0.67174276085618012],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.91487067226343477,1,1]}
{"step":1408,"t":7.04,"command":[-0.94921306031990782,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2613178845161097,0.80781145118917219,1.2590899801939659,0.67014995248788878],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.90100543388188492,1,1]}
{"step":1412,"t":7.0600000000000005,"command":[-0.94198318274170578,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.25757868413569,0.80413629314505763,1.254496244770456,0.66856252143519368],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.88733231656819378,1,1]}
{"step":1416,"t":7.0800000000000001,"command":[-0.93480337720666562,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2538274305649113,0.8004396042498404,1.2498863929098278,0.66698042439206984],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.8738573540369875,1,1]}
{"step":1420,"t":7.1000000000000005,"command":[-0.92767723269982805,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2500644281712032,0.79672229303394415,1.245260841622772,0.66540360471247495],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.860585048069611,1,1]}
{"step":1424,"t":7.1200000000000001,"command":[-0.92060773663231965,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2462899689283875,0.79298527990031553,1.2406200010490553,0.66383199330886278],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.84751860474728247,1,1]}
{"step":1428,"t":7.1400000000000006,"command":[-0.91359738266099111,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2425043331093109,0.78922949154417554,1.2359642741086994,0.6622655094924117],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.83466017760501343,1,1]}
{"step":1432,"t":7.1600000000000001,"command":[-0.90664822975467929,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2387077899058909,0.78545585633508797,1.2312940562633883,0.66070406188271091],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.82201101251729369,1,1]}
{"step":1436,"t":7.1799999999999997,"command":[-0.89976197824402426,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2349005980183831,0.78166530055025463,1.226609735308676,0.65914754903112427],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.80957161749359996,1,1]}
{"step":1440,"t":7.2000000000000002,"command":[-0.89294001557787261,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2310830061538856,0.77785874529698762,1.2219116911808472,0.65759586006100634],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.7973418714202114,1,1]}
{"step":1444,"t":7.2199999999999998,"command":[-0.88618346628712374,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2272552534476877,0.77403710400693582,1.2172002958886265,0.65604887532753731],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.78532113592066177,1,1]}
{"step":1448,"t":7.2400000000000002,"command":[-0.87949323210997254,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2234175698728187,0.77020128044430569,1.2124759134349303,0.65450646695442916],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.77350834532724599,1,1]}
{"step":1452,"t":7.2599999999999998,"command":[-0.87287000643433554,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2195701765974833,0.76635216702079401,1.207738899788577,0.65296849940352764],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.76190204813267692,1,1]}
{"step":1456,"t":7.2800000000000002,"command":[-0.86631431713090201,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2157132863162778,0.76249064347507267,1.20298960286111,0.65143483001441538],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.75050049606598102,1,1]}
{"step":1460,"t":7.2999999999999998,"command":[-0.85982654262438107,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2118471035508176,0.75861757584372069,1.198228362547296,0.64990530943953395],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.73930168340139657,1,1]}
{"step":1464,"t":7.3200000000000003,"command":[-0.85340692893283543,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2079718248986904,0.75473381562521158,1.1934555107277918,0.64837978230004822],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.72830338635057357,1,1]}
{"step":1468,"t":7.3399999999999999,"command":[-0.84705559841353795,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2040876392931459,0.75084019909317079,1.1886713712762469,0.64685808752115703],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.71750318680371694,1,1]}
{"step":1472,"t":7.3600000000000003,"command":[-0.84077256810131051,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2001947282611001,0.74693754677366719,1.1838762601083936,0.64534005857563004],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.70689851127167291,1,1]}
{"step":1476,"t":7.3799999999999999,"command":[-0.83455776633106871,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1962932661656682,0.74302666309626997,1.179070485254841,0.64382552399827864],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.69648666534350268,1,1]}
{"step":1480,"t":7.4000000000000004,"command":[-0.82841103670705407,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1923834203961268,0.73910833613343663,1.1742543469565621,0.64231430768307951],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.68626484573805613,1,1]}
{"step":1484,"t":7.4199999999999999,"command":[-0.82233212732293437,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1884653515534069,0.73518333731530583,1.1694281376923872,0.64080622929585251],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.67623012762746271,1,1]}
{"step":1488,"t":7.4400000000000004,"command":[-0.81632071798307171,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1845392136602491,0.73125242127058132,1.1645921422199494,0.63930110473196822],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.66637951460839762,1,1]}
{"step":1492,"t":7.46,"command":[-0.81037642978634838,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1806051543265319,0.72731632580308914,1.1597466377282539,0.6377987463873892],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.65670995795326836,1,1]}
{"step":1496,"t":7.4800000000000004,"command":[-0.80449881467935658,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1766633149497512,0.72337577185675395,1.1548918939345589,0.63629896349826476],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.64721834282048973,1,1]}
{"step":1500,"t":7.5,"command":[-0.79868736508952676,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1727138308428831,0.719431463491228,1.1500281731460023,0.63480156266673549],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.63790150715365102,1,1]}
{"step":1504,"t":7.5200000000000005,"command":[-0.79294151633522136,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1687568314139121,0.71548408790789808,1.1451557303811142,0.63330634813531028],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.62875624832800014,1,1]}
{"step":1508,"t":7.54,"command":[-0.78726064108871763,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1647924403674881,0.71153431546138735,1.1402748134415632,0.63181312208737261],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.61977931700741873,1,1]}
{"step":1512,"t":7.5600000000000005,"command":[-0.78164407545787018,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1608207758248792,0.70758279977198613,1.1353856630238495,0.63032168485960627],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.6109674606983887,1,1]}
{"step":1516,"t":7.5800000000000001,"command":[-0.77609109222355754,1,0,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1568419504939838,0.70363017778814696,1.1304885128243094,0.62883183531442399],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.60231738342875452,1,1]}
{"step":1520,"t":7.6000000000000005,"command":[-0.77060093012800113,1,0.038675127453392286,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1528560719076106,0.69967706992122469,1.1255835896480151,0.62734337112331351],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.59382579351414044,1,0.99850423451646386]}
{"step":1524,"t":7.6200000000000001,"command":[-0.76517286467838663,1,0.060445501490919262,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1488632475923355,0.69572408137097352,1.1206711128316051,0.62585608090396339],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.58548951284012862,1,0.99634634134951128]}
{"step":1528,"t":7.6400000000000006,"command":[-0.75980604172636723,1,0.076410135173139146,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.144863588155248,0.69177180294664586,1.1157512939315022,0.62436973985835087],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.57730522104389015,1,0.9941614912428226]}
{"step":1532,"t":7.6600000000000001,"command":[-0.75449949143626183,1,0.08971500193174517,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.140857194504489,0.68782080826286129,1.1108243386355605,0.62288413094514827],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.5692694825775777,1,0.99195121842838696]}
{"step":1536,"t":7.6799999999999997,"command":[-0.74925216039860609,1,0.10140015981750344,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1368441512980945,0.68387165220204871,1.1058904478769356,0.62139905591832001],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.56137879986197847,1,0.98971800758898476]}
{"step":1540,"t":7.7000000000000002,"command":[-0.74406294480591295,1,0.11196153376727616,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1328245247634063,0.67992487022444159,1.1009498182652178,0.61991433905971338],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.55362966583324713,1,0.98746461495647908]}
{"step":1544,"t":7.7199999999999998,"command":[-0.7389307256529738,1,0.12168083103801981,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1287983626536,0.67598097825676762,1.0960026422230333,0.61842982750861686],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.54601861731403045,1,0.98519377535789687]}
{"step":1548,"t":7.7400000000000002,"command":[-0.73385436879832278,1,0.13073640521896879,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1247656951995502,0.67204047284776935,1.0910491079968883,0.61694538971053325],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.53854223460438477,1,0.98290799235042159]}
{"step":1552,"t":7.7599999999999998,"command":[-0.72883273405229432,1,0.13924970500611175,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1207265366255468,0.66810383147943253,1.0860893995448304,0.61546091319475349],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.53119715422614244,1,0.98060951965571086]}
{"step":1556,"t":7.7800000000000002,"command":[-0.72386466455219112,1,0.14730815242928058,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1166808868991089,0.66417151291917143,1.0811236964403355,0.61397630208102294],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.52398005258725622,1,0.97830030822787184]}
{"step":1560,"t":7.7999999999999998,"command":[-0.71894901821829704,1,0.15497732533464542,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1126287333996658,0.66024395770073552,1.0761521737630875,0.61249147458635644],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.51688769079705321,1,0.97598202863211947]}
{"step":1564,"t":7.8200000000000003,"command":[-0.71408463080357965,1,0.16230810487045738,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1085700526036648,0.65632158854873301,1.0711750020726996,0.61100636068233882],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.50991685994988467,1,0.9736560790933606]}
{"step":1568,"t":7.8399999999999999,"command":[-0.70927034903709318,1,0.16934099685659848,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1045048115804548,0.65240481084204771,1.0661923473640535,0.60952090002119486],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.50306442802320006,1,0.9713236267836135]}
{"step":1572,"t":7.8600000000000003,"command":[-0.70450501091196593,1,0.17610900414544875,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.1004329693018038,0.64849401306406151,1.0612043710058616,0.60803504007359588],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.49632731040006928,1,0.96898561865889832]}
{"step":1576,"t":7.8799999999999999,"command":[-0.6997874512876715,1,0.18263941348919091,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0963544778304701,0.64458956721609573,1.0562112297768191,0.60654873464360515],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.48970247697969516,1,0.96664284464032435]}
{"step":1580,"t":7.9000000000000004,"command":[-0.6951164835727629,1,0.18895514652762033,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0922692832509855,0.64069182912953804,1.0512130758037679,0.60506194266928326],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.48318692573456312,1,0.96429595260072554]}
{"step":1584,"t":7.9199999999999999,"command":[-0.69049093279854901,1,0.19507568029932157,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0881773264560484,0.63680113885594847,1.0462100565719545,0.60357462724066302],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.47677772827701026,1,0.96194547895575688]}
{"step":1588,"t":7.9400000000000004,"command":[-0.68590960590037398,1,0.20101781836424221,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0840785439172131,0.63291782101496674,1.0412023149575269,0.60208675466540462],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.47047198746640639,1,0.95959183670008052]}
{"step":1592,"t":7.96,"command":[-0.68137131787801619,1,0.20679607519213,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0799728683188137,0.62904218515445243,1.0361899893239324,0.60059829385092034],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.46426687282682466,1,0.95723538328513091]}
{"step":1596,"t":7.9800000000000004,"command":[-0.67687486868657099,1,0.21242316172229619,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0758602290671919,0.62517452605476742,1.0311732135825533,0.59910921579704657],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.45815958785946276,1,0.9548764003639032]}
{"step":1600,"t":8,"command":[-0.67241905903426669,1,0.2179101821082953,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0717405527334372,0.62131512402505407,1.026152117299215,0.59761949332899778],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.45214739095252865,1,0.95251515253352959]}
{"step":1604,"t":8.0199999999999996,"command":[-0.66800268053755807,1,0.22326702256212172,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0676137634725273,0.61746424519020771,1.0211268257795454,0.59612910075712544],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.44622758120536288,1,0.95015183663624503]}
{"step":1608,"t":8.0400000000000009,"command":[-0.66362452443451114,1,0.22850241941370814,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0634797832972458,0.6136221417577663,1.0160974601637309,0.59463801370117286],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.44039750943093103,1,0.94778664432208182]}
{"step":1612,"t":8.0600000000000005,"command":[-0.6592833875351729,1,0.2336242617138013,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0593385324418267,0.609789052343642,1.0110641375449667,0.59314620881464153],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.434654585079853,1,0.94541970433868128]}
{"step":1616,"t":8.0800000000000001,"command":[-0.65497805206050019,1,0.23863956672588263,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0551899295539615,0.60596520218831273,1.0060269709786609,0.59165366371205763],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.42899624868096731,1,0.94305115719288302]}
{"step":1620,"t":8.0999999999999996,"command":[-0.65070730602168492,1,0.2435546717696935,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0510338918711168,0.60215080339810578,1.0009860696034565,0.59016035695367886],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.42341999810999875,1,0.94068112185915687]}
{"step":1624,"t":8.120000000000001,"command":[-0.64646995500752302,1,0.24837526640603916,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0468703354048516,0.59834605527937801,0.99594153880618697,0.58866626808563716],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.41792340272742878,1,0.93830972703772908]}
{"step":1628,"t":8.1400000000000006,"command":[-0.64226478871908421,1,0.25310651267767609,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0426991750955952,0.59455114454889613,0.99089348021260415,0.58717137768206717],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.41250405882836982,1,0.9359370932401454]}
{"step":1632,"t":8.1600000000000001,"command":[-0.63809062344425749,1,0.25775310374458033,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0385203249507549,0.59076624562493774,0.98584199184828192,0.58567566735455823],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.40715964372748126,1,0.93356333751003562]}
{"step":1636,"t":8.1799999999999997,"command":[-0.63394626945031651,1,0.26231930948457727,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0343336982088713,0.58699152088603723,0.98078716828183055,0.58417911980600812],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.40188787254997327,1,0.93118857987153458]}
{"step":1640,"t":8.1999999999999993,"command":[-0.62983055335378479,1,0.26680903129582917,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0301392074349938,0.58322712091836937,0.97572910073198749,0.58268171888858666],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.39668652593793474,1,0.92881294081898125]}
{"step":1644,"t":8.2200000000000006,"command":[-0.62574231321442086,1,0.27122584929016413,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0259367646282953,0.57947318479189058,0.97066787713375779,0.58118344963777657],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.39155344254693436,1,0.92643653867682918]}
{"step":1648,"t":8.2400000000000002,"command":[-0.62168039048832813,1,0.27557303620981699,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0217262813400474,0.57572984028603402,0.96560358226495424,0.5796842983563808],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.3864865079177201,1,0.92405950171410289]}
{"step":1652,"t":8.2599999999999998,"command":[-0.61764364981437581,1,0.27985360663672992,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0175076687242421,0.57199720415290511,0.96053629781633321,0.57818425268513729],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.38148367815602335,1,0.92168195885241444]}
{"step":1656,"t":8.2799999999999994,"command":[-0.6136309567713204,1,0.2840703427554887,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0132808376416393,0.5682753823432205,0.95546610252710851,0.57668330164543635],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.37654295110808611,1,0.91930404036677915]}
{"step":1660,"t":8.3000000000000007,"command":[-0.60964120626364049,1,0.28822580191128905,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0090456987805148,0.56456447028701462,0.95039307227670111,0.57518143572649616],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.37166240037458664,1,0.91692588711259437]}
{"step":1664,"t":8.3200000000000003,"command":[-0.60567331331223051,1,0.29232233592736889,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0048021626936701,0.56086455317843231,0.94531728018132855,0.57367864700446392],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.36684016245861528,1,0.9145476519179665]}
{"step":1668,"t":8.3399999999999999,"command":[-0.60172619895989954,1,0.2963621764657004,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0005501398503509,0.55717570617969658,0.94023879666867716,0.5721749290644913],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.36207441851472866,1,0.91216946036051305]}
{"step":1672,"t":8.3599999999999994,"command":[-0.59779881831848947,1,0.30034734342984765,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.99628954069015629,0.55349799469463712,0.93515768955103118,0.57067027711671048],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.35736342718298242,1,0.90979147329463317]}
{"step":1676,"t":8.3800000000000008,"command":[-0.5938901434874343,1,0.30427974735428492,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.9920202757009503,0.54983147463905513,0.93007402409926421,0.56916468803710185],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.35270550253152533,1,0.90741383535001252]}
{"step":1680,"t":8.4000000000000004,"command":[-0.5899991637539006,1,0.30816113934942341,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.9877422555210873,0.54617619267061035,0.92498786313510806,0.56765816043694972],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.34809901323030201,1,0.90503671219486526]}
{"step":1684,"t":8.4199999999999999,"command":[-0.58612490364313397,1,0.31199315557114582,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.98345539092881262,0.54253218645621093,0.91989926714544668,0.56615069474397595],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.34354240267067304,1,0.90266027087675882]}
{"step":1688,"t":8.4399999999999995,"command":[-0.58226639086153542,1,0.31577734976912636,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.97915959282843223,0.53889948485152006,0.91480829430665089,0.56464229314839931],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.33903414992691838,1,0.90028466537278684]}
{"step":1692,"t":8.4600000000000009,"command":[-0.57842269546503422,1,0.31951513801867282,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.97485477237751617,0.53527810818117694,0.90971500060094401,0.56313295970110788],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.33457281462903576,1,0.89791007657690847]}
{"step":1696,"t":8.4800000000000004,"command":[-0.57459291792762701,1,0.32320787263577549,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.97054084102205462,0.53166806853483173,0.90461943985821813,0.5616227003222386],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.33015702133258473,1,0.89553667106625634]}
{"step":1700,"t":8.5,"command":[-0.57077616291239464,1,0.32685685509947188,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.96621771052088723,0.52806936993182685,0.89952166380589382,0.56011152265874298],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.32578542814899647,1,0.89316459627448286]}
{"step":1704,"t":8.5199999999999996,"command":[-0.56697156766429768,1,0.33046327334355496,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.96188529299886161,0.52448200853480664,0.89442172213755855,0.55859943615086993],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.32145675853971134,1,0.89079402497106286]}
{"step":1708,"t":8.5400000000000009,"command":[-0.56317832167814763,1,0.33402825819375059,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.95754350101703145,0.52090597299608077,0.88931966259381667,0.5570864520636154],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.31716982200821514,1,0.88842512272804908]}
{"step":1712,"t":8.5600000000000005,"command":[-0.55939561555735562,1,0.33755290681730965,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.95319224761157206,0.5173412446481469,0.88421553103781125,0.55557258335441995],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.31292345470479282,1,0.88605803509918468]}
{"step":1716,"t":8.5800000000000001,"command":[-0.55562267868998294,1,0.34103824567434271,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.94883144632131544,0.51378779771242766,0.87910937146677082,0.55405784463807761],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.30871656107463202,1,0.88369291498736668]}
{"step":1720,"t":8.5999999999999996,"command":[-0.55185877014908846,1,0.34448521292150108,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.94446101124717396,0.51024559956023774,0.87400122609546127,0.55254225231060627],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.30454810219046441,1,0.88132993807842808]}
{"step":1724,"t":8.620000000000001,"command":[-0.54810318308495787,1,0.34789473774619051,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.94008085705235656,0.50671461095030079,0.86889113542577423,0.55102582445660109],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.30041709930786287,1,0.87896925144850935]}
{"step":1728,"t":8.6400000000000006,"command":[-0.54435524436756366,1,0.35126770335686108,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.93569089899366886,0.5031947862770848,0.8637791382864477,0.54950858073748987],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.29632263207046999,1,0.87661100057839625]}
{"step":1732,"t":8.6600000000000001,"command":[-0.54061428595141847,1,0.35460493534579907,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.93129105292266667,0.49968607370590956,0.85866527177736707,0.54799054241274059],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.29226380617476211,1,0.87425533982840165]}
{"step":1736,"t":8.6799999999999997,"command":[-0.53687970762946591,1,0.35790722915152601,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.92688123533897127,0.49618841547845605,0.85354957143197296,0.54647173230357493],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.28823982046430074,1,0.87190241532107704]}
{"step":1740,"t":8.7000000000000011,"command":[-0.53315091449079621,1,0.36117534545946339,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.92246136340260876,0.49270174811613998,0.8484320712729172,0.54495217472882695],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.28424989762237229,1,0.86955236983223727]}
{"step":1744,"t":8.7200000000000006,"command":[-0.52942735313105649,1,0.36441001417015079,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.91803135497212152,0.4892260026208477,0.84331280374398698,0.54343189544710602],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.2802933222433564,1,0.8672053415725105]}
{"step":1748,"t":8.7400000000000002,"command":[-0.52570851047659573,1,0.36761193860889174,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.9135911286220757,0.48576110473991052,0.83819179980901737,0.54191092158626086],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.27636943798752095,1,0.86486146259221242]}
{"step":1752,"t":8.7599999999999998,"command":[-0.52199389996351564,1,0.37078179953573481,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.90914060366458993,0.4823069751773621,0.83306908897188281,0.54038928156061972],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.27247763159912075,1,0.86252085713304216]}
{"step":1756,"t":8.7799999999999994,"command":[-0.51828306945380354,1,0.37392023574223487,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.90467970011098719,0.47886352978514568,0.82794469927541314,0.53886700506214258],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.26861734008245619,1,0.86018365730247148]}
{"step":1760,"t":8.8000000000000007,"command":[-0.51457559894944072,1,0.37702785781159148,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.90020833867782291,0.47543067977091269,0.82281865736848481,0.53734412305229773],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.26478804703417569,1,0.85784999443400234]}
{"step":1764,"t":8.8200000000000003,"command":[-0.5108711032044978,1,0.38010527286664719,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.89572644081716657,0.47200833191232083,0.81769098852622912,0.53582066763887781],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.2609892840893806,1,0.85551998153897169]}
{"step":1768,"t":8.8399999999999999,"command":[-0.50716923573375872,1,0.38315304902136077,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.89123392876984675,0.46859638879267129,0.81256171670732957,0.53429667203923836],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.25722063367476494,1,0.85319374102563472]}
{"step":1772,"t":8.8599999999999994,"command":[-0.50346966996904563,1,0.38617175402530468,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.88673072559372723,0.46519474897291868,0.8074308645885484,0.53277217048353864],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.25348170857873975,1,0.85087137639301957]}
{"step":1776,"t":8.8800000000000008,"command":[-0.49977213017797212,1,0.38916195584678603,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.88221675516686315,0.4618033072190566,0.80229845358323448,0.53124719803262221],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.24977218210262792,1,0.84855297212150416]}
{"step":1780,"t":8.9000000000000004,"command":[-0.49607635378617909,1,0.3921241776868713,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.87769194218665569,0.45842195466362579,0.79716450386366944,0.52972179057636981],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.24609174878579032,1,0.84623862927339499]}
{"step":1784,"t":8.9199999999999999,"command":[-0.49238212664754288,1,0.39505892434528106,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.87315621216679418,0.45505057900380341,0.79202903439032957,0.52819598484384245],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.24244015864195695,1,0.84392844629514951]}
{"step":1788,"t":8.9399999999999995,"command":[-0.48868927886927199,1,0.3979666754453936,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.86860949145365007,0.45168906475522985,0.78689206295090708,0.52666981838447047],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.23881721128176908,1,0.84162252523494074]}
{"step":1792,"t":8.9600000000000009,"command":[-0.48499766297910862,1,0.40084793440057076,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.86405170725064495,0.44833729342709061,0.78175360618614764,0.52514332937417685],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.23522273309519703,1,0.83932093348679571]}
{"step":1796,"t":8.9800000000000004,"command":[-0.48130716315734789,1,0.40370315884969954,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.85948278759595342,0.44499514367003312,0.77661367962720096,0.52361655658995798],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.2316565853065739,1,0.83702375953477426]}
{"step":1800,"t":9,"command":[-0.4776177004925421,1,0.40653280943195441,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.854902661385472,0.44166249146706138,0.77147229771835546,0.52208953935955127],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.22811866782378365,1,0.83473107485536224]}
{"step":1804,"t":9.0199999999999996,"command":[-0.47392920028804286,1,0.40933734534459321,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.85031125834764398,0.43833921021727318,0.7663294737969748,0.52056231741787484],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.22460888688566383,1,0.83244293770624123]}
{"step":1808,"t":9.0400000000000009,"command":[-0.47024166175083221,1,0.41211720873569052,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.84570850903647776,0.4350251709772962,0.76118522009762479,0.51903493084050267],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.2211272204461841,1,0.83015940626390328]}
{"step":1812,"t":9.0600000000000005,"command":[-0.46655509861509054,1,0.41487283316358925,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.84109434481520706,0.43172024264270481,0.75603954782671901,0.51750741998658523],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.21767366004373684,1,0.82788053230281666]}
{"step":1816,"t":9.0800000000000001,"command":[-0.46286954043493411,1,0.41760463077459764,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.83646869788091349,0.42842429203195731,0.75089246715136504,0.51597982547878574],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.2142482114624471,1,0.82560637235561196]}
{"step":1820,"t":9.0999999999999996,"command":[-0.45918508119739521,1,0.4203130294899044,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.83183150121036298,0.42513718409650059,0.74574398719691892,0.51445218806556658],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.21085093879425842,1,0.82333695724101874]}
{"step":1824,"t":9.120000000000001,"command":[-0.45550181281541169,1,0.42299841249770653,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.82718268860302235,0.42185878204288585,0.74059411610266146,0.51292454864787629],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.20748190147812634,1,0.82107234302442011]}
{"step":1828,"t":9.1400000000000006,"command":[-0.45181990104326492,1,0.42566119838979,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.82252219466063725,0.41858894754032994,0.73544286104088785,0.51139694812334557],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.20414122297874571,1,0.81881254418536786]}
{"step":1832,"t":9.1600000000000001,"command":[-0.44813951832067039,1,0.42830176462299518,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.8178499547665119,0.41532754086099555,0.73029022822416945,0.50986942735868324],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.20082902788068246,1,0.81655759842082842]}
{"step":1836,"t":9.1799999999999997,"command":[-0.44446083285726817,1,0.43092048791440996,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.81316590511131637,0.41207442088097068,0.72513622300430924,0.50834202719089194],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.19754543194417645,1,0.81430753309560688]}
{"step":1840,"t":9.2000000000000011,"command":[-0.44078405776881735,1,0.43351774944826016,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.80846998260814351,0.40882944517295439,0.7199808498959066,0.50681478830507487],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.1942905855831441,1,0.81206236091331552]}
{"step":1844,"t":9.2200000000000006,"command":[-0.43710945740608298,1,0.43609391781307999,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.80376212494608823,0.40559247023894485,0.7148241125501551,0.50528775117168423],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.19106467775384028,1,0.80982209484643863]}
{"step":1848,"t":9.2400000000000002,"command":[-0.43343732848304001,1,0.43864938562245265,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.79904227063311084,0.4023633516925782,0.70966601378276462,0.50376095587082081],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.18786791772251471,1,0.80758671649304481]}
{"step":1852,"t":9.2599999999999998,"command":[-0.42976798993078374,1,0.44118447971867519,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.79431035896545521,0.39914194435490358,0.70450655556871666,0.50223444222350899],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.18470052516914626,1,0.80535625485536189]}
{"step":1856,"t":9.2799999999999994,"command":[-0.42610179269674336,1,0.44369959635202205,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.78956633009801347,0.39592810238871756,0.69934573914526421,0.500708249564221],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.18156273773937848,1,0.8031306681970527]}
{"step":1860,"t":9.3000000000000007,"command":[-0.42243910931484724,1,0.44619507377101808,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.78481012495838331,0.39272167937077407,0.6941835650107997,0.49918241672741143],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.17845480107872147,1,0.80090995614247573]}
{"step":1864,"t":9.3200000000000003,"command":[-0.41878036050410583,1,0.4486712257314589,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.78004168523871253,0.38952252843870183,0.68902003292029734,0.49765698222622234],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.17537699034394882,1,0.79869413120063026]}
{"step":1868,"t":9.3399999999999999,"command":[-0.41512600431387059,1,0.45112840316642683,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.77526095340208367,0.3863305024524093,0.68385514195224895,0.49613198406876569],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.17232959945759968,1,0.79648316385650986]}
{"step":1872,"t":9.3599999999999994,"command":[-0.41147649508100764,1,0.4535669165916979,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.77046787263092431,0.38314545400432454,0.67868889049106107,0.49460745976286064],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.1693129060041505,1,0.79427705217349975]}
{"step":1876,"t":9.3800000000000008,"command":[-0.40783234566882154,1,0.45598708899834056,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.76566238687950094,0.37996723556053724,0.67352127630479774,0.49308344629204143],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.16632722217373314,1,0.79207577466681944]}
{"step":1880,"t":9.4000000000000004,"command":[-0.40419409649241989,1,0.45838924678681436,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.76084444086589087,0.37679569959706449,0.66835229657063966,0.49155997999153417],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.16337286763932363,1,0.78987929843021698]}
{"step":1884,"t":9.4199999999999999,"command":[-0.4005622915149944,1,0.46077369431897258,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.75601397999435271,0.37363069859765496,0.66318194784771745,0.49003709657117811],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.16045014938374336,1,0.78768760262364601]}
{"step":1888,"t":9.4399999999999995,"command":[-0.39693751135506716,1,0.46314071972063969,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.75117095035153192,0.3704720851211768,0.65801022609277782,0.48851483118419042],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.15755938792075408,1,0.78550067373664789]}
{"step":1892,"t":9.4600000000000009,"command":[-0.39332035972405588,1,0.46549065019045566,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.74631529871226909,0.36731971188641954,0.65283712668363991,0.48699321822485819],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.15470090537346071,1,0.78331845458526683]}
{"step":1896,"t":9.4800000000000004,"command":[-0.38971146931341744,1,0.46782377926816537,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.74144697256630987,0.36417343185472695,0.64766264448379562,0.48547229131378616],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.1518750293144227,1,0.78114091155125087]}
{"step":1900,"t":9.5,"command":[-0.38611150254921039,1,0.47014039851526418,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.73656592008780519,0.36103309830187946,0.64248677385069941,0.48395208334238426],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.14908209240080889,1,0.77896800568390856]}
{"step":1904,"t":9.5199999999999996,"command":[-0.38252115259382319,1,0.47244080471050209,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.73167209015165779,0.35789856490490035,0.63730950865525271,0.48243262639542406],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.14632243218170699,1,0.77679968604449323]}
{"step":1908,"t":9.5400000000000009,"command":[-0.37894112499163135,1,0.47472526903557832,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.72676543234899427,0.3547696857813647,0.63213084236452755,0.48091395180407009],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.14359637620992316,1,0.77463591893909778]}
{"step":1912,"t":9.5600000000000005,"command":[-0.37537217839212383,1,0.47699405550078228,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.7218458969545416,0.3516463155833528,0.62695076805888617,0.4793960902017696],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.14090427231084846,1,0.77247667101691664]}
{"step":1916,"t":9.5800000000000001,"command":[-0.37181502393558585,1,0.47924745173864192,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.71691343482697856,0.34852830937892421,0.62176927845674879,0.47787907138400182],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.13824641202422028,1,0.77032188000201807]}
{"step":1920,"t":9.5999999999999996,"command":[-0.36827030254304643,1,0.48148571636963744,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.71196799714843684,0.34541552228060945,0.61658636605398343,0.47636292434004557],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.13562301573514696,1,0.76817150493201702]}
{"step":1924,"t":9.620000000000001,"command":[-0.36473882331684576,1,0.48370912254387227,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.70700953563664204,0.34230780977301511,0.61140202304251234,0.47484767721217824],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.13303440923455723,1,0.76602548476783716]}
{"step":1928,"t":9.6400000000000006,"command":[-0.36122143490207165,1,0.48591795430540269,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.70203800270753147,0.33920502805433306,0.60621624128621665,0.47333335714939268],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.13048092503271158,1,0.76388374168365258]}
{"step":1932,"t":9.6600000000000001,"command":[-0.35771898833703586,1,0.4881124316098342,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.69705335153039916,0.33610703406143483,0.60102901241499973,0.47181999054826751],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.12796287461687239,1,0.76174625410793495]}
{"step":1936,"t":9.6799999999999997,"command":[-0.35423239918105098,1,0.49029280592469854,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.6920555360213092,0.3330136855655399,0.59584032788684294,0.47030760304699232],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.12548059262956346,1,0.75961296445848592]}
{"step":1940,"t":9.7000000000000011,"command":[-0.35076258845593711,1,0.49245934431223187,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.68704451080487861,0.32992484120273402,0.59065017899283179,0.46879621931728171],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.12303439346030909,1,0.75748379419956668]}
{"step":1944,"t":9.7200000000000006,"command":[-0.34731047689993783,1,0.49461228418571968,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.68202023119283961,0.32684036041150444,0.58545855686514781,0.46728586312855547],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.12062456736446225,1,0.7553586883325849]}
{"step":1948,"t":9.7400000000000002,"command":[-0.34387704143039044,1,0.49675184245231863,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.67698265324043139,0.32376010351699724,0.58026545247420369,0.46577655750326991],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.11825141962291846,1,0.7532376070202268]}
{"step":1952,"t":9.7599999999999998,"command":[-0.34046326787463149,1,0.49887827738442431,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.67193173370804926,0.32068393175149423,0.57507085663279467,0.4642683245383174],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.1159152367718731,1,0.75112046435394941]}
{"step":1956,"t":9.7799999999999994,"command":[-0.33707016671357415,1,0.5009918066914073,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.66686743011545246,0.31761170727461785,0.56987476008856275,0.46276118545252543],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.11361629728831668,1,0.74900720962807954]}
{"step":1960,"t":9.8000000000000007,"command":[-0.33369876911309493,1,0.50309267057507567,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.66178970076279053,0.31454329319286245,0.56467715354313297,0.46125516056518223],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.11135486850759463,1,0.74689776481363834]}
{"step":1964,"t":9.8200000000000003,"command":[-0.33035013914288208,1,0.50518107129003731,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.65669850466705848,0.31147855357059362,0.55947802764478682,0.45975026939271679],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.10913121443172155,1,0.7447920852102502]}
{"step":1968,"t":9.8399999999999999,"command":[-0.3270253296065726,1,0.50725723108010301,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.6515938015985846,0.30841735339265408,0.55427737301750568,0.45824653063497539],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.10694556620428744,1,0.74269010151694692]}
{"step":1972,"t":9.8599999999999994,"command":[-0.32372546490235932,1,0.50932136050784227,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.64647555206603446,0.30535955863080033,0.54907518028045699,0.4567439621477602],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.10479817662624868,1,0.74059175173044056]}
{"step":1976,"t":9.8800000000000008,"command":[-0.32045163758612299,1,0.51137366504199311,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.64134371738235885,0.30230503622082949,0.54387144015598077,0.45524258097999987],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.10268925203162793,1,0.73849697470151943]}
{"step":1980,"t":9.9000000000000004,"command":[-0.31720499333052371,1,0.5134143331853972,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.63619825965654531,0.29925365406141036,0.53866614343323294,0.45374240345360095],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.10061900779381758,1,0.73640572247979397]}
{"step":1984,"t":9.9199999999999999,"command":[-0.31398668719758582,1,0.51544356364744248,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.63103914175859632,0.29620528102005528,0.53345928101424178,0.45224344514112963],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.098587639737314603,1,0.73431793269442491]}
{"step":1988,"t":9.9399999999999995,"command":[-0.31079789362800087,1,0.51746153675239392,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.62586632738706505,0.29315978693899081,0.52825084392174793,0.45074572090765741],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.096595330683602126,1,0.73223355798185086]}
{"step":1992,"t":9.9600000000000009,"command":[-0.30763982303147736,1,0.51946843326459835,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.62067978108119282,0.29011704266821881,0.52304082335644786,0.44924924494557472],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.094642260714838722,1,0.73015254684162356]}
{"step":1996,"t":9.9800000000000004,"command":[-0.30451368136497037,1,0.52146442165576645,1,1],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.61547946822406574,0.28707692003237906,0.51782921068332177,0.44775403081836351],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[1,0.092728582138446702,1,0.72807485694721696]}
{"step":2000,"t":10,"command":[-0.30142069865498505,1,0.52001433444961598,0.99650281413188835,0.99650281413188835],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.61026535503491175,0.28403929180353538,0.51261599750596698,0.44626009139786305],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.99641533412859207,0.090854437577659319,0.99301785857277292,0.72600042609551496]}
{"step":2004,"t":10.02,"command":[-0.29836265549421431,1,0.50914373962567239,0.98945957155096331,0.98945957155096331],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.605037426275427,0.28100403901437221,0.50740122304672264,0.44476741671388464],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.98315113351879935,0.089020274193559207,0.97903024373381586,0.72392378591878492]}
{"step":2008,"t":10.040000000000001,"command":[-0.29534293745586859,1,0.49803310210802659,0.98239577871399875,0.98239577871399875],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.59979575072934677,0.27797107865108772,0.50218509911262155,0.4432758836910638],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.96986156350469177,0.087227450705061105,0.96510146603508407,0.72182459270934773]}
{"step":2012,"t":10.06,"command":[-0.2923651024786274,1,0.48670723134079807,0.9753365925101225,0.9753365925101225],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.59454053587177169,0.27494038744158833,0.49696806852405873,0.44178517381887289],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.95656278736633005,0.085477353147338314,0.95128146868925678,0.71967885832690492]}
{"step":2016,"t":10.08,"command":[-0.28943206826003171,1,0.4751857817626845,0.96830290270341723,0.96830290270341723],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.58927210843057598,0.27191199421657775,0.49175076594768496,0.44029480083489136],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.94326849555122105,0.083770922137279658,0.93761051138386353,0.71746696836180746]}
{"step":2020,"t":10.1,"command":[-0.28654637789138843,1,0.46348349597254646,0.96131194323112601,0.96131194323112601],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.58399089066785037,0.26888597072764087,0.48653397631776585,0.43880414580200933],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.92999019726152543,0.082108826682674385,0.92412065219880368,0.71517324622259193]}
{"step":2024,"t":10.120000000000001,"command":[-0.28371015511974074,1,0.45161064249774441,0.95437780309335407,0.95437780309335407],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.57869737992871972,0.26586242363381052,0.48131859978726199,0.43731248710741222],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.91673746285735302,0.080491452118067353,0.91083699103729687,0.71278529044012751]}
{"step":2028,"t":10.140000000000001,"command":[-0.28092510817575633,1,0.43957320505341302,0.9475118940925964,0.9475118940925964],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.5733921312080581,0.26284148734094592,0.47610562235935827,0.4358190260458476],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.90351816932935902,0.078918916403560413,0.89777878944693956,0.71029356672842914]}
{"step":2032,"t":10.16,"command":[-0.27819262339701256,1,0.42737321952834662,0.94072336424939718,0.94072336424939718],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.56807574254476245,0.25982331789233515,0.47089609147277089,0.43432290828350717],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.89033876452330496,0.077391135712512049,0.88496044804470397,0.70769089575328059]}
{"step":2036,"t":10.18,"command":[-0.27551380562957423,1,0.41500884214017852,0.93401943602631721,0.93401943602631721],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.56274884274213144,0.25680808776021835,0.46569109575587886,0.43282324176779929],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.87720444480170634,0.075907857092490816,0.87239230687491975,0.70497210574717473]}
{"step":2040,"t":10.200000000000001,"command":[-0.27288950311716642,1,0.40247439077432212,0.92740570268517253,0.92740570268517253],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.55741208110463614,0.25379598136132986,0.46049174829494222,0.43131911173697551],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.86411934254437717,0.074468680911533996,0.86008133737297854,0.70213370731521541]}
{"step":2044,"t":10.220000000000001,"command":[-0.27032038258871582,1,0.38976031156749497,0.92088638956950175,0.92088638956950175],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.55206611890313717,0.25078719128762572,0.45529917293516942,0.42980959295629151],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.85108667428124374,0.07307310924290969,0.8480317424943522,0.69917357380805301]}
{"step":2048,"t":10.24,"command":[-0.2678069689091519,1,0.3768529688952274,0.91446457370346435,0.91446457370346435],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.5467116223938413,0.24778191519500015,0.45011449312527319,0.42829375982328882],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.83810889927336785,0.071720572596307458,0.83624545655865878,0.69609073910822061]}
{"step":2052,"t":10.26,"command":[-0.26534963112270449,1,0.36373435197187864,0.908142365615483,0.908142365615483],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.5413492570734697,0.2447803531122581,0.44493882288134134,0.42677069439006105],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.82518780839351735,0.070410426736955328,0.82472255622568569,0.69288512958911486]}
{"step":2056,"t":10.279999999999999,"command":[-0.2629486412734004,1,0.3503826789823003,0.90192110348928389,0.90192110348928389],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.53597968620502101,0.24178270640014998,0.43977325902629971,0.42523949285645085],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.81232546516589144,0.069141987947527406,0.81346167691932747,0.68955744343507774]}
{"step":2060,"t":10.300000000000001,"command":[-0.26060423396069476,1,0.3367698777633279,0.89580148971623785,0.89580148971623785],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.53060356696477007,0.23878917596489779,0.43461887570213786,0.42369927079825431],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.79952293308778333,0.067914566758240535,0.80246030897783105,0.6861089825190565]}
{"step":2064,"t":10.32,"command":[-0.25831652024454566,1,0.32286147292164824,0.88978368499377047,0.88978368499377047],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.52522154704353619,0.23579996052973273,0.4294767200877696,0.42214916729300705],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.78678107779371986,0.066727424631250754,0.79171500608109335,0.68254154709658366]}
{"step":2068,"t":10.34,"command":[-0.25608550808636488,1,0.30861557693800723,0.88386823516204505,0.88386823516204505],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.51983426540283695,0.23281525641519019,0.42434781299759683,0.42058834812969181],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.77410090169103041,0.06557978745185164,0.78122305712846818,0.67885732736225135]}
{"step":2072,"t":10.359999999999999,"command":[-0.25391132654856002,1,0.29397904725789203,0.87805480305265615,0.87805480305265615],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.51444234905714448,0.22983525620912715,0.41923314634859254,0.41901600832859281],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.76148251921555277,0.064470961749649475,0.77098023716383879,0.67505883898889485]}
{"step":2076,"t":10.380000000000001,"command":[-0.25179410132147778,1,0.27888486718193956,0.87234253336847101,0.87234253336847101],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.50904640866305517,0.22686014697072687,0.41413367883715368,0.41743137369597316],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.74892554648542153,0.06340026946029062,0.76098149552372196,0.67114877734233347]}
{"step":2080,"t":10.4,"command":[-0.24973397931034416,1,0.26324778204118537,0.86673030087267655,0.86673030087267655],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.50364703655492926,0.22389010925879982,0.40905033393649282,0.41583370166835898],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.73642936332745257,0.062367060422179404,0.75122141445084045,0.66712996857784912]}
{"step":2084,"t":10.42,"command":[-0.24773107335968775,1,0.24695720914484096,0.86121679397065587,0.86121679397065587],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.49824480598574761,0.22092531654810754,0.40398399904570459,0.41422228183017623],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.72399319941705342,0.061370684707942991,0.74169436621709517,0.66300533626844471]}
{"step":2088,"t":10.44,"command":[-0.2457854968122247,1,0.22986593593201463,0.85580056643883029,0.85580056643883029],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.49284027076222703,0.21796593480167492,0.39893552517424302,0.41259643586322892],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.71161615844818615,0.060410510443232118,0.73239460951702284,0.6587778099462851]}
{"step":2092,"t":10.460000000000001,"command":[-0.24389731091366612,1,0.21177095760659584,0.85048006680536814,0.85048006680536814],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.48743396511162662,0.2150121220857466,0.39390572694564074,0.41095551712770034],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.69929724508856528,0.05948589827091752,0.7233163440332635,0.65445030660295067]}
{"step":2096,"t":10.48,"command":[-0.24206626932598016,1,0.19237902085108768,0.84525367135051566,0.84525367135051566],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.48202640384417461,0.21206402783858225,0.38889538286830616,0.40929890997124235],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.68703537413803528,0.058596078745397961,0.71445376893152557,0.65002568647441206]}
{"step":2100,"t":10.5,"command":[-0.2402915412355783,1,0.17123811189681604,0.84011970026242777,0.84011970026242777],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.47661808247593962,0.20912179144207699,0.38390523587564518,0.40762602913379081],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.67482928705119138,0.057740024789369626,0.7058011107690314,0.64550679608520489]}
{"step":2104,"t":10.52,"command":[-0.23857311323986677,1,0.14758551203439954,0.8350764575279912,0.8350764575279912],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.47120947779201372,0.20618554299830694,0.3789359938910204,0.40593631899463611],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.66267789196394955,0.056917130360962298,0.69735268991749888,0.64089640860149366]}
{"step":2108,"t":10.540000000000001,"command":[-0.23691102138293149,1,0.11992636968828622,0.83012223886140502,0.83012223886140502],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.4658010493265623,0.20325540458780078,0.37398833033386536,0.40422925647965047],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.6505803120746998,0.056126832052703829,0.68910293145227164,0.6361979779280883]}
{"step":2112,"t":10.56,"command":[-0.23530545923293728,1,0.084391690643164194,0.82525533700220666,0.82525533700220666],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.46039324037116769,0.20033149077059786,0.36906288480351712,0.40250434667159468],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.63853569694251955,0.055368659144823501,0.68104637125062562,0.63141373949290802]}
{"step":2116,"t":10.58,"command":[-0.23375665414595245,1,-0.00095281725695552663,0.82047404585138484,0.82047404585138484],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.45498648106112016,0.19741390984780349,0.36416026336646024,0.40076111361858702],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.62654393183107737,0.054642173357510426,0.67317765991574041,0.62654483969180252]}
{"step":2120,"t":10.6,"command":[-0.23226672543880264,1,-0.083461098984216983,0.81577665690690115,0.81577665690690115],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.44958122054625504,0.19450277946142591,0.35928103254488608,0.3989990433247616],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.61461445757282207,0.053947831746064129,0.6654915539541999,0.62158021261647534]}
{"step":2124,"t":10.620000000000001,"command":[-0.23083545998336802,1,-0.11737375142253428,0.81116148260069243,0.81116148260069243],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.4441779294660817,0.19159822778023949,0.35442571986250915,0.39721758080068625],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.60274605236002698,0.053285009585733095,0.65798295085495351,0.61652264988302585]}
{"step":2128,"t":10.640000000000001,"command":[-0.22945760300916601,1,-0.14315435480391317,0.80662701220353394,0.80662701220353394],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.43877697108226732,0.18870032901067102,0.34959484399344776,0.3954163593888354],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.59091290699254917,0.052650791578712025,0.65064713681640018,0.61140607629187382]}
{"step":2132,"t":10.66,"command":[-0.22812685463571913,1,-0.16488397348833839,0.80217184230596794,0.80217184230596794],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.43337852028878565,0.18580906144607368,0.34478893407616074,0.39359534200820001],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.5790837449878774,0.052041861805986522,0.64347966458855077,0.60627046970118048]}
{"step":2136,"t":10.68,"command":[-0.22683967101268449,1,-0.18411499459978389,0.7977946180791935,0.7977946180791935],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.42798259841604525,0.18292432292213168,0.34000852287138894,0.39175475499208101],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.56724014464489891,0.051456236345142931,0.63647625263612628,0.60113847588137737]}
{"step":2140,"t":10.700000000000001,"command":[-0.22560338072404285,1,-0.20137422479360639,0.79349377344029681,0.79349377344029681],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.4225893114972421,0.18004605026917164,0.33525409379435755,0.38989466111566967],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.55541521588169351,0.050896885394117422,0.629632368488521,0.59596679429291943]}
{"step":2144,"t":10.720000000000001,"command":[-0.22442220837372315,1,-0.21703579647160001,0.78926792579803084,0.78926792579803084],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.4171989213830789,0.17717425662687014,0.33052606672700824,0.38801483787463492],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.54362753554103893,0.050365327611338814,0.62294385869352586,0.59073207249110071]}
{"step":2148,"t":10.74,"command":[-0.22329904617518137,1,-0.23137515683405119,0.78511616320567801,0.78511616320567801],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.41181175731993314,0.17430898846324494,0.32582482187534101,0.38611494809899072],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.53188811105698974,0.049862464022745787,0.61640738972680476,0.58542257425697153]}
{"step":2152,"t":10.76,"command":[-0.22223629547991353,1,-0.24458952594965511,0.78103763735126486,0.78103763735126486],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.40642819608891534,0.17145031655216125,0.32115070676810786,0.38419457883180719],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.52020540491784484,0.049388971028635431,0.61001979095924597,0.58002944112212185]}
{"step":2156,"t":10.779999999999999,"command":[-0.22123581457655583,1,-0.25683222632016278,0.77703096026696949,0.77703096026696949],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.40104864313193311,0.16859832718611523,0.31650403870038524,0.38225326881487409],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.50858456276434783,0.048945285651352199,0.60377711321340866,0.57454735524091916]}
{"step":2160,"t":10.800000000000001,"command":[-0.22029890907364921,1,-0.2682253219683246,0.77309487104081032,0.77309487104081032],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.39567351787590455,0.16575311490264089,0.3118851077615985,0.38029053310411359],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.49702881638914864,0.048531609339039966,0.59767567962960721,0.56897363973416004]}
{"step":2164,"t":10.82,"command":[-0.21942654777855636,1,-0.27886896254304994,0.769228075484095,0.769228075484095],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.39030324364898261,0.16291477732127435,0.3072941799993032,0.37830588167661633],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.48553976840593838,0.048148009870015079,0.59171183211296463,0.56330766667577536]}
{"step":2168,"t":10.84,"command":[-0.2186193538122583,1,-0.28884675208595201,0.76542927896263624,0.76542927896263624],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.38493823988500253,0.16008341103426904,0.30273149970766866,0.37629883301941064],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.47411781526135943,0.047794421861289377,0.58588198109326117,0.55755026145196285]}
{"step":2172,"t":10.859999999999999,"command":[-0.21787773363904323,1,-0.29822956619902913,0.76169723550329416,0.76169723550329416],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.37957891660804632,0.15725910858259839,0.29819729150493224,0.37426892394095762],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.46276246880182992,0.047470706815685867,0.58018267857336081,0.551703342957091]}
{"step":2176,"t":10.880000000000001,"command":[-0.21720190769954525,0.99862012924105703,-0.30707828346830934,0.75803072315133957,0.75803072315133957],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.374225670466245,0.15444195621619716,0.29369176204631398,0.37221571648265278],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.4514725451737911,0.047176668708321781,0.57461057724134279,0.54576961735163443]}
{"step":2180,"t":10.9,"command":[-0.21659207916740031,0.98995185198973379,-0.3154477637686971,0.75442854108167445,0.75442854108167445],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.36887888856990059,0.15163203524195634,0.28921509991397221,0.37013881813609417],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.44024868879561607,0.046912128758057406,0.56916242359862368,0.53975598046228779]}
{"step":2184,"t":10.92,"command":[-0.21604961882342333,0.98122071960282986,-0.32339189538358087,0.75088946341579732,0.75088946341579732],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.36353899957749292,0.14882944606040815,0.28476746486438387,0.36803798011033678],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.42910589128905519,0.046677437793746515,0.56383498626886408,0.53368820928884009]}
{"step":2188,"t":10.94,"command":[-0.2155758576457017,0.97245131511722127,-0.33095891859752991,0.7474121688032167,0.7474121688032167],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.35820654043466904,0.14603433987468506,0.2803489732537261,0.36591321314640718],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.41806387723698335,0.046472950399679844,0.55862495007512813,0.52759768303622978]}
{"step":2192,"t":10.960000000000001,"command":[-0.21517133280115466,0.96366429272705356,-0.33818881645809751,0.74399527781100294,0.74399527781100294],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.35288214010815966,0.14324691091054653,0.27595970216074317,0.36376475358996296],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.40713859674990183,0.046298702459425259,0.55352897340507146,0.52151027232723057]}
{"step":2196,"t":10.98,"command":[-0.21483587524334777,0.95487692147395375,-0.34511477410203667,0.74063739546077301,0.74063739546077301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.34756649866785083,0.14046738637374534,0.27159969471294776,0.36159301982928066],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.3963428639300377,0.04615445329157529,0.54854375155491741,0.5154470712335375]}
{"step":2200,"t":11,"command":[-0.21456867146164726,0.94610355729989482,-0.35176452342571385,0.73733710764200844,0.73733710764200844],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.34226036985576158,0.13769601800419684,0.2672689646338875,0.35939857509664391],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.38568683059729791,0.04603971477281632,0.5436660103058828,0.50942511053821748]}
{"step":2204,"t":11.02,"command":[-0.21436844383014828,0.93735607855815017,-0.35816129876324843,0.73409300579111625,0.73409300579111625],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.33696454662507125,0.13493307516114883,0.26296750012935011,0.35718209596938222],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.37517845103906811,0.045953829710159433,0.53889254115143581,0.50345796697084499]}
{"step":2208,"t":11.040000000000001,"command":[-0.21423348044571297,0.92864425178800236,-0.36432467229391891,0.73090369981334624,0.73090369981334624],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.33167984922879068,0.13217883914574069,0.25869526725013747,0.35494434585080259],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.3648238397684137,0.045895984143883684,0.53422021840083822,0.49755630661048511]}
{"step":2212,"t":11.06,"command":[-0.21416177818377413,0.91997608048963497,-0.37027121669447088,0.72776783117270094,0.72776783117270094],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.32640711547636725,0.12943359863551307,0.25445221278805796,0.35268615293327771],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.35462760738033372,0.045865267234836068,0.52964601608981687,0.49172838129273755]}
{"step":2216,"t":11.08,"command":[-0.21415103777670999,0.91135804912096352,-0.37601495424358811,0.72468408914449312,0.72468408914449312],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.32114719285105409,0.12669764598542488,0.25023826680421557,0.35040839165914045],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.34459312394138042,0.045860666980841867,0.52516702905918367,0.48598036975618808]}
{"step":2220,"t":11.1,"command":[-0.21419876831323356,0.90279537480706618,-0.38156793151180818,0.72165119531320077,0.72165119531320077],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.3159009319598749,0.1239712741951674,0.24605334477424146,0.34811196751176132],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.33472270120741554,0.045881112346906311,0.52078044769697152,0.48031678756561547]}
{"step":2224,"t":11.120000000000001,"command":[-0.21430228850394326,0.89429219939553073,-0.38694045964621288,0.71866792972633498,0.71866792972633498],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.31066918127850496,0.12125477448014399,0.24189734947422625,0.34579780445451186],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.32501780929423663,0.045925470858027326,0.51648359321713633,0.47474072860545913]}
{"step":2228,"t":11.140000000000001,"command":[-0.21445883888973755,0.88585177389553027,-0.39214150658815189,0.71573311461330946,0.71573311461330946],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.30545278286670952,0.11854843437755025,0.23777017259933064,0.34346683475990125],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.31547920206231606,0.0459925935779344,0.51227389135406876,0.46925416325154162]}
{"step":2232,"t":11.16,"command":[-0.21466556159795955,0.87747660040728337,-0.39717885820040394,0.71284562091500348,0.71284562091500348],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.30025256896886798,0.11585253626134984,0.23367169613370153,0.34111999075913213],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.30610706943047328,0.046081303336167369,0.50814887925769692,0.46385811483184985]}
{"step":2236,"t":11.18,"command":[-0.21491958353562421,0.86916855527472603,-0.40205935026219064,0.71000437690168305,0.71000437690168305],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.29506935931593503,0.11316735622417573,0.22960179358612276,0.33875819818282449],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.29690112817254977,0.04619042738712615,0.50410621521954724,0.45855284930580464]}
{"step":2240,"t":11.200000000000001,"command":[-0.21521799019619522,0.8609289899923448,-0.40678903934233007,0.70720836440118906,0.70720836440118906],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.28990395895714727,0.1104931631831868,0.22556033108861895,0.33638237090681394],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.28786070164009159,0.046318783304089589,0.500143670679005,0.45333802416914737]}
{"step":2244,"t":11.220000000000001,"command":[-0.21555789104641626,0.85275884746051733,-0.41137331382005776,0.70445662763632633,0.70445662763632633],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.28475715666671708,0.1078302182782207,0.22154716836951893,0.33399340691692225],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.27898482429944704,0.046465204392378667,0.49625914022074569,0.44821282762274278]}
{"step":2248,"t":11.24,"command":[-0.21593644081199373,0.84465869904214674,-0.41581700868908733,0.70174825791817652,0.70174825791817652],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.27962972365802718,0.10517877445878721,0.21756215958812275,0.33159218510876159],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.27027226657621573,0.046628546470551674,0.49245061749119556,0.44317605129135623]}
{"step":2252,"t":11.26,"command":[-0.21635083808788699,0.83662886844913087,-0.42012454003876143,0.69908241782909852,0.69908241782909852],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.27452241268192679,0.10253907622978153,0.21360515413335524,0.32917956313495883],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.2617216171898461,0.046807685141331087,0.48871622691777827,0.43822624633262697]}
{"step":2256,"t":11.279999999999999,"command":[-0.21679828793628345,0.82866940505541697,-0.4242999318704786,0.69645829716261898,0.69645829716261898],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.26943595729339709,0.099911359383262344,0.20967599724524266,0.32675637566778426],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.25333127534480293,0.047001497652103666,0.48505415968665488,0.43336170753009573]}
{"step":2260,"t":11.300000000000001,"command":[-0.21727612347042255,0.820780183539212,-0.42834689077340388,0.69387514885719148,0.69387514885719148],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.26437107133632409,0.097295850950975149,0.20577453060760309,0.32432343319259582],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.24509952542771007,0.047208913830334306,0.4814627222015897,0.42858058426295248]}
{"step":2264,"t":11.32,"command":[-0.21778173293953965,0.8129609319924016,-0.4322688592891194,0.69133226301125672,0.69133226301125672],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.25932844866257265,0.094692769243151842,0.20190059285929784,0.32188152136097997],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.23702455511741882,0.047428883202148969,0.47794029788026537,0.42388092182853532]}
{"step":2268,"t":11.34,"command":[-0.21831260504387015,0.80521124046756076,-0.43606909505703395,0.68882895842719816,0.68882895842719816],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.25430876283078274,0.092102323855007384,0.19805401999800454,0.31943140065938014],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.22910444305572375,0.047660393521040845,0.47448533396789871,0.41926069871958427]}
{"step":2272,"t":11.359999999999999,"command":[-0.21886632486312796,0.79753060052935143,-0.43975065023601456,0.68636459975391328,0.68636459975391328],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.24931266697430554,0.089524715769196184,0.19423464579161553,0.31697380628956295],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.22133721219885516,0.047902468159092264,0.47109636379534958,0.41471784658185279]}
{"step":2276,"t":11.380000000000001,"command":[-0.21944059736977756,0.78991845791057325,-0.44331647128967205,0.68393859955062919,0.68393859955062919],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.24434079380771245,0.086960137540219695,0.19044230220454983,0.31450944853072932],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.21372083821554577,0.048154175774004826,0.46777200795527585,0.41025033193227239]}
{"step":2280,"t":11.4,"command":[-0.22003318611026496,0.7823742007716642,-0.44676938928348708,0.68155039158644981,0.68155039158644981],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.23939375566668764,0.084408773409032967,0.18667681970668548,0.31203901325289357],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.20625325141618012,0.0484146029898345,0.46451093627164308,0.40585613861692016]}
{"step":2284,"t":11.42,"command":[-0.22064196784145407,0.77489715849938567,-0.45011209644409439,0.67919945491593603,0.67919945491593603],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.23447214460707966,0.081870799460796229,0.18293802759840094,0.30956316228873326],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.19893235344256222,0.048682877972949248,0.46131189955810459,0.40153325280785995]}
{"step":2288,"t":11.44,"command":[-0.22126494055464213,0.76748663772124714,-0.45334722690492552,0.67688528533449499,0.67688528533449499],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.22957653249336141,0.079346383829662637,0.17922575426978504,0.30708253405741004],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.19175601546913945,0.04895817391864931,0.4581736895023607,0.39727972361152547]}
{"step":2292,"t":11.460000000000001,"command":[-0.22190017045136215,0.76014194187912376,-0.45647731731887914,0.67460740878351744,0.67460740878351744],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.22470747123956292,0.076835686898805378,0.17553982741270202,0.3045977443322217],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.18472211528856219,0.049239685646343581,0.45509515598561179,0.39309365651520289]}
{"step":2296,"t":11.48,"command":[-0.22254586253895936,0.75286234693300269,-0.45950484257607394,0.67236537616032932,0.67236537616032932],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.21986549299097868,0.074338861523082778,0.17188007425315588,0.30210938694011452],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.17782850653930327,0.049526660933209399,0.45207519905922111,0.38897320689016573]}
{"step":2300,"t":11.5,"command":[-0.223200287353958,0.74564769861257119,-0.46243133039711654,0.67015952507677146,0.67015952507677146],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.21505111391492715,0.071856055057067825,0.16824632416104812,0.29961803460406095],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.17107387755668835,0.049818368274889425,0.44911378905112387,0.38491661288953549]}
{"step":2304,"t":11.52,"command":[-0.22386181298087854,0.73849744614121793,-0.46525888188874048,0.66798966563833284,0.66798966563833284],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.21026483400120366,0.069387409340246342,0.16463840848490596,0.29712423964983464],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.16445632539037003,0.050114111311085834,0.44621019339961165,0.38092215256673101]}
{"step":2308,"t":11.540000000000001,"command":[-0.2245288995057301,0.73141087176418373,-0.46798979175384875,0.6658553930843274,0.6658553930843274],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.20550713468950677,0.06693305957407214,0.16105615888723568,0.29462853461891614],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.15797370907451624,0.050413226713254246,0.44336340449948408,0.37698815426032695]}
{"step":2312,"t":11.56,"command":[-0.22519998547460418,0.72439308669502067,-0.47061742643944982,0.66376140620874402,0.66376140620874402],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.20077851241540978,0.064493151918516678,0.15749942043564147,0.29213143322718549],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.15163229099152442,0.050715033457761932,0.44057920437220932,0.37311305306001535]}
{"step":2316,"t":11.58,"command":[-0.22587355199945039,0.71744468432564312,-0.47314239797676411,0.66170835471993694,0.66170835471993694],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.19607947139804094,0.062067839882155473,0.15396804882982407,0.28963343100277739],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.14543157315195954,0.051018861492848414,0.43785794670616596,0.36929530191516219]}
{"step":2320,"t":11.6,"command":[-0.22654816046741882,0.71056517625426763,-0.47556709160022909,0.65969582353925105,0.65969582353925105],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.19141050036095297,0.05965727226077755,0.15046190098092493,0.28713500609602094],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.13936940554607891,0.051324069011171355,0.43519857959513064,0.36553346415917959]}
{"step":2324,"t":11.620000000000001,"command":[-0.22722245244410444,0.70375404232783267,-0.47789382468159342,0.65772339095360532,0.65772339095360532],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.18677206861137563,0.057261591114497579,0.14698083330926659,0.28463661994365907],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.13344362221198169,0.051630042894713297,0.4326000590075092,0.36182612988078322]}
{"step":2328,"t":11.640000000000001,"command":[-0.22789517381442295,0.69701077756541496,-0.48012490255899887,0.65579062291752954,0.65579062291752954],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.18216462618504403,0.054880931902455909,0.14352470177358656,0.28213871796027545],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.12765205099252808,0.051936210247906046,0.43006134110656136,0.35817197304981624]}
{"step":2332,"t":11.66,"command":[-0.22856511074842817,0.69033489123474689,-0.4822625889320567,0.65389707499700811,0.65389707499700811],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.1775886040930037,0.052515423593256227,0.14009336187937427,0.27964173030366202],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.12199252868631993,0.052242009851441236,0.4275813846896428,0.35456973336976982]}
{"step":2336,"t":11.68,"command":[-0.22923117767584492,0.68372587972395227,-0.4843091065821874,0.65204230333893265,0.65204230333893265],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.17304441450877039,0.050165188823421136,0.13668666874793356,0.27714607245825384],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.11646288394292792,0.05254693281865478,0.42515916534354059,0.35101819466136447]}
{"step":2340,"t":11.700000000000001,"command":[-0.22989234415822304,0.67718326609257617,-0.48626664637895384,0.65022585124059618,0.65022585124059618],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.1685324510098507,0.04783034405483233,0.13330447714821414,0.27465214589406695],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.1110609622475871,0.052850489902562865,0.42279365762155796,0.34751621362822166]}
{"step":2344,"t":11.720000000000001,"command":[-0.23054764655244242,0.67070657994737204,-0.48813736044437311,0.64844727012147063,0.64844727012147063],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.16405308886540571,0.045510999706402711,0.12994664157670321,0.27216033869756795],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.10578461686155038,0.053152217330869909,0.4204838621279875,0.34406269952315022]}
{"step":2348,"t":11.74,"command":[-0.231196210724089,0.66429537596669619,-0.48992333461353543,0.64670611068503403,0.64670611068503403],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.15960668537635092,0.0432072603674587,0.12661301633561717,0.26967102611219618],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.10063173636594402,0.053451687853177367,0.41822879359736342,0.34065661016479021]}
{"step":2352,"t":11.76,"command":[-0.23183718211982596,0.65795141120802036,-0.49162367448444727,0.64500361132966666,0.64500361132966666],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.15519359164245117,0.040919231300932002,0.12330345973804357,0.26718457105455684],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.095603111098517823,0.053748479013261352,0.41602965862831165,0.33729694841210761]}
{"step":2356,"t":11.779999999999999,"command":[-0.23246976872819589,0.65167498827490777,-0.49323956634276267,0.64333982143695911,0.64333982143695911],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.15081415145387167,0.038647017880667156,0.12001783367324625,0.26470132469010565],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.090697510268552328,0.054042193372540882,0.4138861258465385,0.3339827800745489]}
{"step":2360,"t":11.800000000000001,"command":[-0.23309321613612424,0.64546567569961733,-0.49477307728248049,0.64171422793862087,0.64171422793862087],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.14646869282368913,0.036390720895159712,0.11675600047876333,0.26222162671570626],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.085912770251394099,0.054332447408681928,0.41179715033886022,0.33071316825496949]}
{"step":2364,"t":11.82,"command":[-0.23370685342968919,0.63932332452158458,-0.49622626676954618,0.64012631307990275,0.64012631307990275],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.14215752654496616,0.034150435757268838,0.11351782201976945,0.25974580668906777],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.081246902722645231,0.054618893340006233,0.4097616966972697,0.32748741055468605]}
{"step":2368,"t":11.84,"command":[-0.234310053253661,0.6332476765055236,-0.49760111973852983,0.63857560454210327,0.63857560454210327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.13788094662814276,0.031926252726606985,0.11030315990589479,0.25727418454430639],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.076697872717302773,0.054901201055733456,0.40777880271631262,0.32430474708234147]}
{"step":2372,"t":11.859999999999999,"command":[-0.23490225747493834,0.62723875394810502,-0.49889910618879485,0.63706223618592939,0.63706223618592939],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.13363923233553887,0.029718258027382261,0.10711187770596453,0.25480707030925442],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.072264068149196503,0.055179070566822225,0.40584829277421686,0.32116438630517491]}
{"step":2376,"t":11.880000000000001,"command":[-0.23548295118755244,0.62129614699369207,-0.50012218635393868,0.63558564865314293,0.63558564865314293],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.12943264713380453,0.027526533242247964,0.10394383997897449,0.25234476415121898],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.067943350492881804,0.055452220299999203,0.40396911677383651,0.31806555177632562]}
{"step":2380,"t":11.9,"command":[-0.23605166017449744,0.61541944827936956,-0.50127229038886523,0.63414527421445055,0.63414527421445055],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.1252614375012473,0.025351154588137526,0.10079891098391647,0.24988755667915907],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.063733594104392388,0.055720386271136416,0.40214022880852074,0.31500750321609122]}
{"step":2384,"t":11.92,"command":[-0.23660797347618351,0.60960827054592237,-0.5023513197605769,0.63274053633696148,0.63274053633696148],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.12112583321619774,0.023192193051083443,0.097676954715272934,0.24743572936079006],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.059632697526398548,0.055983333112506362,0.40036058632398563,0.31198954599159195]}
{"step":2388,"t":11.94,"command":[-0.23715155532389756,0.6038622110362647,-0.50336113243004188,0.6313708524216598,0.6313708524216598],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.11702604759847901,0.021049714540865461,0.094577834953838202,0.24498955480278806],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.05563857013817608,0.056240860192543651,0.39862915328765336,0.3090109997794302]}
{"step":2392,"t":11.960000000000001,"command":[-0.2376820909445512,0.59818087622110339,-0.50430352925880018,0.63003564436032555,0.63003564436032555],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.11296227784210555,0.018923780022218617,0.091501415348407722,0.24254929696615823],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.051749155526882751,0.056492776355773905,0.39694491316453062,0.30607120514976427]}
{"step":2396,"t":11.98,"command":[-0.23819929095584613,0.59256387867975435,-0.50518028255642888,0.62873432392845785,0.62873432392845785],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.10893470535248184,0.016814445604584893,0.088447559463662895,0.24011521145320158],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.047962416216100645,0.056738902211867843,0.39530685008577493,0.30316953409989394]}
{"step":2400,"t":12,"command":[-0.23870293563628281,0.58701081584093595,-0.50599311621923759,0.62746629407650489,0.62746629407650489],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.10494349599932984,0.014721762666702665,0.085416130808233959,0.2376875456981179],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.044276332126493179,0.056979091481379369,0.39371395020210287,0.30030536578774808]}
{"step":2404,"t":12.02,"command":[-0.23919281735893813,0.58152129250936435,-0.50674371340071878,0.62623096842700443,0.62623096842700443],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.10098880043625291,0.01264577796942179,0.082406992929177747,0.235266539159525],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.04068891128530594,0.057213203876106331,0.39216522581702384,0.29747810235645578]}
{"step":2408,"t":12.040000000000001,"command":[-0.23966880682190347,0.57609491317451145,-0.50743372059090208,0.62502774898725466,0.62502774898725466],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.09707075438415691,0.010586533806869469,0.079420009463459174,0.23285242354285962],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.037198184096411069,0.057441136963434884,0.39065968700407461,0.29468716488913677]}
{"step":2412,"t":12.06,"command":[-0.24013079576097943,0.57073129405249612,-0.5080647458983415,0.62385604445024812,0.62385604445024812],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.093189478943611403,0.0085440681483597292,0.076455044200234745,0.23044542302939797],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.033802211993045228,0.057662799072801217,0.3891963641971099,0.29193199801779157]}
{"step":2416,"t":12.08,"command":[-0.24057870040670076,0.56543049920084387,-0.50863787057325538,0.62271571159036709,0.62271571159036709],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.08934508297270094,0.0065184159706904721,0.073511962417361243,0.2280457545067387],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.030499583022609911,0.057878111089377078,0.38777485746149731,0.28921206640390562]}
{"step":2420,"t":12.1,"command":[-0.24101247346414439,0.56019226025822921,-0.50915447082524368,0.62160628433293874,0.62160628433293874],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.085537663092222438,0.0045096092138457999,0.070590630771753204,0.22565362761143959],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.027288546645944822,0.058087012365304905,0.38639437272220223,0.28652682180727873]}
{"step":2424,"t":12.120000000000001,"command":[-0.24143208973326225,0.55501620775131266,-0.50961607796855812,0.62052714950158916,0.62052714950158916],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.081767302422030008,0.0025176759600957777,0.067690916373472465,0.22326924500471035],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.024167221971296393,0.058289453952969993,0.38505394326856757,0.28387576889535188]}
{"step":2428,"t":12.140000000000001,"command":[-0.2418375580784316,0.54990193438450163,-0.51002416614294988,0.61947769213438186,0.61947769213438186],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.078034070451380444,0.00054264028783668206,0.06481268658653061,0.22089280248184318],"integral":[1,1,0.80000000000000004,0.59999999999999998],"effort":[0.021133743695002649,0.058485404497338772,0.38375261105213998,0.28125839374481404]}
{"step":2432,"t":12.16,"command":[-0.24221411261302042,0.54484487258896586,-0.51038466396898707,0.61845729383618031,0.61845729383618031],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.074338023330749348,-0.0014154776425145954,0.06195580906540421,0.21852448915202272],"integral":[1,0.99997169044714973,0.80000000000000004,0.59999999999999998],"effort":[0.018181714985875286,0.058667676348912942,0.38248942429917143,0.27867422020061117]}
{"step":2436,"t":12.18,"command":[-0.24255650729148093,0.53984288150152682,-0.51070066095582567,0.61746534352709559,0.61746534352709559],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.070679204178418109,-0.0033566614106588233,0.059120151813748301,0.21616448749312123],"integral":[1,0.99990455721893656,0.80000000000000004,0.59999999999999998],"effort":[0.015307585803577162,0.058833659229442246,0.38126345045703414,0.27612275090429433]}
{"step":2440,"t":12.200000000000001,"command":[-0.24286524600698459,0.53489540563006677,-0.51097354060187616,0.6165012188446054,0.6165012188446054],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.067057643335139305,-0.0052808981376910591,0.056305583198621445,0.2138129735232519],"integral":[1,0.99979893925618279,0.80000000000000004,0.59999999999999998],"effort":[0.01250956788446822,0.058983527718033141,0.38007375283688405,0.27360352707968544]}
{"step":2444,"t":12.220000000000001,"command":[-0.24314084735259764,0.53000187949189037,-0.51120464446742375,0.61556431165880154,0.61556431165880154],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.063473358637282429,-0.0071881783475740146,0.053511972019730791,0.21147011695101603],"integral":[1,0.99965517568923135,0.80000000000000004,0.59999999999999998],"effort":[0.0097859018699355538,0.059117471651339182,0.37891942178797422,0.27111609039500073]}
{"step":2448,"t":12.24,"command":[-0.24338385899239537,0.52516173903426644,-0.51139529076663426,0.61465400239194323,0.61465400239194323],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.059926355674536858,-0.0090784958464829035,0.050739187538567876,0.20913608129147676],"integral":[1,0.99947360577230171,0.80000000000000004,0.59999999999999998],"effort":[0.0071348543636022832,0.059235702818030186,0.37779954265643489,0.2686599977818927]}
{"step":2452,"t":12.26,"command":[-0.24359488009237951,0.52037443335411349,-0.51154667598950077,0.61376968181363634,0.61376968181363634],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.056416628209661202,-0.010951847440381135,0.047987099480341744,0.20681102381652683],"integral":[1,0.99925456882349406,0.80000000000000004,0.59999999999999998],"effort":[0.004554774586353727,0.059338465607220746,0.37671322231361237,0.266234776302261]}
{"step":2456,"t":12.280000000000001,"command":[-0.24377451543577267,0.51563944402839124,-0.5116599934955397,0.61291074244839749,0.61291074244839749],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.052944158565080057,-0.012808232730578295,0.045255578061307755,0.20449509571729108],"integral":[1,0.99899840416888253,0.80000000000000004,0.59999999999999998],"effort":[0.0020440436470263723,0.05942601437594576,0.37565957820864582,0.26383999259088209]}
{"step":2460,"t":12.300000000000001,"command":[-0.24392339524789636,0.51095623674214752,-0.51173638104412933,0.61207658326380843,0.61207658326380843],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.049508917912020278,-0.01464765398464829,0.042544494034790326,0.20218844220063492],"integral":[1,0.99870545108918951,0.80000000000000004,0.59999999999999998],"effort":[-0.00039892390922241505,0.059498622749261473,0.37463774377989778,0.2614751997749199]}
{"step":2464,"t":12.32,"command":[-0.24404217251639912,0.50632429044978389,-0.51177693665285573,0.61126660728980253,0.61126660728980253],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.046110866575980625,-0.016470115978788336,0.039853718727772325,0.19989120254204851],"integral":[1,0.99837604876961372,0.80000000000000004,0.59999999999999998],"effort":[-0.0027756728951520149,0.059556581966523907,0.37364686518758572,0.25913995999462908]}
{"step":2468,"t":12.34,"command":[-0.24413150237863282,0.50174306719095285,-0.51178273886639958,0.61048021644614003,0.61048021644614003],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.042749954280006053,-0.018275625920415095,0.0371831240663405,0.19760351017607058],"integral":[1,0.99801053625120539,0.80000000000000004,0.59999999999999998],"effort":[-0.0050877331637041445,0.059600190453648408,0.37268609467212599,0.25683383863788922]}
{"step":2472,"t":12.359999999999999,"command":[-0.24419205855097761,0.49721202348530524,-0.51175482526916816,0.60971681474836159,0.60971681474836159],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.039426120388242669,-0.020064193363158678,0.03453258259597769,0.19532549274347355],"integral":[1,0.99760925238394227,0.80000000000000004,0.59999999999999998],"effort":[-0.0073366024439625588,0.059629761459364078,0.37175459418688794,0.25455639874231428]}
{"step":2476,"t":12.380000000000001,"command":[-0.24422450979930579,0.49273064850674364,-0.51169419461562493,0.60897582100209557,0.60897582100209557],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.036139294263864974,-0.021835830071606832,0.031901967526787978,0.19305727222427171],"integral":[1,0.99717253578251008,0.80000000000000004,0.59999999999999998],"effort":[-0.0095237284127284716,0.05964561118671121,0.37085155056517638,0.2523072203906046]}
{"step":2480,"t":12.4,"command":[-0.24422953088145191,0.48829842267880397,-0.51160184667628417,0.60825665620866742,0.60825665620866742],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.032889395519503539,-0.023590549961963303,0.029291152782143115,0.19079896511776229],"integral":[1,0.99670072478327076,0.80000000000000004,0.59999999999999998],"effort":[-0.011650549965988133,0.059648063754574078,0.36997615982214904,0.25008589955659605]}
{"step":2484,"t":12.42,"command":[-0.24420782642893843,0.48391479667294873,-0.51147873139671185,0.6075587411298512,0.6075587411298512],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.029676334203573962,-0.025328369028612796,0.026700013014501423,0.18855068243696482],"integral":[1,0.99619415740269845,0.80000000000000004,0.59999999999999998],"effort":[-0.013718481116084202,0.059637462489146517,0.36912762392328957,0.24789201155510554]}
{"step":2488,"t":12.44,"command":[-0.24416007365313863,0.47957923356418997,-0.5113257504135611,0.6068815106189428,0.6068815106189428],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.026500011130311085,-0.027049305253906253,0.024128423637200136,0.18631252970399792],"integral":[1,0.99565317129762032,0.80000000000000004,0.59999999999999998],"effort":[-0.015728890884987745,0.059614141566306088,0.36830516793113,0.24572513215100361]}
{"step":2492,"t":12.460000000000001,"command":[-0.24408698711230153,0.4752911858804153,-0.51114382035875439,0.6062243968661164,0.6062243968661164],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.02336031806983363,-0.02875337855549609,0.021576260850188156,0.18408460711142971],"integral":[1,0.9950781037265104,0.80000000000000004,0.59999999999999998],"effort":[-0.017683146857665533,0.059578457277560858,0.36750801935568655,0.24358485823327702]}
{"step":2496,"t":12.48,"command":[-0.24398926664562204,0.47105009561424088,-0.5109338031696421,0.60558683966614724,0.60558683966614724],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.020257137980644657,-0.030440610728917461,0.019043401653553449,0.18186700956696344],"integral":[1,0.99446929151193209,0.80000000000000004,0.59999999999999998],"effort":[-0.019582579321604565,0.059530762238268455,0.36673542037683193,0.24147077189979005]}
{"step":2500,"t":12.5,"command":[-0.24386760260818444,0.46685542579092187,-0.51069655969135042,0.60496828600818209,0.60496828600818209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.017190345296893783,-0.032111025401012405,0.016529723869389557,0.1796598268444235],"integral":[1,0.99382707100391188,0.80000000000000004,0.59999999999999998],"effort":[-0.021428493745079047,0.059471407601863362,0.36598662707567764,0.23938248233550202]}
{"step":2504,"t":12.52,"command":[-0.24372270657434056,0.4627066038044656,-0.51043291370320321,0.60436818621103461,0.60436818621103461],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.014159806129014241,-0.033764647979300344,0.014035106159326016,0.17746314362937565],"integral":[1,0.99315177804432586,0.80000000000000004,0.59999999999999998],"effort":[-0.023222179093639495,0.059400757699922105,0.36526090450401583,0.23731958029790218]}
{"step":2508,"t":12.540000000000001,"command":[-0.24355526942342698,0.45860306196662787,-0.51014364908805399,0.60378600715955555,0.60378600715955555],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.011165378542841387,-0.035401505591228455,0.01155942806380672,0.17527703951802343],"integral":[1,0.99244374793250134,0.80000000000000004,0.59999999999999998],"effort":[-0.024964887129854396,0.059319169263918101,0.36455754244167893,0.23528165557502112]}
{"step":2512,"t":12.56,"command":[-0.2433660094476793,0.45454424035631902,-0.50982956952069902,0.60322121809123985,0.60322121809123985],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0082069127560937538,-0.037021627036936122,0.0091025700296669676,0.17310158922687047],"integral":[1,0.9917033153917626,0.80000000000000004,0.59999999999999998],"effort":[-0.026657861758279111,0.059227014554487936,0.36387583795547918,0.2332683281993822]}
{"step":2516,"t":12.58,"command":[-0.24315561232956309,0.45052957067973209,-0.50949142806833358,0.60267329665588198,0.60267329665588198],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0052842513945394742,-0.038625042757154837,0.006664413414240844,0.17093686267792629],"integral":[1,0.99093081453661946,0.80000000000000004,0.59999999999999998],"effort":[-0.028302310609123138,0.059124651807364779,0.36321510250206868,0.23127920466598684]}
{"step":2520,"t":12.6,"command":[-0.24292478248339835,0.44655847661029452,-0.50912997554556694,0.60214172475534466,0.60214172475534466],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0023972297085741445,-0.040211784799821348,0.0042448404908075332,0.1687829250762205],"integral":[1,0.99012657884062305,0.80000000000000004,0.59999999999999998],"effort":[-0.029899429483261297,0.059012449944606402,0.36257465669134126,0.22931390251576828]}
{"step":2524,"t":12.620000000000001,"command":[-0.24267747154886257,0.4426278710238053,-0.508748108761369,0.60162600268586275,0.60162600268586275],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00045432418782920259,-0.041781886768287757,0.0018437344887534124,0.16663983698453799],"integral":[0.99999091351624336,0.98929094110525728,0.80000000000000004,0.59999999999999998],"effort":[-0.031452602980601652,0.058892355197349006,0.36195384710776968,0.22737203518766808]}
{"step":2528,"t":12.640000000000001,"command":[-0.24243139922645932,0.43872398290701703,-0.50835784381175919,0.60111487147929166,0.60111487147929166],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0032705890346724775,-0.043335383783096981,-0.00053902041095099662,0.16450765437173542],"integral":[0.99992550173554995,0.98842423342959529,0.79998921959178104,0.59999999999999998],"effort":[-0.032974482093572177,0.058772983330898892,0.36133908871356535,0.22545321527136875]}
{"step":2532,"t":12.66,"command":[-0.24218722794997083,0.43484611598596784,-0.50795964484847234,0.60057137077583778,0.60057137077583778],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0060517501186376776,-0.044872312409702353,-0.0029035390082445822,0.16238642876205489],"integral":[0.99980446673317724,0.98752678718140119,0.7999311488116162,0.59999999999999998],"effort":[-0.034465928103252164,0.058654653382091131,0.36068597139556879,0.22355707269133396]}
{"step":2536,"t":12.68,"command":[-0.24194557661051541,0.43099358588008407,-0.50755389832461284,0.59999543832974822,0.59999543832974822],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0087979987316588737,-0.046392710496368839,-0.0052499345562364574,0.16027620724144886],"integral":[0.99962850675854409,0.98659893297147383,0.79982615012049152,0.59999999999999998],"effort":[-0.035927744317369004,0.058537662041394781,0.35999452601650672,0.22168321538714242]}
{"step":2540,"t":12.700000000000001,"command":[-0.2417070465015061,0.42716569971038204,-0.50714094262195564,0.59938718295352877,0.59938718295352877],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01150953162108026,-0.047896616998781338,-0.0075783177697377191,0.15817703236354708],"integral":[0.99939831612612251,0.98564100063149818,0.79967458376509681,0.59999999999999998],"effort":[-0.037360700337212727,0.058422296328481234,0.35926499508896692,0.21983123534627302]}
{"step":2544,"t":12.720000000000001,"command":[-0.2414722049957998,0.4233618178095373,-0.50672107677707301,0.5987468728351647,0.5987468728351647],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014186550443771484,-0.049384071796392481,-0.0098887959487381494,0.1560889422416506],"integral":[0.99911458511724704,0.98465331919557031,0.79947680784612207,0.59999999999999998],"effort":[-0.038765510435560258,0.058308825785533563,0.35849781772988887,0.21800073921455609]}
{"step":2548,"t":12.74,"command":[-0.24124158602415205,0.41958126414103053,-0.50629454615765745,0.59807488715157064,0.59807488715157064],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0168292613217631,-0.050855115584602206,-0.012181472304019003,0.15401197050352067],"integral":[0.99877799989081173,0.98363621688387826,0.79923317840004171,0.59999999999999998],"effort":[-0.04014286512540155,0.058197502827448351,0.35769357064136398,0.2161913023435868]}
{"step":2552,"t":12.76,"command":[-0.24101572426286089,0.41582336873025622,-0.50586157266052456,0.59737170721146482,0.59737170721146482],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019437874515574771,-0.052309789776873838,-0.014456445419199326,0.15194614627598879],"integral":[0.9983892424005002,0.98259002108834081,0.79894404949165776,0.59999999999999998],"effort":[-0.04149342835620029,0.058088579341951385,0.35685295657673999,0.21440250233837893]}
{"step":2556,"t":12.780000000000001,"command":[-0.2407951043723385,0.41208748266110812,-0.50542234413003828,0.59663789001600809,0.59663789001600809],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022012604057057406,-0.053748136424038861,-0.016713808852293788,0.14989149428181825],"integral":[0.99794899031935902,0.98151505835986008,0.79860977331461191,0.59999999999999998],"effort":[-0.042817826289966887,0.057982282289685397,0.35597677180275411,0.21263391965593598]}
{"step":2560,"t":12.800000000000001,"command":[-0.24058020369193484,0.40837268785393704,-0.50497735475510552,0.59587404402236088,0.59587404402236088],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024553668356139813,-0.055170198820701621,-0.018953650649188525,0.14784803509869804],"integral":[0.99745791695223618,0.98041165438344602,0.79823070030162813,0.59999999999999998],"effort":[-0.044116938315207299,0.057878834408452859,0.35506587633956244,0.21088519050025639]}
{"step":2564,"t":12.82,"command":[-0.24037147727427574,0.40467824815036141,-0.50452685581765444,0.59508083143868784,0.59508083143868784],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027061289871698646,-0.056576021401764987,-0.021176053155194108,0.1458157852335733],"integral":[0.99691669115480219,0.97928013395541069,0.79780717923852429,0.59999999999999998],"effort":[-0.045391431857601416,0.057778447087017654,0.35412119594575997,0.20915591638364689]}
{"step":2568,"t":12.84,"command":[-0.24016935172135273,0.40100351790639799,-0.50407095153423109,0.59425894823984771,0.59425894823984771],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029535694164734227,-0.057965649201387359,-0.023381093065759195,0.14379475704445821],"integral":[0.99632597727150751,0.97812082097138298,0.79733955737720907,0.59999999999999998],"effort":[-0.046641851403659174,0.057681317506254839,0.35314369756313002,0.20744567277696604]}
{"step":2572,"t":12.859999999999999,"command":[-0.2399742516576083,0.39734784538689055,-0.50360974104504652,0.59340911346281833,0.59340911346281833],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031977109537358217,-0.059339127690437143,-0.025568841427158429,0.14178495878805597],"integral":[0.99568643508076038,0.9769340384175742,0.79682818054866589,0.59999999999999998],"effort":[-0.047868730520927272,0.057587641458629116,0.35213437594072805,0.20575404075453155]}
{"step":2576,"t":12.880000000000001,"command":[-0.23978656439336071,0.39371059518838608,-0.50314329081179421,0.59253207295525523,0.59253207295525523],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.03438576680631833,-0.060696502744868264,-0.027739363615621571,0.13978639471889487],"integral":[0.99499871974463405,0.97572010836267686,0.79627339327635349,0.59999999999999998],"effort":[-0.049072569162664281,0.057497596463571325,0.35109425748065193,0.20408060192625749]}
{"step":2580,"t":12.9,"command":[-0.23960667127351601,0.3900911311154015,-0.50267168715181343,0.59162858446937516,0.59162858446937516],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.036761899161448008,-0.062037820654383902,-0.029892719349960739,0.1377990652677834],"integral":[0.99426348176140511,0.97447935194958923,0.79567553888935427,0.59999999999999998],"effort":[-0.050253867244578643,0.057411356918774768,0.35002438196123653,0.20242495781947201]}
{"step":2584,"t":12.92,"command":[-0.23943492740407191,0.38648880671164026,-0.50219498553812125,0.5906994093512552,0.5906994093512552],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.039105742030506985,-0.06336312813420264,-0.032028962771735614,0.1358229671280804],"integral":[0.99348136692079492,0.97321208938690518,0.79503495963391957,0.59999999999999998],"effort":[-0.051413102893123064,0.057329084460993184,0.34892579220792175,0.20078670060651069]}
{"step":2588,"t":12.94,"command":[-0.23927167326250423,0.38290300569536195,-0.50171325486457685,0.58974530829326588,0.58974530829326588],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.041417532930070777,-0.064672472324254215,-0.03414814256693699,0.13385809344966593],"integral":[0.99265301626219349,0.97191863994042005,0.79435199678258084,0.59999999999999998],"effort":[-0.052550739168132743,0.057250933625838579,0.34779952865391917,0.19916545093867513]}
{"step":2592,"t":12.960000000000001,"command":[-0.23911720249136778,0.37933323229270671,-0.5012264305921339,0.58876714987801138,0.58876714987801138],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.043697510896400393,-0.065965900523978993,-0.036250301795511142,0.1319044339414881],"integral":[0.99177906604426547,0.97059932192994047,0.79362699074667065,0.59999999999999998],"effort":[-0.053667116801249304,0.057177036527297775,0.34664675677547674,0.19756081792288188]}
{"step":2596,"t":12.98,"command":[-0.2389718184765138,0.3757789084736774,-0.50073453323734607,0.5877657238506836,0.5877657238506836],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.045945916434032563,-0.067243460232840224,-0.038335478059190908,0.12996197500726425],"integral":[0.99086014771558484,0.96925445272528366,0.79286028118548679,0.59999999999999998],"effort":[-0.054762642361377234,0.057107530025971867,0.34546854613371802,0.19597243041504564]}
{"step":2600,"t":13,"command":[-0.23883578257017338,0.37223939553884711,-0.5002376040878308,0.58674178427325252,0.58674178427325252],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.048162991719493231,-0.068505199411648343,-0.040403703859976048,0.12803069986132265],"integral":[0.98989688788119501,0.96788434873705065,0.79205220710828728,0.59999999999999998],"effort":[-0.055837746476203542,0.057042531035907139,0.34426592141216006,0.19439991406732982]}
{"step":2604,"t":13.02,"command":[-0.2387093396412017,0.3687140683939249,-0.49973568551220016,0.58569607907523236,0.58569607907523236],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.050348980555357858,-0.069751166571087042,-0.042455006810640405,0.12611058866466285],"integral":[0.98888990827008783,0.96648932540562893,0.79120310697207452,0.59999999999999998],"effort":[-0.056892845571374362,0.056982148831938584,0.34303989704410087,0.19284290980297428]}
{"step":2608,"t":13.040000000000001,"command":[-0.23859272723012154,0.3652023044793008,-0.49922883361340026,0.58462934139571976,0.58462934139571976],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.052504128299972308,-0.070981410796047584,-0.044489409821921733,0.12420161872637026],"integral":[0.98783982570408835,0.96506969718970803,0.79031331877563604,0.59999999999999998],"effort":[-0.057928352557002072,0.056926489487107185,0.34179146682079303,0.19130107575399399]}
{"step":2612,"t":13.06,"command":[-0.23848615328948292,0.36170348156293797,-0.49871709190355451,0.5835422985358153,0.5835422985358153],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.054628681760604314,-0.072195981772611439,-0.0465069312818156,0.12230376463776504],"integral":[0.98674725206887626,0.96362577755425582,0.78938318014999975,0.59999999999999998],"effort":[-0.0589446645909939,0.056875645310814744,0.34052161418046256,0.18977407316574452]}
{"step":2616,"t":13.08,"command":[-0.23838981346175259,0.35821695889382749,-0.49820050462176102,0.5824356662282536,0.5824356662282536],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.056722889109976249,-0.073394929824806443,-0.048507585231015504,0.12041699835962694],"integral":[0.9856127942866767,0.96215787895775973,0.78841302844537942,0.59999999999999998],"effort":[-0.059942176583117623,0.056829703162329201,0.3392313052947496,0.1882615662222597]}
{"step":2620,"t":13.1,"command":[-0.23830387109166246,0.35474213143857536,-0.49767912473401582,0.58131014945416482,0.58131014945416482],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.058786999771602622,-0.074578305943614254,-0.050491381553897874,0.11854128942805808],"integral":[0.98443705429124462,0.96066631283888748,0.78740320081430148,0.59999999999999998],"effort":[-0.060921265689216297,0.056788734977271674,0.33792148985842341,0.18676324550679979]}
{"step":2624,"t":13.120000000000001,"command":[-0.2382284605453649,0.35127838689436258,-0.49715300099719173,0.58016644153312624,0.58016644153312624],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.060821264297381106,-0.075746161824975955,-0.052458326170714109,0.11667660511607014],"integral":[0.98322062900529694,0.95915138960238799,0.78635403429088724,0.59999999999999998],"effort":[-0.061882300650704103,0.056752799413814475,0.33659309988121033,0.18527880574980959]}
{"step":2628,"t":13.140000000000001,"command":[-0.23816371084785182,0.3478250802726035,-0.49662216803572734,0.57900522730009862,0.57900522730009862],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.062825934297009889,-0.076898549899204527,-0.05440842121118461,0.11482291045434323],"integral":[0.98196411031935671,0.95761341860440385,0.78526586586666358,0.59999999999999998],"effort":[-0.062825645658931561,0.056721953164819164,0.33524705324083881,0.18380793212557464]}
{"step":2632,"t":13.16,"command":[-0.23810973657293913,0.34438159086921649,-0.49608668755611829,0.57782717360510705,0.57782717360510705],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.064801262384604597,-0.07803552336296482,-0.056341665211822711,0.11298016841381331],"integral":[0.98066808507166459,0.9560527081371446,0.78413903256242712,0.59999999999999998],"effort":[-0.063751660720394648,0.056696246650834468,0.33388424255646654,0.18235034085000706]}
{"step":2636,"t":13.18,"command":[-0.2380666274983643,0.34094729350796626,-0.49554659910274651,0.5766329465162916,0.5766329465162916],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.066747502058810415,-0.079157136188969579,-0.058258053283338551,0.1111483400356067],"integral":[0.97933313503048836,0.95446956541336525,0.78297387149676034,0.59999999999999998],"effort":[-0.064660687465945443,0.056675719128444942,0.33250555500806045,0.18090574441635274]}
{"step":2640,"t":13.200000000000001,"command":[-0.23803443931595425,0.33752157154223261,-0.49500196017872139,0.57542319312597834,0.57542319312597834],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.06866490759543975,-0.08026344317312506,-0.060157577299678522,0.10932738457573676],"integral":[0.97795983687857957,0.95286429654990279,0.78177071995076675,0.59999999999999998],"effort":[-0.065553064662218996,0.056660394300460708,0.33111185118729691,0.17947387591855746]}
{"step":2644,"t":13.220000000000001,"command":[-0.23801323395963392,0.33410379555042946,-0.49445282420848408,0.57419855552760057,0.57419855552760057],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.070553733987944733,-0.081354499953174342,-0.062040226069274951,0.10751725962707537],"integral":[0.9765487621988207,0.95123720655083932,0.78052991542938122,0.59999999999999998],"effort":[-0.066429124583271437,0.056650299539923434,0.32970398116998301,0.17805447078447462]}
{"step":2648,"t":13.24,"command":[-0.23800302753235486,0.33069333673766743,-0.49389924585884876,0.57295966029943457,0.57295966029943457],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.07241423684959436,-0.082430363048820565,-0.063905985516634622,0.10571792122194346],"integral":[0.97510047746182882,0.94958859928986294,0.77925179571904857,0.59999999999999998],"effort":[-0.067289191048623603,0.056645441114566868,0.3282827723304434,0.17664727401131591]}
{"step":2652,"t":13.26,"command":[-0.23800382580105703,0.32728957061279296,-0.49334128334752192,0.5717071241203413,0.5717071241203413],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.074246672315636308,-0.083491089892802961,-0.065754838865589083,0.10392932396601084],"integral":[0.97361554401551609,0.94791877749200693,0.77793669894173678,0.59999999999999998],"effort":[-0.068133579411536749,0.056645821095939894,0.32684903576995133,0.17525204244344314]}
{"step":2656,"t":13.280000000000001,"command":[-0.23801563688111807,0.32389185726218828,-0.49277900916936729,0.57044155000425578,0.57044155000425578],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.076051297013888464,-0.084536738851783699,-0.06758676681163589,0.10215142116786868],"integral":[0.97209451807523828,0.9462280427149713,0.77658496360550411,0.59999999999999998],"effort":[-0.068962608338596798,0.056651443399924256,0.3254035619712578,0.17386854353934655]}
{"step":2660,"t":13.300000000000001,"command":[-0.23803839677980698,0.32049956256799733,-0.49221246056028634,0.56916354352760168,0.56916354352760168],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.077828367887457617,-0.085567369255735048,-0.069401747665369218,0.10038416487832846],"integral":[0.97053795071748916,0.9445166953298566,0.77519692865219669,0.59999999999999998],"effort":[-0.069776568362266894,0.056662278341500824,0.32394713928089613,0.17249653796854453]}
{"step":2664,"t":13.32,"command":[-0.23807208013964945,0.31711204018787637,-0.49164171912976606,0.56787368364353363,0.56787368364353363],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.079578142172863187,-0.086583041424413976,-0.071199757539216257,0.098627506041042423],"integral":[0.96894638787403187,0.9427850345013683,0.77377293350141241,0.59999999999999998],"effort":[-0.070575766978377225,0.056678315342019669,0.32248052057487614,0.17113581301049455]}
{"step":2668,"t":13.34,"command":[-0.23811660972535723,0.3137286501959991,-0.49106685024534907,0.56657255252688254,0.56657255252688254],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.081300877319937292,-0.087583816693118433,-0.072980770496960723,0.096881394621017969],"integral":[0.96732037032763307,0.94103335816750588,0.77231331809147319,0.59999999999999998],"effort":[-0.071360492728042263,0.056699519827098081,0.32100445727682703,0.16978615868184582]}
{"step":2672,"t":13.359999999999999,"command":[-0.23817190211305683,0.31034873038536198,-0.49048790980519097,0.56526072292217833,0.56526072292217833],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.082996830871533867,-0.088569757421922413,-0.07474475869063868,0.095145779631209737],"integral":[0.96566043371020238,0.93926196301906739,0.77081842291766045,0.59999999999999998],"effort":[-0.072131027606629539,0.056725854956151525,0.31951968487850368,0.16844736205843563]}
{"step":2676,"t":13.380000000000001,"command":[-0.23823785024085806,0.30697164376981639,-0.4899049803083696,0.56393875460465792,0.56393875460465792],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.084666260390802384,-0.089540927022777606,-0.076491692526024835,0.093420609305408409],"integral":[0.96396710850238632,0.9374711444786118,0.76928858906713993,0.59999999999999998],"effort":[-0.072887649826100465,0.056757273287385508,0.31802691894505258,0.16711923990484354]}
{"step":2680,"t":13.4,"command":[-0.23831433768011562,0.30359670548482454,-0.48931812618980869,0.56260720276627163,0.56260720276627163],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.086309423395442897,-0.090497389985131127,-0.078221540802284828,0.091705831138714],"integral":[0.96224092003447748,0.93566119667890912,0.76772415825109419,0.59999999999999998],"effort":[-0.073630634518333127,0.05679372354391217,0.31652686460448864,0.1658015940995724]}
{"step":2684,"t":13.42,"command":[-0.23840123042487105,0.30022325133847105,-0.48872742534225089,0.56126661461953209,0.56126661461953209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.08792657727378228,-0.091439211885276039,-0.079934270848284417,0.090001391979532386],"integral":[0.9604823884890018,0.93383241244120363,0.76612547283412846,0.59999999999999998],"effort":[-0.074360247818711339,0.056835146668092459,0.31502021268647035,0.1644942484629541]}
{"step":2688,"t":13.44,"command":[-0.23849837509760644,0.29685060139028241,-0.48813295310430027,0.55991753093942398,0.55991753093942398],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.089517979193798558,-0.092366459402055234,-0.081629848659062532,0.08830723813553587],"integral":[0.95869202890512584,0.93198508325316254,0.76449287586094716,0.59999999999999998],"effort":[-0.075076750180276347,0.056881474924198573,0.31350764145330079,0.16319702972604869]}
{"step":2692,"t":13.460000000000001,"command":[-0.23860560035949008,0.29347805285131184,-0.48753478490088881,0.55856048314510987,0.55856048314510987],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.091083886029204031,-0.093279200345306457,-0.0833082390331219,0.086623315415538471],"integral":[0.95687035118454178,0.93011949924625636,0.76282671108028477,0.59999999999999998],"effort":[-0.075780399491479272,0.056932632522912696,0.3119898133312986,0.16190976699687665]}
{"step":2696,"t":13.48,"command":[-0.2387227106033406,0.29010491238358038,-0.48693299495483772,0.55719600313014084,0.55719600313014084],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.092624554249186142,-0.094177503664339968,-0.084969405686608823,0.0849495692140112],"integral":[0.95501786009955802,0.92823594917296959,0.76112732296655261,0.59999999999999998],"effort":[-0.076471440693301584,0.056988532557806303,0.31046738590420386,0.16063230088238645]}
{"step":2700,"t":13.5,"command":[-0.23884951267741891,0.28673045252224444,-0.48632766333049249,0.55582460989293359,0.55582460989293359],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.094140239864786812,-0.095061439457901686,-0.086613311382857106,0.083285944574999271],"integral":[0.95313505530226228,0.92633472038381159,0.75939505673889551,0.59999999999999998],"effort":[-0.077150121858442888,0.057049089706240501,0.30894099696263178,0.15936447426205397]}
{"step":2704,"t":13.52,"command":[-0.23898584005008652,0.28335450242483184,-0.48571919632356636,0.55444681986816025,0.55444681986816025],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.095631198404143136,-0.095931078928517044,-0.088239918052904542,0.081632387859005062],"integral":[0.95122243133417939,0.92441609880524123,0.75763025837783737,0.59999999999999998],"effort":[-0.07781668181639359,0.057114231744445534,0.30741127606191609,0.15810645586081762]}
{"step":2708,"t":13.540000000000001,"command":[-0.23913149981568341,0.27997667799531228,-0.48510788880786454,0.55306314353637731,0.55306314353637731],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.097097684862812006,-0.096786494390192823,-0.089849186902177802,0.079988847154006559],"integral":[0.94928047763692314,0.92248036891743734,0.75583327463979377,0.59999999999999998],"effort":[-0.078471361781166329,0.057183874204098199,0.30587884073833954,0.15685830200245712]}
{"step":2712,"t":13.56,"command":[-0.23928623875417221,0.27659613492308049,-0.48449377988139697,0.55167408018011743,0.55167408018011743],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.09853995360044121,-0.097627759359008692,-0.091441078540046128,0.078355270677276545],"integral":[0.94730967856491433,0.92052781373025716,0.75400445306899289,0.59999999999999998],"effort":[-0.079114400444688288,0.057257904057118711,0.30434429074257863,0.15561982229907523]}
{"step":2716,"t":13.58,"command":[-0.23944978456679591,0.27321203179361742,-0.48387691413728556,0.55028013002057141,0.55028013002057141],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.099958258220573137,-0.098454948589405289,-0.093015553083604097,0.076731606110067463],"integral":[0.94531051340050287,0.91855871475846906,0.75214414200732083,0.59999999999999998],"effort":[-0.079746026859112695,0.057336199329084979,0.30280822149545694,0.15439084117590932]}
{"step":2720,"t":13.6,"command":[-0.23962186488123291,0.26982348160734337,-0.48325731879181716,0.54888178746804217,0.54888178746804217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10135285148555995,-0.099268138053862698,-0.09457257025801713,0.075117800609395657],"integral":[0.9432834563707917,0.91657335199739176,0.75025269060216049,0.59999999999999998],"effort":[-0.080366462469573824,0.057418638129159844,0.30127121661411305,0.15317117369628219]}
{"step":2724,"t":13.620000000000001,"command":[-0.23980218794506436,0.26642959074072753,-0.48263503702189664,0.54747954090327222,0.54747954090327222],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10272398524546977,-0.10006740494877575,-0.096112089504756693,0.073513800883229896],"integral":[0.94122897666588234,0.9145720038984162,0.74833044881206534,0.59999999999999998],"effort":[-0.080975926069427995,0.057505089343239967,0.29973384770765776,0.15196065289169955]}
{"step":2728,"t":13.640000000000001,"command":[-0.23999045478483849,0.26302942363425491,-0.48201010141810374,0.54607387199486379,0.54607387199486379],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10407191036567842,-0.10085282769721249,-0.097634070090793834,0.071919553235757605],"integral":[0.9391475384585688,0.91255494734447196,0.74637776741024942,0.59999999999999998],"effort":[-0.081574630085861161,0.057595418387833615,0.29819667367546288,0.15075910778322948]}
{"step":2732,"t":13.66,"command":[-0.24018635982351705,0.25962204175142445,-0.48138255141786024,0.54466526277117122,0.54466526277117122],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10539687664463049,-0.10162448592701834,-0.09913847119644803,0.070335003641811555],"integral":[0.93703960092567617,0.91052245762593154,0.74439499798632047,0.59999999999999998],"effort":[-0.082162778123195251,0.057689487445272004,0.29666024846958905,0.14956638268637362]}
{"step":2736,"t":13.68,"command":[-0.24038957515351653,0.25620643603501525,-0.48075241955172199,0.5432541885725134,0.5432541885725134],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10669913274648257,-0.1023824604910577,-0.10062525200420014,0.068760097756326188],"integral":[0.93490561827074647,0.90847480841611039,0.74238249294623648,0.59999999999999998],"effort":[-0.082740575519535287,0.057787147842488167,0.29512511340157999,0.14838231338529964]}
{"step":2740,"t":13.700000000000001,"command":[-0.24059977807718275,0.25278154515251799,-0.48011974210113972,0.54184111905874888,0.54184111905874888],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10797892617022176,-0.10312683348228702,-0.10209437179155723,0.067194780905542206],"integral":[0.93274603974734205,0.90641227174646466,0.74034060551040537,0.59999999999999998],"effort":[-0.083308228592785208,0.057888253210789581,0.29359179830283727,0.1472067381624797]}
{"step":2744,"t":13.720000000000001,"command":[-0.24081662184315197,0.24934631384700295,-0.47948455217959568,0.54042652348172993,0.54042652348172993],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10923650314400479,-0.103857688208568,-0.10354579001668851,0.065638998176073882],"integral":[0.93056130968446193,0.90433511798229327,0.73826968971007156,0.59999999999999998],"effort":[-0.083865925774889646,0.057992645355947656,0.29206082728254884,0.14603951000397775]}
{"step":2748,"t":13.74,"command":[-0.24103979861060112,0.24589968831592263,-0.47884690701441657,0.53901086584279678,0.53901086584279678],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11047210857485723,-0.10457510912369217,-0.10497946640421807,0.064092694598255173],"integral":[0.92835186751296483,0.90224361579981938,0.73617010038198716,0.59999999999999998],"effort":[-0.084413851821702718,0.05810018451423915,0.29053271349660148,0.14488050853557061]}
{"step":2752,"t":13.76,"command":[-0.24126895068960788,0.24244054562543865,-0.47820684636757055,0.53759460641641577,0.53759460641641577],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11168598596672452,-0.1052791818312131,-0.1063953610305397,0.062555815174875407],"integral":[0.92611814779363033,0.9001380321631951,0.73404219316137631,0.59999999999999998],"effort":[-0.084952184874828418,0.058210706566864445,0.28900796084802094,0.14372960303798882]}
{"step":2756,"t":13.780000000000001,"command":[-0.24150372368244771,0.2389677053706587,-0.47756440192784516,0.53617820370393388,0.53617820370393388],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11287837733344208,-0.10596999308306865,-0.10779343439838662,0.061028304840693326],"integral":[0.92386058024696149,0.89801863230153378,0.73188632447340862,0.59999999999999998],"effort":[-0.085481096889291258,0.058324048552488059,0.28748706612717717,0.14258666109940921]}
{"step":2760,"t":13.800000000000001,"command":[-0.24174374228747533,0.23547991971363949,-0.47691960071789019,0.53476210865620144,0.53476210865620144],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11404952313146732,-0.10664763077881134,-0.10917364752193359,0.059510108449587373],"integral":[0.92157958978433219,0.89588567968595756,0.72970285152296999,0.59999999999999998],"effort":[-0.086000756480284851,0.058440036935153296,0.28597051285442704,0.14145154906862695]}
{"step":2764,"t":13.82,"command":[-0.24198863974136667,0.23197589730131654,-0.47627247721414351,0.53334677153424503,0.53334677153424503],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11519966220822453,-0.10731218394773645,-0.11053596199767268,0.058001170826128434],"integral":[0.91927559654016766,0.89373943600700279,0.72749213228301657,0.59999999999999998],"effort":[-0.086511327811472929,0.058558501763876947,0.28445877870600217,0.14032414474022389]}
{"step":2768,"t":13.84,"command":[-0.24223802711710249,0.22845427689936768,-0.47562306164725981,0.53193263818655767,0.53193263818655767],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1163290317341803,-0.10796374274179721,-0.11188034007300729,0.05650143680091102],"integral":[0.91694901590548406,0.89158016115216687,0.72525452548155644,0.59999999999999998],"effort":[-0.087012970068550077,0.058679261781586084,0.28295233156811123,0.13920432670216304]}
{"step":2772,"t":13.859999999999999,"command":[-0.24249152397537302,0.22491363712084869,-0.47497138208024892,0.53052015334207159,0.53052015334207159],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11743786713843951,-0.10860239840564256,-0.11320674471107761,0.055010851235697489],"integral":[0.91460025856271532,0.88940811318405399,0.72299039058733494,0.59999999999999998],"effort":[-0.087505834816146488,0.058802139199898913,0.28145163310209514,0.1380919789790753]}
{"step":2776,"t":13.880000000000001,"command":[-0.24274874324974807,0.22135245916498014,-0.47431746649902634,0.52910975425343409,0.52910975425343409],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11852640206976539,-0.10922824326122726,-0.11451513966312055,0.05352935903143996],"integral":[0.91222973052132006,0.88722354831882944,0.72070008779407257,0.59999999999999998],"effort":[-0.087990073923835399,0.05892695234933211,0.27995713204612943,0.1369869851022196]}
{"step":2780,"t":13.9,"command":[-0.24300929920505482,0.21776915795803642,-0.47366134588461262,0.52770187785873446,0.52770187785873446],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11959486834777722,-0.10984137068485955,-0.11580548952955638,0.052056905169366452],"integral":[0.90983783315436451,0.88502672090513224,0.71838397800348142,0.59999999999999998],"effort":[-0.088465832213735204,0.059053519500131858,0.2784692718956347,0.13588923837148742]}
{"step":2784,"t":13.92,"command":[-0.24327278521575571,0.2141620597832439,-0.47300304640885482,0.52629695760596484,0.52629695760596484],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12064349588214873,-0.11044187508978442,-0.11707775981908242,0.05059343474774558],"integral":[0.9074249632367215,0.88281788340333656,0.71604242280709973,0.59999999999999998],"effort":[-0.088933247030727774,0.059181648026631208,0.27698848758529471,0.13479863488132951]}
{"step":2788,"t":13.94,"command":[-0.24353880257275551,0.21052937009298966,-0.47234259190363453,0.52489542198618744,0.52489542198618744],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12167251262730083,-0.11102985190752745,-0.11833191701218926,0.049138892977731996],"integral":[0.90499151298417546,0.88059728636518597,0.71367578446685598,0.59999999999999998],"effort":[-0.089392454227246218,0.059311148358571583,0.27551520402205781,0.13371506989899723]}
{"step":2792,"t":13.960000000000001,"command":[-0.24380694271387426,0.20686917259577614,-0.47168000220012807,0.52349769766382404,0.52349769766382404],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12268214453759474,-0.1116053975695388,-0.11956792861495336,0.047693225175581944],"integral":[0.90253787009342357,0.87836517841379524,0.71128442589455687,0.59999999999999998],"effort":[-0.089843584952525882,0.059441825315486363,0.27404983945932448,0.1326384395229869]}
{"step":2796,"t":13.98,"command":[-0.24407681154680885,0.2031794434224603,-0.47101530506269113,0.52210420752304865,0.52210420752304865],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12367261553169917,-0.11216860946772944,-0.12078576321199685,0.046256376816372291],"integral":[0.90006441778278956,0.87612180622444069,0.70886871063031698,0.59999999999999998],"effort":[-0.090286765686919623,0.05957348993485645,0.2725928035132707,0.13156865191638037]}
{"step":2800,"t":14,"command":[-0.24434800509446422,0.19945800075773323,-0.47034852792232601,0.52071537031833059,0.52071537031833059],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12464414745957586,-0.11271958593602838,-0.12198539051994706,0.044828293563037747],"integral":[0.89757153483359808,0.87386741450572014,0.70642900281991805,0.59999999999999998],"effort":[-0.090722121826213586,0.059705947593644317,0.2711444968857562,0.13050561589248549]}
{"step":2804,"t":14.02,"command":[-0.24462012369026259,0.19570249680194499,-0.46967968921536174,0.51933160096650388,0.51933160096650388],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12559696005804089,-0.113258426221021,-0.1231667814411761,0.04340892125013629],"integral":[0.89505959563243731,0.87160224598129976,0.70396566719109455,0.59999999999999998],"effort":[-0.091149771603461757,0.059839004914239366,0.26970531176243207,0.12944923885797704]}
{"step":2808,"t":14.040000000000001,"command":[-0.24489275993813983,0.19191039778147967,-0.46900880902965408,0.51795331315814042,0.51795331315814042],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12653127090666794,-0.11378523045890421,-0.12432990810568345,0.041998205886695339],"integral":[0.892528970214304,0.86932654137212173,0.70147906902898083,0.59999999999999998],"effort":[-0.091569831085384398,0.059972463870119383,0.26827563461149467,0.12839943186203015]}
{"step":2812,"t":14.06,"command":[-0.24516550682630953,0.18807896781549677,-0.4683359052772097,0.51658091428974662,0.51658091428974662],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12744729538666544,-0.11430009965165411,-0.12547474392216396,0.040596093671524058],"integral":[0.88998002430657064,0.86704053937908865,0.69896957415053751,0.59999999999999998],"effort":[-0.091982411018640436,0.060106125737401227,0.26685584100843052,0.1273561091531831]}
{"step":2816,"t":14.08,"command":[-0.24543796632431927,0.18420523481308831,-0.46766099602688876,0.51521481044010375,0.51521481044010375],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12834524665579727,-0.11480313562863342,-0.1266012636201328,0.039202531005093411],"integral":[0.88741311937345468,0.86474447666651599,0.6964375488781348,0.59999999999999998],"effort":[-0.092387619336158328,0.060239795313417679,0.26544630089683208,0.12631918786870333]}
{"step":2820,"t":14.1,"command":[-0.24570973778610869,0.18028595635149652,-0.46698410179606353,0.51385539954037485,0.51385539954037485],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12922533562827065,-0.11529444102458042,-0.12770944330023548,0.037817464503524523],"integral":[0.8848286126608893,0.86243858784602434,0.69388336001213013,0.59999999999999998],"effort":[-0.092785562636351265,0.060373275242918287,0.26404737163679826,0.12528858869392498]}
{"step":2824,"t":14.120000000000001,"command":[-0.24598041800369619,0.17631758349923579,-0.4663052339062097,0.5125030804851487,0.5125030804851487],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13008777093191348,-0.1157741192498154,-0.12879926046998635,0.036440840988493428],"integral":[0.88222685724225103,0.86012310546102799,0.69130737480273041,0.59999999999999998],"effort":[-0.093176340458657483,0.060506366041273102,0.26265940750676675,0.12426423070966747]}
{"step":2828,"t":14.140000000000001,"command":[-0.24624960409518865,0.17229623050705836,-0.4656244102345497,0.51115824775009921,0.51115824775009921],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1309327588740048,-0.11624227446077939,-0.1298706940762191,0.035072607510653775],"integral":[0.87960820206477097,0.85779825997181236,0.68870996092120607,0.59999999999999998],"effort":[-0.093560050179665427,0.060638867517037148,0.26128275424295183,0.12324604122660682]}
{"step":2832,"t":14.16,"command":[-0.24651690764554154,0.16821758303997003,-0.46494164062173565,0.50982128859076814,0.50982128859076814],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13176050343595858,-0.11669901152234674,-0.13092372455233425,0.033712711334274226],"integral":[0.87697299199605183,0.85546427974136541,0.68609148643015938,0.59999999999999998],"effort":[-0.093936786970110986,0.060770585755120461,0.25991774630035125,0.1222339422139202]}
{"step":2836,"t":14.18,"command":[-0.24678191794053836,0.16407688465991854,-0.46425694020960456,0.50849258925097074,0.50849258925097074],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13257120622992824,-0.11714443599284063,-0.13195833385143185,0.032361099956851991],"integral":[0.87432156787145332,0.85312139102150863,0.6834523197531307,0.59999999999999998],"effort":[-0.094306641226540061,0.060901315022410613,0.25856471332315645,0.12122786530624427]}
{"step":2840,"t":14.200000000000001,"command":[-0.24704424606484485,0.15986878040521621,-0.4635703115681698,0.50717253078588853,0.50717253078588853],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13336506648972879,-0.1175786540931929,-0.13297450547631096,0.03101772106516687],"integral":[0.87165426654165878,0.85076981793964479,0.68079282964360444,0.59999999999999998],"effort":[-0.094669703409579392,0.061030859513747607,0.25722397598376306,0.12022773035783063]}
{"step":2844,"t":14.220000000000001,"command":[-0.24730350088986472,0.1555872995572995,-0.46288176157396976,0.50586148958301469,0.50586148958301469],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13414228105898562,-0.11800177266682388,-0.13397222451534407,0.029682522533556299],"integral":[0.86897142092047908,0.84840978248630827,0.67811338515329755,0.59999999999999998],"effort":[-0.09502605870714427,0.061159021552383314,0.25589584664314646,0.11923346649067712]}
{"step":2848,"t":14.24,"command":[-0.24755927364160993,0.15122567291861846,-0.46219130911414563,0.50455983916089586,0.50455983916089586],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13490304438032674,-0.1184138992023771,-0.13495147766320237,0.028355452449504659],"integral":[0.86627336003287259,0.84604150450226068,0.67541435560003349,0.59999999999999998],"effort":[-0.095375801035479366,0.061285593965961505,0.2545806312940691,0.11824500518516834]}
{"step":2852,"t":14.26,"command":[-0.24781111844737908,0.14677615649695133,-0.46149898434026371,0.50326794621042614,0.50326794621042614],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13564754849035676,-0.1188151419215191,-0.13591225324166833,0.027036459095972742],"integral":[0.86356040906306542,0.8436652016638303,0.67269611053520018,0.59999999999999998],"effort":[-0.095719036215538705,0.061410350426140937,0.25327862568286041,0.11726227633155625]}
{"step":2856,"t":14.280000000000001,"command":[-0.24805865613796918,0.14222998848775842,-0.46080478790376983,0.50198617483937547,0.50198617483937547],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1363759829970832,-0.11920560965307048,-0.13685454123668883,0.025725490943119933],"integral":[0.86083288940312375,0.84128108947076885,0.66995901971046645,0.59999999999999998],"effort":[-0.096055841464905201,0.061533096884975241,0.25199011972986807,0.11628521109013309]}
{"step":2860,"t":14.300000000000001,"command":[-0.24830119989172583,0.13757732724387109,-0.46010865932425654,0.50071488362519079,0.50071488362519079],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13708853454684222,-0.11958541188527838,-0.13777833337874634,0.024422496696693941],"integral":[0.85809111871218691,0.83888938123306334,0.66720345304289153,0.59999999999999998],"effort":[-0.096386228706798777,0.061653485867670783,0.2507153946837884,0.11531374967836597]}
{"step":2864,"t":14.32,"command":[-0.24853779558743694,0.13280702713325038,-0.45941048981965749,0.49945443060479855,0.49945443060479855],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13778538603583446,-0.11995465896277757,-0.13868362322602268,0.023127425424185888],"integral":[0.85533541099147026,0.83649028805380776,0.6644297805783711,0.59999999999999998],"effort":[-0.096710145850182866,0.061771035835462583,0.24945472825076351,0.11434785230615477]}
{"step":2868,"t":14.34,"command":[-0.24876811335113042,0.12790548557382728,-0.45871031561380754,0.49820516601717169,0.49820516601717169],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13846671737963723,-0.1203134618041628,-0.13957040611867688,0.021840226605564061],"integral":[0.85256607664387751,0.83408401881772454,0.66163837245599755,0.59999999999999998],"effort":[-0.097027670205321187,0.061885574220280876,0.24820838744619758,0.11338748344519772]}
{"step":2872,"t":14.359999999999999,"command":[-0.24899181987030888,0.12285651050036861,-0.45800816297371366,0.49696743385729913,0.49696743385729913],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13913270614018147,-0.12066193168499662,-0.14043867915258268,0.020560850080769244],"integral":[0.84978342252107386,0.83167078018402463,0.6588295988729459,0.59999999999999998],"effort":[-0.097338877589114331,0.061996926362328349,0.24697663031470901,0.11243259976144152]}
{"step":2876,"t":14.380000000000001,"command":[-0.24920867005063468,0.11764085001609627,-0.45730412466099041,0.49574157268850372,0.49574157268850372],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13978352762619095,-0.12100018013067726,-0.14128844119877293,0.019289246304544871],"integral":[0.84698775196855003,0.82925077658141111,0.65600383004897045,0.59999999999999998],"effort":[-0.097643846419722499,0.0621049612284061,0.24575970689167104,0.11148321601223216]}
{"step":2880,"t":14.4,"command":[-0.24941969702306599,0.11223970403325083,-0.45659945916595368,0.49452791596197837,0.49452791596197837],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14041935634082847,-0.12132831741955741,-0.14211969289938509,0.018025371837044557],"integral":[0.8441793648417335,0.82682421023302,0.65316143619098277,0.59999999999999998],"effort":[-0.097942657474584832,0.062210185263078033,0.24455785966569757,0.11054040863605658]}
{"step":2884,"t":14.42,"command":[-0.24962456108178302,0.10662424697846985,-0.45589414935206696,0.49332682429803548,0.49332682429803548],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14104036527252495,-0.12164645319680778,-0.14293243660505262,0.016769186683277204],"integral":[0.84135855753628297,0.82439128116908389,0.6503027874588817,0.59999999999999998],"effort":[-0.09823537268485949,0.062312421495272816,0.24337135557198475,0.10960410272858523]}
{"step":2888,"t":14.44,"command":[-0.24982293301473962,0.10075811540465411,-0.45518812767621231,0.49213869903415647,0.49213869903415647],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14164672486018315,-0.12195469721856411,-0.14372667623467361,0.015520650728350072],"integral":[0.83852562303907929,0.82195218722471264,0.64742825393418824,0.59999999999999998],"effort":[-0.098522016878739072,0.062411497860087081,0.24220049908703203,0.10867421469863667]}
{"step":2892,"t":14.460000000000001,"command":[-0.25001448067230564,0.094593699020375538,-0.45448138395423843,0.49096385481013027,0.49096385481013027],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14223860315144843,-0.12225315947421933,-0.14450241742809933,0.014279723640462039],"integral":[0.83568085097605027,0.8195071240352283,0.64453820558562624,0.59999999999999998],"effort":[-0.098802680233301243,0.062507240545842682,0.2410455067300227,0.10775064812765864]}
{"step":2896,"t":14.48,"command":[-0.25019888405657514,0.088067265872614542,-0.4537739003803038,0.48980260175836332,0.48980260175836332],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14281616595825408,-0.12254195029132275,-0.1452596676790141,0.01304636478385246],"integral":[0.83282452765688519,0.81705628502940186,0.64163301223204594,0.59999999999999998],"effort":[-0.099077454674038057,0.062599481583155522,0.23990658868926185,0.10683329799231583]}
{"step":2900,"t":14.5,"command":[-0.25037583022118609,0.081090114688574688,-0.4530656520750268,0.48865524284284473,0.48865524284284473],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14337957690221281,-0.12282118032705136,-0.1459984363437683,0.011820533122011256],"integral":[0.82995693611884092,0.81459986142286078,0.63871304350517055,0.59999999999999998],"effort":[-0.099346439194981526,0.062688056358948197,0.23878394635779956,0.10592204589518772]}
{"step":2904,"t":14.52,"command":[-0.25054501749392705,0.073532517003632863,-0.45235660113294746,0.48752207434637435,0.48752207434637435],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14392899744790344,-0.12309096054450808,-0.14671873465507668,0.010602187122345397],"integral":[0.8270783561698829,0.81213804221197061,0.63577866881206901,0.59999999999999998],"effort":[-0.099609731765831488,0.062772805791032199,0.23767777297499174,0.10501676282272104]}
{"step":2908,"t":14.540000000000001,"command":[-0.25070613910603751,0.065191005183083031,-0.45164669579032768,0.48640338735707916,0.48640338735707916],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1444645869246286,-0.12335140220719643,-0.14742057572828671,0.0093912846368288116],"integral":[0.82418906443139028,0.80967101416782672,0.63283025729750331,0.59999999999999998],"effort":[-0.099867435330770013,0.06285356818545583,0.23658825523244081,0.10411730248755077]}
{"step":2912,"t":14.56,"command":[-0.25085890401510208,0.055712232405121132,-0.45093587360567972,0.48529946558864484,0.48529946558864484],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1449865025628112,-0.12360261686283369,-0.14810397456960089,0.0081877827947968163],"integral":[0.82128933438013407,0.80719896183057005,0.62986817780611126,0.59999999999999998],"effort":[-0.10011965463247764,0.062930189723658186,0.23551557130062425,0.10322350747203987]}
{"step":2916,"t":14.58,"command":[-0.25100301332957498,0.04436873195846204,-0.45022440745794295,0.48421057940667001,0.48421057940667001],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14549490015852751,-0.1238447169694501,-0.14876894797189699,0.0069916383464405651],"integral":[0.81837943637696353,0.80472206749118103,0.62689279884667337,0.59999999999999998],"effort":[-0.10036671634762701,0.063002512700526786,0.23445988520934311,0.10233530072322886]}
{"step":2920,"t":14.6,"command":[-0.25113818411423278,0.029048714100342914,-0.44951222026082471,0.48313699967034546,0.48313699967034546],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14598993376965819,-0.12407781554961939,-0.14941551458312041,0.0058028075381257871],"integral":[0.81545963770157037,0.80224051118018869,0.62390448855501102,0.59999999999999998],"effort":[-0.10060870418646636,0.063070387520194268,0.23342136045046341,0.10145253197734982]}
{"step":2924,"t":14.620000000000001,"command":[-0.25126414457423124,-0.016444828492405982,-0.44879924700261753,0.4820789907649517,0.4820789907649517],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14647175504013465,-0.12430202545339952,-0.15004369504639747,0.0046212464327908265],"integral":[0.81253020260076769,0.79975447067112071,0.62090361465408306,0.59999999999999998],"effort":[-0.10084559824713057,0.063133670348620191,0.23240015333695438,0.10057516586298593]}
{"step":2928,"t":14.640000000000001,"command":[-0.2513807394139484,-0.037023428532851857,-0.44808585682613705,0.48103680100807134,0.48103680100807134],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1469405092299545,-0.12451745513954737,-0.15065351286677142,0.0034469197201894008],"integral":[0.80959139241616862,0.79726412156832971,0.61789054439674762,0.59999999999999998],"effort":[-0.1010758346739703,0.063192276148303417,0.23139640392407884,0.099705100413643111]}
{"step":2932,"t":14.66,"command":[-0.25148753077309643,-0.049615682599353027,-0.44737128798667147,0.48001069319802803,0.48001069319802803],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14739633950914532,-0.12472421316433824,-0.15124499346436959,0.0022797907082990898],"integral":[0.80664346562598577,0.79476963730504291,0.61486564452746018,0.59999999999999998],"effort":[-0.10130139263732654,0.063245978134349123,0.23041026558445138,0.0988396766775268]}
{"step":2936,"t":14.68,"command":[-0.25158392150036146,-0.059613104845051161,-0.44665403142189614,0.47900094548474004,0.47900094548474004],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14783940444658605,-0.12492242660071473,-0.15181816039754414,0.001119781803491815],"integral":[0.80368667753705403,0.7922711887730286,0.61182928131950931,0.59999999999999998],"effort":[-0.10152677302734961,0.063294469557500038,0.2294419057752749,0.097973050758082547]}
{"step":2940,"t":14.700000000000001,"command":[-0.25166700253896246,-0.068208479418892035,-0.44593682075497015,0.47800772051100959,0.47800772051100959],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14826987930005298,-0.12511224786921216,-0.15237303494703447,-3.3214899209377258e-05],"integral":[0.80072127995105302,0.78976894381564433,0.60878182062056863,0.5999993357020158],"effort":[-0.10175602238484389,0.063336280166946146,0.22849138086813145,0.097103625720206477]}
{"step":2944,"t":14.720000000000001,"command":[-0.25173552084025885,-0.075886148798762723,-0.44521323342633884,0.47703117294681729,0.47703117294681729],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14868793073662201,-0.12529382855998916,-0.15290964164936138,-0.0011792758927781088],"integral":[0.79774752133632054,0.7872630672444445,0.60572362778758138,0.59997575018416027],"effort":[-0.1019867653987218,0.063370772452716412,0.22755873996301629,0.096228057819213841]}
{"step":2948,"t":14.74,"command":[-0.25178961127438643,-0.082861840937133086,-0.44448449817727209,0.47607150707982815,0.47607150707982815],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14909371029190144,-0.12546730763159109,-0.15342800989752492,-0.0023184410830558999],"integral":[0.79476564713048248,0.78475372109181263,0.60265506758963083,0.59992938136249918],"effort":[-0.10221627690169606,0.063398008345706636,0.22664407985325885,0.095350192218205315]}
{"step":2952,"t":14.76,"command":[-0.251828980560031,-0.089262634540845306,-0.44375351842084459,0.47512892384015099,0.47512892384015099],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14948735650687905,-0.12563281247971791,-0.15392817342066367,-0.0034507156347601819],"integral":[0.79177590000034492,0.78224106484221823,0.59957650412121755,0.59986036704980394],"effort":[-0.1024425015180257,0.063417835449904481,0.2257474942695,0.094474683592853187]}
{"step":2956,"t":14.780000000000001,"command":[-0.25185277398856276,-0.09516301328686548,-0.44302586600247085,0.47420361988681692,0.47420361988681692],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14986899704730194,-0.12579046271581507,-0.15441016962329712,-0.0045760590670762546],"integral":[0.78877852005939886,0.77972525558790196,0.59648830072875159,0.59976884586846246],"effort":[-0.10266395852253771,0.063429819765734072,0.22486907311376075,0.09360795942470157]}
{"step":2960,"t":14.800000000000001,"command":[-0.25186099236903553,-0.10063915693604239,-0.44230187631757734,0.47329578710395087,0.47329578710395087],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1502387516638708,-0.12594037184927465,-0.15487403905773611,-0.0056944059886140375],"integral":[0.78577374502612141,0.77720644815091644,0.5933908199475969,0.59965495774869015],"effort":[-0.10287959485142344,0.063433959477115387,0.22400890209034841,0.092751354942626069]}
{"step":2964,"t":14.82,"command":[-0.25185362092248031,-0.10574949750254872,-0.44158172495965392,0.47240561466873882,0.47240561466873882],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15059673454982558,-0.1260826484526707,-0.15531982501866048,-0.0068056840807755314],"integral":[0.78276181033512493,0.77468479518186306,0.59028442344722365,0.59951884406707467],"effort":[-0.10308868802019248,0.06343024637176442,0.22316706477054893,0.091905731798150925]}
{"step":2968,"t":14.84,"command":[-0.25183063611599088,-0.11054034332959932,-0.44086547225454126,0.47153329087452467,0.47153329087452467],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1509430556914686,-0.12621739749438943,-0.15574757322891619,-0.0079098173578369124],"integral":[0.77974294922129561,0.7721604472319753,0.58716947198264535,0.59936064771991793],"effort":[-0.10329076606482268,0.063418669286584614,0.22234364440295909,0.091071598561396988]}
{"step":2972,"t":14.859999999999999,"command":[-0.25179212462706152,-0.11504839142660142,-0.44015333166306531,0.47067899922632184,0.47067899922632184],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15127782201257589,-0.12634472120361573,-0.15615733160722334,-0.0090067275197444063],"integral":[0.77671739278104412,0.76963355280790302,0.58404632535050094,0.59918051316952303],"effort":[-0.10348554387197242,0.063399274024209668,0.22153872031269189,0.090249411502123927]}
{"step":2976,"t":14.880000000000001,"command":[-0.25173820495001159,-0.11930438029264116,-0.43944539237998825,0.46984294205638377,0.46984294205638377],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15160113829280286,-0.12646471973649143,-0.15654915002100589,-0.010096335466824313],"integral":[0.77368537001518811,0.7671042584131732,0.5809153423500808,0.59897858646018654],"effort":[-0.1036728940205065,0.063372123831454033,0.22075239020019838,0.089439358863495355]}
{"step":2980,"t":14.9,"command":[-0.25166891660020674,-0.12333475076324946,-0.43874151123209848,0.46902530833340689,0.46902530833340689],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15191310767222022,-0.1265774917845901,-0.15692308014543599,-0.011178563597499247],"integral":[0.77064710786174373,0.76457270857748139,0.57777688074717204,0.59875501518823659],"effort":[-0.10385278721202924,0.063337243582721803,0.21998473985724742,0.08864132646619638]}
{"step":2984,"t":14.92,"command":[-0.25158428011867917,-0.12716215359024827,-0.43804143764159614,0.46822627227440983,0.46822627227440983],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15221383197809479,-0.12668313502442929,-0.15727917541884429,-0.012253337528257191],"integral":[0.76760283122218187,0.76203904587699278,0.57463129723879514,0.59850994843767147],"effort":[-0.10402525719841313,0.063294650002834019,0.21923584204798977,0.087855043892703238]}
{"step":2988,"t":14.94,"command":[-0.2514843484957901,-0.13080594662725104,-0.4373448687837892,0.46744600676377351,0.46744600676377351],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15250341193892991,-0.12678174625738059,-0.15761749100202849,-0.013320586842702986],"integral":[0.76455276298340324,0.75950341095184515,0.5714789474187546,0.59824353670081742],"effort":[-0.10419036496228051,0.063244377538351992,0.21850576923939777,0.087080169289229264]}
{"step":2992,"t":14.960000000000001,"command":[-0.25136918850831619,-0.13427955581427733,-0.43665228088577357,0.46668468317488049,0.46668468317488049],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15278194709585646,-0.12687342121266965,-0.15793808377616392,-0.014380241499159174],"integral":[0.76149712404148606,0.75696594252759175,0.56832018574323129,0.59795593187083429],"effort":[-0.10434810675621406,0.063186468931329398,0.2177945935100386,0.086317107646534441]}
{"step":2996,"t":14.98,"command":[-0.25123899568238273,-0.13759652246957399,-0.43596361251610549,0.46594246877785583,0.46594246877785583],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15304953602921789,-0.12695825444253117,-0.15824101230688026,-0.015432232229646181],"integral":[0.75843613332090165,0.75442677743874109,0.56515536549709366,0.59764728722624139],"effort":[-0.10449853721690647,0.063121032951492337,0.21710238421080313,0.08556573422118649]}
{"step":3000,"t":15,"command":[-0.25109399292830115,-0.14076984490915215,-0.4352784227167894,0.46521952679870565,0.46521952679870565],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15330627663908425,-0.127036339351283,-0.15852633679432193,-0.016476493859544528],"integral":[0.75537000778811991,0.75188605065171543,0.56198483876120719,0.59731775734905046],"effort":[-0.10464172725928138,0.063048193284677756,0.21642920811481162,0.084825578023534631]}
{"step":3004,"t":15.02,"command":[-0.25093442107405084,-0.14381108169130438,-0.43459618537928674,0.46451601755506744,0.46451601755506744],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15355226619013274,-0.12710776814526081,-0.15879411905041563,-0.017512966590658818],"integral":[0.75229896246431727,0.74934389528881018,0.5588089563801989,0.59696749801723725],"effort":[-0.1047777357817252,0.062968083679769041,0.21577513056521974,0.08409610856450217]}
{"step":3008,"t":15.040000000000001,"command":[-0.25076051627161206,-0.14673064069062458,-0.43391627133935418,0.46383210095507987,0.46383210095507987],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15378760126667324,-0.12717263175582283,-0.15904442247737549,-0.018541596464151655],"integral":[0.74922321043898377,0.74680044265369372,0.55562806793065134,0.59659666608795425],"effort":[-0.10490660572526461,0.062880836520805422,0.21514021787640342,0.083376724807783437]}
{"step":3012,"t":15.06,"command":[-0.25057251057383595,-0.14953802163283525,-0.43323794716042408,0.4631679328308882,0.4631679328308882],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15401237772383936,-0.12723101978830975,-0.15927731204950035,-0.019562335880276893],"integral":[0.74614296288450699,0.74425582225792752,0.55244252168966135,0.59620541937034877],"effort":[-0.10502836938682035,0.062786583055275125,0.21452453400283814,0.082666749472958045]}
{"step":3016,"t":15.08,"command":[-0.25037061570700508,-0.15224204623999407,-0.43256036800604603,0.46252365732056633,0.46252365732056633],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1542266906556311,-0.12728302052445839,-0.15949285431583737,-0.0205751441942299],"integral":[0.74305842907139441,0.74171016184743832,0.54925266460334465,0.59579391648646418],"effort":[-0.10514305630643322,0.062685445209504809,0.21392813358119267,0.081965415663092733]}
{"step":3020,"t":15.1,"command":[-0.25015502051541566,-0.15485099110351358,-0.43188257602545449,0.46189941216688069,0.46189941216688069],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15443063436657933,-0.12732872095670644,-0.15969111739613062,-0.02157998835478514],"integral":[0.73996981638406278,0.73916358742830424,0.54605884225542201,0.59536231671936846],"effort":[-0.10525069446006144,0.062577534289068037,0.21335106696010991,0.081271865014321001]}
{"step":3024,"t":15.120000000000001,"command":[-0.24992400388220518,-0.15736923019550936,-0.43120436037964532,0.46129529421817816,0.46129529421817816],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15462429974928793,-0.12736820834781204,-0.15987217117754593,-0.022576838991717252],"integral":[0.73687733038907699,0.73661622326134801,0.54286139883187112,0.59491077993953412],"effort":[-0.10535113751137314,0.062462007716512502,0.21279334846783554,0.080586062899045921]}
{"step":3028,"t":15.140000000000001,"command":[-0.24967571184276324,-0.15980153036650424,-0.43052463054453777,0.46071129801980892,0.46071129801980892],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15480777194136897,-0.12740157056711032,-0.16003608782582068,-0.023565670443572384],"integral":[0.73378117495024964,0.73406819185000582,0.5396606770753547,0.59443946653066271],"effort":[-0.10544399330649376,0.062337961084190541,0.2122549001230972,0.079907464199016981]}
{"step":3032,"t":15.16,"command":[-0.24941047336260952,-0.16215443999094292,-0.42984265316146997,0.46014737345514861,0.46014737345514861],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15498113382791723,-0.12742889491264675,-0.16018294179841241,-0.024546463233102389],"integral":[0.73068155227369125,0.73151961395175291,0.53645701823938641,0.59394853726600061],"effort":[-0.10552938444283404,0.06220558422296095,0.21173560529767199,0.079235322034057726]}
{"step":3036,"t":15.18,"command":[-0.24912857107551353,-0.16443504429647915,-0.42915741284646225,0.45960343066756026,0.45960343066756026],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15514446852948183,-0.12745026783039459,-0.16031280976176365,-0.025519206039950837],"integral":[0.72757866290310158,0.72897060859514506,0.53325076204415112,0.59343815314520154],"effort":[-0.10560748439692696,0.062065044926127202,0.21123531348139085,0.078568600604141905]}
{"step":3040,"t":15.200000000000001,"command":[-0.24882996360180717,-0.16665082442649712,-0.4284676142684638,0.45907931045503508,0.45907931045503508],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15529785920847594,-0.12746577549557969,-0.16042577076766751,-0.026483897792612177],"integral":[0.72447270571893208,0.72642129308523351,0.53004224662879773,0.5929084751893493],"effort":[-0.10567849687947013,0.061916350786076685,0.21075381328787046,0.077905999597438963]}
{"step":3044,"t":15.220000000000001,"command":[-0.2485125255799791,-0.16880850542361175,-0.42777209303242858,0.45857473611938243,0.45857473611938243],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15544138664940887,-0.12747550635727212,-0.16052190664962351,-0.027440547802625059],"integral":[0.72136387798594392,0.72387178295808807,0.52683180849580524,0.59235966423329678],"effort":[-0.10574263754034915,0.061758475370139766,0.21029078860696121,0.077246326036995591]}
{"step":3048,"t":15.24,"command":[-0.24817683264404625,-0.17091593427814947,-0.42706952429564399,0.45808933321512424,0.45808933321512424],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1555751315292333,-0.12747955019782409,-0.1606013023051025,-0.028389176950118444],"integral":[0.71825237535535924,0.72132219195413161,0.5236197824497032,0.59179188069429445],"effort":[-0.10580031758614017,0.061591740261230946,0.20984583720547711,0.076588060995967461]}
{"step":3052,"t":15.26,"command":[-0.24782330246430284,-0.17297928123192291,-0.42635857722985554,0.457622738854913,0.457622738854913],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15569917579917525,-0.12747799627467438,-0.16066404579275595,-0.029329817445691631],"integral":[0.71513839183937578,0.71877263202863817,0.52040650153384804,0.59120528434538067],"effort":[-0.10585173405648969,0.061416389244313335,0.20941857111707191,0.075929902320977016]}
{"step":3056,"t":15.280000000000001,"command":[-0.24745175212274068,-0.17500201757850223,-0.42563716939163865,0.45717461412192123,0.45717461412192123],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15581359947297013,-0.12747093148338373,-0.16071022863521289,-0.030262511553935223],"integral":[0.71202211984991637,0.71622321339897055,0.51719229696114377,0.59060003411430195],"effort":[-0.10589635306213645,0.061232369628614301,0.2090086277975276,0.075270646905590044]}
{"step":3060,"t":15.300000000000001,"command":[-0.24706282715344469,-0.17699013461619809,-0.4249035036388234,0.45674476166815486,0.45674476166815486],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15591848161867627,-0.12745844034343468,-0.16073994519875612,-0.031187312930846756],"integral":[0.70890375021754282,0.71367404459210182,0.51397749805716864,0.58997628785568501],"effort":[-0.10593424757800377,0.061040040561052888,0.20861577731129957,0.074608739826543841]}
{"step":3064,"t":15.32,"command":[-0.24665732527613754,-0.17894820289549207,-0.4241553553344678,0.45633415533076244,0.45633415533076244],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15601390074370247,-0.12744060398027823,-0.16075328908957554,-0.032104287400909315],"integral":[0.70578347220266879,0.71112523251249626,0.5107624322753771,0.58933420210766685],"effort":[-0.10596511238921742,0.060839836112378323,0.20824086132144043,0.073942653069691222]}
{"step":3068,"t":15.34,"command":[-0.24623020084450478,-0.18088023600272052,-0.42339178976374847,0.45594410617504866,0.45594410617504866],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15609992887754731,-0.12741750672109875,-0.16075035013681793,-0.033013509643595729],"integral":[0.70266147362511788,0.70857688237807426,0.50754742527264074,0.58867393191479489],"effort":[-0.10598913370787504,0.060629311807925163,0.20788502795576402,0.073271473931475165]}
{"step":3072,"t":15.359999999999999,"command":[-0.2457719289332487,-0.18279390530668069,-0.42261469605130986,0.45557449231926711,0.45557449231926711],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15617662924579889,-0.12738925123097067,-0.16073121680397273,-0.03391505875965406],"integral":[0.69953794104020195,0.70602909735345487,0.5043328009365613,0.58799563073960182],"effort":[-0.10600839656790438,0.060403841051569845,0.20754811805195797,0.072594784750636632]}
{"step":3076,"t":15.380000000000001,"command":[-0.24528152258045405,-0.18468739233934461,-0.42182027887203905,0.4552258809673459,0.4552258809673459],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15624405469553748,-0.12735594327744981,-0.16069597816501613,-0.034809020295234916],"integral":[0.69641305994629121,0.70348197848790583,0.50111888137326099,0.58729945033369713],"effort":[-0.1060208902783959,0.060163025319385784,0.20723060270249616,0.071911457389288891]}
{"step":3080,"t":15.4,"command":[-0.24475384369009637,-0.18655472638171297,-0.42100394310566386,0.45489571435846032,0.45489571435846032],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15630223969091128,-0.12731768053799719,-0.16064473329616824,-0.035695486001046772],"integral":[0.69328701515247304,0.70093562487714589,0.49790598670733766,0.58658554061367618],"effort":[-0.10602349302293641,0.059904444001076119,0.20693011094169392,0.071220827087580624]}
{"step":3084,"t":15.42,"command":[-0.24419272160835015,-0.18840000292524126,-0.42016484866913473,0.4545820281113524,0.4545820281113524],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15635121590638357,-0.12727455454496628,-0.16057759312037989,-0.036574553664204035],"integral":[0.69015999083434532,0.69839013378624659,0.49469443484493003,0.58585404954039211],"effort":[-0.1060165305796939,0.059630085286493204,0.2066448202818304,0.07052196947746299]}
{"step":3088,"t":15.44,"command":[-0.24360239245999887,-0.19021372454528324,-0.41929978555810221,0.45428659161073248,0.45428659161073248],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15639101356573226,-0.12722663928474542,-0.16049466944829716,-0.037446319984664855],"integral":[0.68703217056303068,0.69584560100055171,0.4914845414559641,0.58510512314069885],"effort":[-0.10599678558722969,0.059342125612235314,0.20637630731729645,0.069815524581840802]}
{"step":3092,"t":15.460000000000001,"command":[-0.24298457315283145,-0.19199713157515191,-0.41840941604249998,0.45401211777234624,0.45401211777234624],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15642166235729338,-0.12717399751093073,-0.16039606524960082,-0.038310877671139609],"integral":[0.68390373731588483,0.69330212105033306,0.48827662015097206,0.58433890558727608],"effort":[-0.10596466898305601,0.059041502790263697,0.20612700308413079,0.069101770449969818]}
{"step":3096,"t":15.48,"command":[-0.24233921244324294,-0.19375196897386276,-0.41749250282517214,0.45375894924820537,0.45375894924820537],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15644319249323835,-0.12711668921064367,-0.16028187903109492,-0.039168321081766155],"integral":[0.68077487346602006,0.6907597872661202,0.48507098257035014,0.58355553916564074],"effort":[-0.10591990769823753,0.058728293887611235,0.20589718402283541,0.068380082216988852]}
{"step":3100,"t":15.5,"command":[-0.2416761330285235,-0.19543518020727235,-0.41656854012010897,0.4535280850601397,0.4535280850601397],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15645564322840633,-0.1270547612782702,-0.16015220717978984,-0.040018661923955645],"integral":[0.67764576060145199,0.68821869204055475,0.48186793842675435,0.58275516592716159],"effort":[-0.10586212914022392,0.058407353275620584,0.20568772393831733,0.067667219477574897]}
{"step":3104,"t":15.52,"command":[-0.24099517942577708,-0.19705070371967845,-0.41563592985907888,0.45332014180940633,0.45332014180940633],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15645905851311759,-0.12698825209816555,-0.16000714392565119,-0.040861867122412798],"integral":[0.67451657943118959,0.68567892699859145,0.47866779554824135,0.58193792858471338],"effort":[-0.10579110301312082,0.058078676506462486,0.20549915097010027,0.066962123176700319]}
{"step":3108,"t":15.540000000000001,"command":[-0.24029660467199246,-0.1986010849802555,-0.41469454130281835,0.45313560134785702,0.45313560134785702],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1564534821701935,-0.12691719886037389,-0.15984678217392556,-0.041697908644725779],"integral":[0.67138750978778572,0.68314058302138403,0.47547085990476284,0.58110397041181883],"effort":[-0.1057069767708448,0.057742458216887824,0.20533187320888402,0.066264585815510132]}
{"step":3112,"t":15.56,"command":[-0.2395823323289388,-0.20008808560159874,-0.41374444861310494,0.4529748706811651,0.4529748706811651],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15643896056067108,-0.12684163623930322,-0.15967121380947535,-0.042526759842763107],"integral":[0.66825873057657226,0.68060375029659792,0.47227743562857333,0.58025343521496353],"effort":[-0.10560985537893747,0.057399693964174076,0.20518623346861825,0.065574613379224767]}
{"step":3116,"t":15.58,"command":[-0.23886081555563346,-0.2015102224578241,-0.41278538965173256,0.45283797141681287,0.45283797141681287],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15641554868391472,-0.12676158658816417,-0.15948053120378569,-0.043348392311030937],"integral":[0.66513041960289399,0.67806851856483463,0.46908782500449764,0.57938646736874289],"effort":[-0.10549907383246722,0.057054489207902348,0.20506222835689422,0.06489270407746546]}
{"step":3120,"t":15.6,"command":[-0.23813217187567123,-0.20286975626575021,-0.41181747968125237,0.45272464057856421,0.45272464057856421],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15638330660705435,-0.12667706612467877,-0.159274828422447,-0.044162777444380463],"integral":[0.66200275347075288,0.67553497724234102,0.46590232843604867,0.57850321181985531],"effort":[-0.1053748872891718,0.056706931282224232,0.20495960018699017,0.064218749281846899]}
{"step":3124,"t":15.620000000000001,"command":[-0.23739610485925358,-0.20417338703389856,-0.41083978062732696,0.45263345716999048,0.45263345716999048],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15634229669866473,-0.12658809398808901,-0.15905420439475115,-0.044969895091419687],"integral":[0.6588759075367796,0.67300321536257923,0.46272124434815365,0.57760381391802695],"effort":[-0.10523804865940213,0.056356910602345725,0.2048770465496576,0.063551276686507993]}
{"step":3128,"t":15.640000000000001,"command":[-0.23664942049458532,-0.20541660364222517,-0.40985663721816917,0.4525633688307385,0.4525633688307385],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15629258083696196,-0.12649469603104957,-0.15881876366494385,-0.045769715413682133],"integral":[0.65575005592004032,0.67047332144195826,0.45954486907485476,0.57668841960975326],"effort":[-0.10508922206184648,0.056002948220423052,0.20481360280742705,0.062893241009939455]}
{"step":3132,"t":15.66,"command":[-0.23589112504349122,-0.20660100292176875,-0.40886821482261942,0.45251414613625146,0.45251414613625146],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15623421919948721,-0.12639690237772183,-0.15856861365294161,-0.046562200576391266],"integral":[0.6526253715360506,0.66794538339440379,0.4563734968017959,0.57575717559822548],"effort":[-0.10492859575025819,0.055644622874284011,0.20476905245342072,0.062244621341977488]}
{"step":3136,"t":15.68,"command":[-0.2351210026806132,-0.20773168402788428,-0.40787294191969459,0.45248544384794565,0.45248544384794565],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15616727179172285,-0.12629474441603827,-0.15830386363957372,-0.047347321053238134],"integral":[0.64950202610021612,0.66541948850608301,0.4532074195290044,0.57481022917716074],"effort":[-0.10475639464964365,0.055281885901536924,0.20474307689427235,0.061603942100582898]}
{"step":3140,"t":15.700000000000001,"command":[-0.23434377982048557,-0.20880340364630759,-0.40687505129935181,0.45247674156394024,0.45247674156394024],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15609180506527953,-0.1261882503251166,-0.15802462520529614,-0.048125037428593975],"integral":[0.64638018999891056,0.6628957234995807,0.45004692702489846,0.57384772842858889],"effort":[-0.10457308437206653,0.054917007140552226,0.20473520165632078,0.06097422299778367]}
{"step":3144,"t":15.720000000000001,"command":[-0.23355990539293897,-0.2098203740052379,-0.40587357984875849,0.45248776356038323,0.45248776356038323],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15600789033217488,-0.12607744638331586,-0.15773101180648919,-0.048895307506729435],"integral":[0.64326003219226702,0.66037417457191439,0.44689230678876868,0.57286982227845429],"effort":[-0.10437897608347224,0.054550229407158604,0.20474517617187726,0.060354386735774326]}
{"step":3148,"t":15.74,"command":[-0.23277344176200029,-0.2107798938769683,-0.40487160303257103,0.4525182213568445,0.4525182213568445],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15591560506641411,-0.12596235635455555,-0.15742313828443333,-0.049658083307523082],"integral":[0.64014172009093873,0.65785492744482332,0.44374384402308004,0.5718766606123038],"effort":[-0.1041745893024749,0.05418347518972734,0.20477274065996209,0.059746425639688891]}
{"step":3152,"t":15.76,"command":[-0.23198714117106234,-0.21168205122509057,-0.40387057148166355,0.45256777475322363,0.45256777475322363],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15581503384399475,-0.12584300090091172,-0.15710112095848938,-0.050413308211932462],"integral":[0.63702541941405888,0.65533806742680512,0.44060182160391026,0.57086839444806514],"effort":[-0.10396036465989368,0.053818033668722412,0.20481759074508457,0.059151073849031816]}
{"step":3156,"t":15.780000000000001,"command":[-0.23120105370205352,-0.21253175225195975,-0.40286911526151103,0.45263608965886981,0.45263608965886981],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1557062640574447,-0.12571940060075448,-0.1567650777692462,-0.051160931720345748],"integral":[0.63391129413291003,0.65282367941479003,0.43746652004852532,0.56984517581365823],"effort":[-0.10373663487344054,0.053453927232939832,0.20487942966167244,0.058566889158152141]}
{"step":3160,"t":15.800000000000001,"command":[-0.23041524098550231,-0.21333394030795133,-0.40186608042937255,0.45272130014125106,0.45272130014125106],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15558938467489103,-0.12559157808655197,-0.15641513248002425,-0.051900915629037203],"integral":[0.63079950643941218,0.65031184785305896,0.43433821739892481,0.56880715750107746],"effort":[-0.10350385834349174,0.05309118327840711,0.20495657560158473,0.057992488256175201]}
{"step":3164,"t":15.82,"command":[-0.22962981114733252,-0.21409372319733222,-0.40086061738511669,0.45282090680818582,0.45282090680818582],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1554644873445763,-0.12545955914022389,-0.15605141878546158,-0.052633233376269573],"integral":[0.62769021669252067,0.6478026566702545,0.4312171890232156,0.56775449283355206],"effort":[-0.10326267844143643,0.052729850167559607,0.20504677364258772,0.057426556128940515]}
{"step":3168,"t":15.84,"command":[-0.22884496810297561,-0.21481575269984013,-0.39985187796405358,0.45293457764225453,0.45293457764225453],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15533166613491822,-0.12532337223494161,-0.1556740751738257,-0.053357869287923743],"integral":[0.62458358336982234,0.64529618922555565,0.42810370751973909,0.56668733544779359],"effort":[-0.10301366595968965,0.052370019426051927,0.20514973162396752,0.056867858351690781]}
{"step":3172,"t":15.860000000000001,"command":[-0.22806095255417821,-0.21550447646091586,-0.39883906094956906,0.45306204591922072,0.45306204591922072],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15519101712110484,-0.12518304795831003,-0.15528324106429947,-0.054074817959803734],"integral":[0.62147976302740027,0.64279252826638944,0.42499804269845309,0.56560583908859752],"effort":[-0.10275738795691375,0.052011798079919132,0.20526521745251008,0.056315208582220305]}
{"step":3176,"t":15.880000000000001,"command":[-0.22727808074749933,-0.2161641000211425,-0.39782143186230856,0.4532031068516732,0.4532031068516732],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1550426383968162,-0.12503861886368961,-0.15487905649806999,-0.054784083659990546],"integral":[0.6183789102594639,0.64029175588911569,0.4219004615684917,0.56451015741539767],"effort":[-0.10249440489346397,0.051655325988266824,0.20539305606000913,0.055767486755513462]}
{"step":3180,"t":15.9,"command":[-0.22649684980736526,-0.21679869510639599,-0.39679834201250053,0.45335707895381833,0.45335707895381833],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15488663042237572,-0.12489011941395045,-0.15446166332778644,-0.055485679756374418],"integral":[0.61528117765101642,0.63779395350083667,0.41881122830193596,0.56340044382027021],"effort":[-0.10222529921185269,0.051300822972660177,0.20553264103753865,0.05522362501201665]}
{"step":3184,"t":15.92,"command":[-0.22571774125199756,-0.21741205086326379,-0.3957692104797037,0.45352368977035445,0.45352368977035445],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15472309602357348,-0.12473758584494776,-0.15403120483788557,-0.056179628058058317],"integral":[0.61218671573054495,0.63529920178393773,0.41573060420517827,0.56227685125910909],"effort":[-0.1019506339121492,0.050948498715903727,0.20568373718291669,0.054682634051578805]}
{"step":3188,"t":15.94,"command":[-0.22494132286150267,-0.21800770015803345,-0.39473349649871842,0.45370289987129819,0.45370289987129819],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15455214020021235,-0.12458105586530399,-0.15358782439164731,-0.05686595815921347],"integral":[0.60909567292654065,0.63280758066663167,0.41265884771734535,0.56113953209592482],"effort":[-0.10167094529314939,0.05059859873068278,0.20584632135162523,0.054143587964954373]}
{"step":3192,"t":15.960000000000001,"command":[-0.22416825371505983,-0.21858894805320797,-0.39369070118588351,0.45389472647491641,0.45389472647491641],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15437387007726477,-0.12442056837009985,-0.15313166487934016,-0.057544706858682848],"integral":[0.60600819552499541,0.63031916929922971,0.40959621441975852,0.5599886379587512],"effort":[-0.10138674820562033,0.050251405973659437,0.20602042272173918,0.053605619994612275]}
{"step":3196,"t":15.98,"command":[-0.22339929309275436,-0.2191588621554762,-0.39264036975648137,0.45409923619292419,0.45409923619292419],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1541883948965761,-0.12425616317774901,-0.15266286848783173,-0.058215917579492182],"integral":[0.60292442762706389,0.62783404603567472,0.40654295705000187,0.55882431960716139],"effort":[-0.1010985334118947,0.049907244154342362,0.20620611631099717,0.053067926550611683]}
{"step":3200,"t":16,"command":[-0.22263531380483284,-0.2197202181001518,-0.3915821218454032,0.45431653842129022,0.45431653842129022],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15399582602093087,-0.12408788074844956,-0.15218157650434705,-0.058879639659398686],"integral":[0.59984451110664527,0.62535228842070578,0.40349932551991491,0.55764672681397343],"effort":[-0.10080676619546323,0.049566482952976387,0.20640351708310367,0.052529791953484964]}
{"step":3204,"t":16.02,"command":[-0.22187729162808301,-0.22027552435467271,-0.39051563857238092,0.45454677952658673,0.45454677952658673],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15379627693080211,-0.12391576190714138,-0.15168792915036411,-0.059535927624358109],"integral":[0.59676858556802925,0.62287397318256299,0.4004655669369076,0.55645600826148622],"effort":[-0.10051188529966024,0.049229532540213387,0.20661277477799145,0.051990578669934229]}
{"step":3208,"t":16.039999999999999,"command":[-0.22112630407467712,-0.22082711730691409,-0.38944060687041432,0.45479013215770075,0.45479013215770075],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15358986320792489,-0.12373984757440071,-0.15118206545800428,-0.060184840709988641],"integral":[0.59369678830387074,0.62039917623107499,0.39744192562774749,0.55525231144728648],"effort":[-0.1002143010088391,0.048896842353726572,0.20683406430801893,0.051449685270757509]}
{"step":3212,"t":16.059999999999999,"command":[-0.22038352722351623,-0.22137707820286537,-0.38835677383457351,0.45504679406934279,0.45504679406934279],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15337670251778457,-0.12356017851076362,-0.1506641231682635,-0.060826442314494855],"integral":[0.59062925425351509,0.61792797266085975,0.3944286431643822,0.55403578260099662],"effort":[-0.099914397268417818,0.048568899071478315,0.20706758479278686,0.05090658651478025]}
{"step":3216,"t":16.080000000000002,"command":[-0.21965023399818973,-0.22192739831777111,-0.38726403955771571,0.45531669849175832,0.45531669849175832],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15315691485288463,-0.12337679536119173,-0.15013423940896908,-0.061460799340227745],"integral":[0.58756611595645736,0.61546043675363593,0.39142595837620281,0.55280656661419203],"effort":[-0.099612603229327315,0.048246225295459501,0.20731329592543474,0.050360833105232677]}
{"step":3220,"t":16.100000000000001,"command":[-0.21892779095519524,-0.22247972285396825,-0.38616233775767139,0.45559993661007925,0.45559993661007925],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15293062254059819,-0.12318973845661407,-0.14959255069911492,-0.062087981491036226],"integral":[0.5845075035056454,0.61299664198450365,0.3884341073622205,0.55156480698437127],"effort":[-0.099309289091824196,0.047929377652521671,0.20757130223910825,0.049812062010645669]}
{"step":3224,"t":16.120000000000001,"command":[-0.21821682623321534,-0.22303540373810482,-0.38505183404465343,0.45589542617889023,0.45589542617889023],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15269794971967654,-0.12299904869585854,-0.14903919597595117,-0.062708060226031259],"integral":[0.58145354451125186,0.61053666101058646,0.3854533234427015,0.55031064577985067],"effort":[-0.099004853110885388,0.047618583251297295,0.20784063961083193,0.049260061790265972]}
{"step":3228,"t":16.140000000000001,"command":[-0.21751882759875729,-0.22359558922758394,-0.38393264597471938,0.45620328597003862,0.45620328597003862],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15245902246938758,-0.12280476693529141,-0.14847431517596243,-0.063321108161154105],"integral":[0.57840436406186413,0.60808056567188062,0.38248383713918227,0.54904422361662764],"effort":[-0.098699632083589839,0.047314440359937891,0.20812143812986084,0.048704644561559388]}
{"step":3232,"t":16.16,"command":[-0.21683538975273756,-0.2241611582630775,-0.38280497437741912,0.45652374321337252,0.45652374321337252],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15221396901916862,-0.12260693307023884,-0.14789804690150943,-0.063927198531995355],"integral":[0.57536008468148081,0.60562842701047581,0.37952587620115208,0.54776567964598777],"effort":[-0.0983939366409705,0.047017586249221602,0.2084139281175493,0.048145711767126023]}
{"step":3236,"t":16.18,"command":[-0.21616811532726843,-0.2247327332521927,-0.38166912497539945,0.45685701149851859,0.45685701149851859],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15196291966321507,-0.12240558590694683,-0.14731052828651992,-0.064526404441418106],"integral":[0.57232082628821646,0.60318031529233684,0.37657966563542167,0.54647515155715942],"effort":[-0.09808806117724414,0.046728654084143222,0.20871832895535755,0.04758325978224294]}
{"step":3240,"t":16.199999999999999,"command":[-0.21551859776137866,-0.225310675407354,-0.38052550757147452,0.45720329537671084,0.45720329537671084],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15170600662455391,-0.12220076312903205,-0.14671189505572624,-0.065118798095377017],"integral":[0.56928670615572541,0.6007363000297562,0.37364542773430715,0.5451727755952519],"effort":[-0.097782281182523176,0.046448265981030926,0.20903485330332389,0.047017380730005137]}
{"step":3244,"t":16.219999999999999,"command":[-0.21488839400933749,-0.22589556263793031,-0.37937490993931244,0.45756184330704691,0.45756184330704691],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1514433646679767,-0.12199250216156288,-0.14610228414505499,-0.065704450069250075],"integral":[0.56625783886236591,0.59829644998652498,0.37072338205140604,0.54385868659386694],"effort":[-0.097477063755484261,0.046177021879912274,0.20936284045054254,0.046448258535977158]}
{"step":3248,"t":16.240000000000002,"command":[-0.21427902387422101,-0.22648816859375648,-0.37821849338286218,0.45793115332804846,0.45793115332804846],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15117513208749456,-0.12178084148478097,-0.14548183726899966,-0.066283428595198757],"integral":[0.56323433622061603,0.59586083315682936,0.36781374530602606,0.54253301802196296],"effort":[-0.097173059624878017,0.045915500072488985,0.20970094118835664,0.045876169111924159]}
{"step":3252,"t":16.260000000000002,"command":[-0.21369192034456455,-0.22708831691675799,-0.37705708079487965,0.45831131417712534,0.45831131417712534],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15090144961056184,-0.12156581973610425,-0.14485069776125581,-0.066855798901883756],"integral":[0.56021630722840476,0.59342951676210731,0.36491673135080094,0.54119590204392531],"effort":[-0.096870572928821161,0.045664236820547724,0.21004926070276367,0.045301469248735252]}
{"step":3256,"t":16.280000000000001,"command":[-0.2131284056544317,-0.22769562354398065,-0.37589158911003634,0.45870240101185444,0.45870240101185444],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15062245935200824,-0.12134747495364362,-0.14420900799779623,-0.067421622605004616],"integral":[0.55720385804136463,0.59100256726303446,0.36203255119084499,0.53984746959182517],"effort":[-0.096569891872375288,0.045423717296799997,0.21040789269404014,0.044724594891293129]}
{"step":3260,"t":16.300000000000001,"command":[-0.21258967425945002,-0.22830953333224696,-0.37472301037956363,0.45910447491061229,0.45910447491061229],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15033830451823782,-0.12112584469368515,-0.14355690946722977,-0.067980957191444591],"integral":[0.55419709195099986,0.58858005036916072,0.3591614130015004,0.5384878504479963],"effort":[-0.096271288759155471,0.045194369601739066,0.21077691888294905,0.044146045748767085]}
{"step":3264,"t":16.32,"command":[-0.2120767781551906,-0.22892934080429903,-0.3735524040216569,0.45951758116833524,0.45951758116833524],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.15004912909715484,-0.12090096616588819,-0.14289454284574665,-0.068533855593580717],"integral":[0.55119610936905672,0.58616203104584297,0.35630352214458544,0.53711717333612463],"effort":[-0.095975020815725037,0.044976559832685926,0.21115640740279756,0.043566377734634149]}
{"step":3268,"t":16.34,"command":[-0.2115679228823022,-0.22953707690836245,-0.37239116054897625,0.45994175083945993,0.45994175083945993],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14975505481338236,-0.12067289560587269,-0.14222204830547636,-0.069080327065911717],"integral":[0.54820100827278906,0.58374857313372552,0.35345908117847591,0.53573556679480638],"effort":[-0.09568122306532445,0.044760985992731768,0.21154641416526782,0.042993953389688949]}
{"step":3272,"t":16.359999999999999,"command":[-0.21106200342758952,-0.23013248523351132,-0.37123956978936995,0.46037702860726648,0.46037702860726648],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14945618784002823,-0.12044170116169384,-0.14153956551568081,-0.06962035529554389],"integral":[0.54521188451598845,0.58133973911049164,0.3506282898681623,0.53434315968889545],"effort":[-0.095389889468574393,0.044547169290867814,0.21194700846925585,0.042428928708822089]}
{"step":3276,"t":16.379999999999999,"command":[-0.21055919039693344,-0.23071627448355583,-0.37009731559635423,0.46082344374685108,0.46082344374685108],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14915263238096577,-0.12020745055350268,-0.14084723356701501,-0.070153925569668929],"integral":[0.54222883186836912,0.57893559009942164,0.347811345196822,0.53294008117750202],"effort":[-0.095101011161599441,0.044335172660612071,0.21235824630670724,0.041871011850027964]}
{"step":3280,"t":16.399999999999999,"command":[-0.21005926487068863,-0.23128925115096433,-0.36896420290930837,0.46128100581024112,0.46128100581024112],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14884449126157628,-0.11997021097132676,-0.1401451909993634,-0.070681025999466462],"integral":[0.53925194204313764,0.57653618587999511,0.34500844137683473,0.53152646065751274],"effort":[-0.094814650363237565,0.044124894758014122,0.2127801663213077,0.041319932665263709]}
{"step":3284,"t":16.420000000000002,"command":[-0.20956181733125401,-0.23185246444611429,-0.36784019234130322,0.46174860378456895,0.46174860378456895],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14853186621355974,-0.11973005020265282,-0.13943357893436037,-0.071201647436028082],"integral":[0.53628130471886648,0.57414158487594202,0.3422197697981475,0.53010242770879223],"effort":[-0.094530986185711818,0.043916155283177868,0.21321177309699882,0.040775420915975122]}
{"step":3288,"t":16.440000000000001,"command":[-0.20906711375329753,-0.23240665146422718,-0.36672508932756109,0.46222570877865765,0.46222570877865765],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1482148583023517,-0.11948703598485277,-0.13871254131313426,-0.071715783362534702],"integral":[0.53331700755281941,0.57175184415624491,0.3394455189718848,0.52866811204154152],"effort":[-0.094250071393561216,0.043709058053134249,0.21365260585593243,0.040237219748746444]}
{"step":3292,"t":16.460000000000001,"command":[-0.20857538718514351,-0.23295242795865748,-0.36561868968808048,0.46271231903549875,0.46271231903549875],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14789356781126806,-0.11924123515299145,-0.13798222240145686,-0.072223429691664065],"integral":[0.53035913619659403,0.56936701945318513,0.33668587452385568,0.52722364344770822],"effort":[-0.093971929970531207,0.043503692139432532,0.21410269018720918,0.039705096278697699]}
{"step":3296,"t":16.48,"command":[-0.20808685399872784,-0.23349033865821314,-0.36452081661844038,0.46320842419888414,0.46320842419888414],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1475680940822035,-0.1189927135448825,-0.13724276589879558,-0.07272458453257058],"integral":[0.52740777431495001,0.56698716518228753,0.33394101920587976,0.52576915175705685],"effort":[-0.093696581997450845,0.043300138807087871,0.21456204424881339,0.03917884375072378]}
{"step":3300,"t":16.5,"command":[-0.20760167034019306,-0.23402084504541482,-0.36343133048533754,0.4637140073982679,0.4637140073982679],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14723853544085719,-0.11874153605863058,-0.13649431495887443,-0.073219247922948538],"integral":[0.52446300360613285,0.56461233446111492,0.33121113290670229,0.52430476679859783],"effort":[-0.093424043947056334,0.043098453528038191,0.21503068065736086,0.038658288031286285]}
{"step":3304,"t":16.52,"command":[-0.2071200001782596,-0.23454435803049284,-0.36235010477457669,0.46422904285893435,0.46422904285893435],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14690498916093486,-0.11848776666923833,-0.13573701221380929,-0.073707421626339253],"integral":[0.52152490382291417,0.56224257912773012,0.32849639266242608,0.52283061836607103],"effort":[-0.093154327157041347,0.042898694473842258,0.21550860423372231,0.038143271273105336]}
{"step":3308,"t":16.539999999999999,"command":[-0.20664201043961436,-0.23506123943113852,-0.36127703069470318,0.46475349699676827,0.46475349699676827],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14656755146649214,-0.11823146841692234,-0.134970999798532,-0.074189108973809037],"integral":[0.51859355279358432,0.55987794975939165,0.32579697266645546,0.52134683618659483],"effort":[-0.09288743959524226,0.042700920478525695,0.21599581297072507,0.037633653312339227]}
{"step":3312,"t":16.559999999999999,"command":[-0.20616784773166391,-0.23557179669827011,-0.36021202163078525,0.46528732472959666,0.46528732472959666],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1462263175126981,-0.11797270342165356,-0.13419641938357474,-0.074664314688781763],"integral":[0.51566902644333035,0.55751849569095857,0.32311304427878396,0.51985354989281918],"effort":[-0.09262338596349419,0.042505181438306554,0.21649229455402513,0.037129314563843087]}
{"step":3316,"t":16.580000000000002,"command":[-0.20569763319039924,-0.2360762974425944,-0.35915500397322891,0.46583047517161669,0.46583047517161669],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14588138134754969,-0.11771153291192626,-0.13341341219800995,-0.075133044738677879],"integral":[0.51275139881637932,0.55516426503272009,0.32044477603482374,0.5183508889980456],"effort":[-0.092362167546607199,0.042311516300132038,0.21699803159861419,0.036630149332402898]}
{"step":3320,"t":16.600000000000001,"command":[-0.20523146496270464,-0.23657496410122353,-0.35810592492050403,0.46638288149420587,0.46638288149420587],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14553283587877131,-0.11744801725853282,-0.13262211907114674,-0.075595306187826061],"integral":[0.50984074209880392,0.55281530468754947,0.31779233365340082,0.51683898287428909],"effort":[-0.092103783551332447,0.042119954210737859,0.21751299215083847,0.036136069911837251]}
{"step":3324,"t":16.620000000000001,"command":[-0.20476941777678503,-0.23706798023256898,-0.35706474398779436,0.46694446773261838,0.46694446773261838],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14518077283979691,-0.11718221600318635,-0.13182268047250867,-0.076051107062334533],"integral":[0.50693712664200796,0.55047166036748574,0.31515588004395062,0.51531796073304237],"effort":[-0.091848229325309422,0.041930514456643524,0.21803713594609828,0.035647002073759711]}
{"step":3328,"t":16.640000000000001,"command":[-0.20431154217557232,-0.23755549866706571,-0.35603143442602864,0.46751515790738268,0.46751515790738268],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14482528275583562,-0.11691418788764296,-0.1310152365131354,-0.076500456237057368],"integral":[0.50404062098689129,0.54813337660973283,0.31253557531368792,0.51378795160830126],"effort":[-0.0915954986232069,0.041743206266160668,0.21857042287316497,0.035162883676248646]}
{"step":3332,"t":16.66,"command":[-0.20385786520788554,-0.23803763810119241,-0.35500597727989081,0.46809486532118078,0.46809486532118078],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14446645490765242,-0.11664399087762245,-0.13019992696295724,-0.076943363334431081],"integral":[0.50115129188873819,0.54580049679218035,0.30993157677442879,0.51224908434161265],"effort":[-0.091345580528622308,0.041558029207116431,0.21911280294005439,0.03468366337582806]}
{"step":3336,"t":16.68,"command":[-0.20340838911510542,-0.23851449354382792,-0.35398836555431701,0.46868349572611689,0.46868349572611689],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14410437730145187,-0.11637168219361604,-0.1293768912767046,-0.077379838633272247],"integral":[0.49826920434270916,0.54347306314830801,0.30734403894889467,0.51070148756894718],"effort":[-0.091098463289142756,0.041374972762402137,0.21966421916605305,0.034209299658674031]}
{"step":3340,"t":16.699999999999999,"command":[-0.20296310274554336,-0.23898614362651224,-0.35297860543873111,0.46928093732874993,0.46928093732874993],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14373913666320104,-0.11609731834761461,-0.12854626864116314,-0.07780989298814156],"integral":[0.49539442160944513,0.54115111678135575,0.3047731135760714,0.50914528970918438],"effort":[-0.090854136371471675,0.041194021076097986,0.22022459814015014,0.033739759525999731]}
{"step":3344,"t":16.719999999999999,"command":[-0.20252196749314869,-0.23945264102265607,-0.35197669995772707,0.46988708472138507,0.46988708472138507],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14337081840394039,-0.11582095515898883,-0.1277081979737229,-0.078233537770962869],"integral":[0.49252700524136633,0.53883469767817593,0.30221894961659695,0.50758061895376516],"effort":[-0.090612582302928416,0.041015147317295969,0.22079387238796214,0.033275015010203426]}
{"step":3348,"t":16.740000000000002,"command":[-0.20208493159526628,-0.23991402105564372,-0.35098266067109257,0.47050182603357088,0.47050182603357088],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14299950659449001,-0.11554264776847667,-0.12686281791614684,-0.078650784813234509],"integral":[0.48966701510947652,0.53652384472280645,0.29968169325827404,0.50600760325750049],"effort":[-0.090373782795423574,0.040838319577863449,0.22137196830092462,0.032815045296335721]}
{"step":3352,"t":16.760000000000002,"command":[-0.20165192175358193,-0.24037030308067642,-0.34999649892419415,0.47112504454367748,0.47112504454367748],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14262528394476814,-0.11526245065563101,-0.12601026684584449,-0.079061646359489646],"integral":[0.48681450943058113,0.53421859570969388,0.29716148792135716,0.50442637033031068],"effort":[-0.090137715931144835,0.04066349754691273,0.22195880759628209,0.032359833328048593]}
{"step":3356,"t":16.780000000000001,"command":[-0.20122285225101685,-0.240821493608983,-0.34901823307714624,0.47175661811254954,0.47175661811254954],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14224823179166024,-0.11498041765717981,-0.12515068288537901,-0.079466135022416062],"integral":[0.48396954479474791,0.5319189873565503,0.29465847426364961,0.50283704762986237],"effort":[-0.089904359402177308,0.040490636268034563,0.22255430673298993,0.031909367618115872]}
{"step":3360,"t":16.800000000000001,"command":[-0.20079762100542384,-0.24126759492393182,-0.34804788080094662,0.472396420690958,0.472396420690958],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1418684300919717,-0.11469660198737786,-0.12428420390814399,-0.07986426375703648],"integral":[0.48113217619290849,0.52962505531680271,0.29217279018548675,0.50123976235472167],"effort":[-0.089673689845204199,0.040319684601437825,0.22315837828162857,0.031463637484825745]}
{"step":3364,"t":16.82,"command":[-0.20037610955347479,-0.24170859022023936,-0.34708546168541676,0.47304432154137216,0.47304432154137216],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1414859574052616,-0.11441105625011594,-0.12341096754532277,-0.08025604582675594],"integral":[0.47830245704480323,0.52733683419180044,0.28970457083458029,0.49963464143818653],"effort":[-0.089445680149817255,0.040150585279786127,0.22377093014253707,0.031022637563561661]}
{"step":3368,"t":16.84,"command":[-0.19995819084638355,-0.24214446099621637,-0.34613099888175941,0.47370018572433364,0.47370018572433364],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.14110089089287392,-0.1141238324541225,-0.12253111119146887,-0.080641494774406519],"integral":[0.47548043922694577,0.52505435754271801,0.28725394861075093,0.49802181154269842],"effort":[-0.089220304189016331,0.03998327808655875,0.22439186595526819,0.030586364197868185]}
{"step":3372,"t":16.859999999999999,"command":[-0.19952702331819233,-0.24257215721581557,-0.34518279299163984,0.47436391557684976,0.47436391557684976],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1407132870529304,-0.11383499125636942,-0.1216447726011296,-0.081020623607199416],"integral":[0.47266617348588719,0.52277765771759066,0.28482105315872835,0.49640139907055442],"effort":[-0.088996206016921806,0.039811033034218471,0.22502112440140065,0.030154954560587456]}
{"step":3376,"t":16.879999999999999,"command":[-0.1990824058374491,-0.24299206383054872,-0.34424043570094326,0.47503538424917213,0.47503538424917213],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1403231896001933,-0.1135445979541998,-0.12075208959160033,-0.081393446320559115],"integral":[0.4698597096938833,0.52050676575850663,0.28240601136689636,0.49477353014414321],"effort":[-0.088773310328102359,0.039633804314026785,0.22565861628875861,0.029728167243472894]}
{"step":3380,"t":16.899999999999999,"command":[-0.19862439754603078,-0.24340458108696464,-0.34330357369661507,0.47571446099263986,0.47571446099263986],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1399306414682886,-0.11325271663079217,-0.11985319964055652,-0.08175997900706522],"integral":[0.46706109686451752,0.51824171142589082,0.28000894737408522,0.49313833056400191],"effort":[-0.088551566903493972,0.03945165130052368,0.22630424839751787,0.029305776809373234]}
{"step":3384,"t":16.920000000000002,"command":[-0.19815309052872815,-0.24381008884551564,-0.34237187810277042,0.47640100805939073,0.47640100805939073],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13953568506197289,-0.11295941008069188,-0.11894823988867476,-0.082120239712617393],"integral":[0.46427038316327807,0.51598252322427696,0.27762998257631172,0.49149592576974954],"effort":[-0.08833093116923825,0.039264647286086328,0.22695792048000368,0.028887571746380021]}
{"step":3388,"t":16.940000000000001,"command":[-0.19766859344034268,-0.24420893846349931,-0.34144505210138543,0.47709488663500282,0.47709488663500282],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13913836233021248,-0.11266473982364267,-0.11803734713712322,-0.082474248277011997],"integral":[0.46148761591667381,0.51372922842780411,0.27526923563356925,0.4898464408042093],"effort":[-0.088111364614993512,0.039072872832683486,0.22761953085326622,0.028473358989524321]}
{"step":3392,"t":16.960000000000001,"command":[-0.19717104149329645,-0.2446014561130683,-0.34052282617166596,0.47779595616039949,0.47779595616039949],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13873871483506428,-0.11236876611541136,-0.11712065783741954,-0.082822026175366714],"integral":[0.4587128416199725,0.51148185310549588,0.27292682247682087,0.48819000028070197],"effort":[-0.087892833738285964,0.038876419603551232,0.22828897572323037,0.028062961405652682]}
{"step":3396,"t":16.98,"command":[-0.19666058368782371,-0.24498795183733313,-0.33960494956228537,0.47850406806321594,0.47850406806321594],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13833678381020009,-0.11207154796118046,-0.11619830810222265,-0.083163596394765893],"integral":[0.4559461059437685,0.5092404221462723,0.27060285631477643,0.48652672835280664],"effort":[-0.08767530915632693,0.038675385176435512,0.22896614315304678,0.027656212610875468]}
{"step":3400,"t":17,"command":[-0.19613731320538397,-0.24536869680795831,-0.33869119724865532,0.47921907466617492,0.47921907466617492],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13793261013486147,-0.11177314317649523,-0.11527043370351642,-0.083498983288271322],"integral":[0.45318745374107128,0.50700495928274236,0.26829744764070612,0.48485674868704121],"effort":[-0.087458762233481646,0.038469845631426886,0.22965092152390496,0.027252964860245879]}
{"step":3404,"t":17.02,"command":[-0.19560140291598552,-0.24574395526705009,-0.33778136382821367,0.47994082607451122,0.47994082607451122],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13752623440396006,-0.11147360838424136,-0.11433717006233968,-0.08382821245704386],"integral":[0.4504369290529921,0.50477548711505749,0.26601070423945933,0.48318018443790034],"effort":[-0.087243170649970975,0.038259908822701708,0.23034319653308424,0.02685307909967706]}
{"step":3408,"t":17.039999999999999,"command":[-0.19505304255465875,-0.24611396797711022,-0.33687526557594305,0.48066916811411858,0.48066916811411858],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13711769701416365,-0.11117299899819089,-0.11339865225060253,-0.084151310640225407],"integral":[0.44769457511270883,0.50255202713509362,0.2637427311944473,0.48149715822509581],"effort":[-0.087028514895150094,0.038045689409829511,0.23104284917551882,0.026456429661712064]}
{"step":3412,"t":17.059999999999999,"command":[-0.19449242858441942,-0.2464791111140775,-0.33597284487754669,0.48140375653050327,0.48140375653050327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13670703843617349,-0.11087136951622623,-0.11245501551584081,-0.084468305613119576],"integral":[0.44496043434398536,0.50033459974476913,0.26149363088413047,0.47980779211283342],"effort":[-0.086814852355348901,0.037827304776665488,0.23174957680168007,0.026062900139763145]}
{"step":3416,"t":17.080000000000002,"command":[-0.1939197689172428,-0.24683972904524928,-0.33507406182736615,0.48214425361038032,0.48214425361038032],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13629429937304072,-0.11056877368537021,-0.11150639556672459,-0.084779226078007364],"integral":[0.44223454835652454,0.4981232242710617,0.25926350297279599,0.47811220759127326],"effort":[-0.086602239372310846,0.037604876776916846,0.23246308128951074,0.025672387537178765]}
{"step":3420,"t":17.100000000000001,"command":[-0.19333527673062578,-0.24719618514473779,-0.33417900964258135,0.48289050355401064,0.48289050355401064],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13587952085699695,-0.11026526460890707,-0.11055292798378291,-0.085084101421846525],"integral":[0.43951695793938461,0.49591791897888354,0.25705244441312031,0.47641052556283631],"effort":[-0.086390782217903972,0.037378529228507651,0.23318323842264599,0.025284828267792485]}
{"step":3424,"t":17.120000000000001,"command":[-0.19273915554250184,-0.24754871676919329,-0.33328763914977572,0.48364235647168963,0.48364235647168963],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13546274408476511,-0.10996089457715175,-0.10959474788987533,-0.085382961671739088],"integral":[0.43680770305768929,0.49371870108734051,0.25486054945532283,0.47470286632940151],"effort":[-0.08618050879205269,0.037148382079236715,0.23390992897348892,0.024900141617978412]}
{"step":3428,"t":17.140000000000001,"command":[-0.19213161776883381,-0.24789749297973196,-0.33239982885280017,0.48439966482028551,0.48439966482028551],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13504401018582946,-0.10965571479790626,-0.10863198996480783,-0.085675837565535873],"integral":[0.43410682285397267,0.49152558679138236,0.25268790965602667,0.4729893495780908],"effort":[-0.085971406623503555,0.036914558546469259,0.23464303527800492,0.024518239597867302]}
{"step":3432,"t":17.16,"command":[-0.19151288114903756,-0.24824266461322489,-0.33151546563305528,0.48516227858871341,0.48516227858871341],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13462336016713894,-0.10934977532222456,-0.10766478845121963,-0.085962760523193404],"integral":[0.43141435565062991,0.4893385912849379,0.25053461388700227,0.47127009436762696],"effort":[-0.085763462244087763,0.036677183646005383,0.23538243656539237,0.024139041709813708]}
{"step":3436,"t":17.18,"command":[-0.19088316547502912,-0.2485843698005171,-0.3306344483985042,0.48593005306173653,0.48593005306173653],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13420083492134394,-0.10904312505662728,-0.10669327713390997,-0.086243762576998062],"integral":[0.42873033895220303,0.48715772878380537,0.24840074834432407,0.46954521911608699],"effort":[-0.085556663688451676,0.036436382861767348,0.23612801646858209,0.023762474779331445]}
{"step":3440,"t":17.199999999999999,"command":[-0.19024270471592644,-0.24892273182899921,-0.32975668748649906,0.48670284021238003,0.48670284021238003],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13377647524638947,-0.10873581177087921,-0.10571758933101005,-0.086518876301672654],"integral":[0.42605480944727525,0.48498301254838777,0.24628639655770387,0.46781484159005354],"effort":[-0.085350999681640241,0.036192286697631179,0.23687965467079752,0.02338847326042838]}
{"step":3444,"t":17.219999999999999,"command":[-0.18959173188964584,-0.24925786656093965,-0.32888209920521927,0.48748049187195025,0.48748049187195025],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.133350321856333,-0.10842788211089549,-0.10473785789175993,-0.086788134762686098],"integral":[0.42338780301014861,0.48281445490616987,0.24419163939986868,0.46607907889479983],"effort":[-0.085146459610071445,0.035945024800915354,0.23763722995571857,0.023016975567560244]}
{"step":3448,"t":17.240000000000002,"command":[-0.18893048282181379,-0.24958987074076086,-0.32801061257168102,0.48826286170476718,0.48826286170476718],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13292241538385152,-0.10811938161248547,-0.10375421518326711,-0.087051571450588616],"integral":[0.42072935470247158,0.48065206727392018,0.24211655509620333,0.46433804746578805],"effort":[-0.084943032768019566,0.03569472733928368,0.23840062212012858,0.022647929191629855]}
{"step":3452,"t":17.260000000000002,"command":[-0.18825920378620375,-0.24991883425837455,-0.32714216185793504,0.48904980444205681,0.48904980444205681],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13249279639132183,-0.10781035470792077,-0.10276679307623082,-0.087309220228334761],"integral":[0.41807949877464512,0.47849586017976176,0.24006121923467871,0.46259186306122135],"effort":[-0.084740708891074129,0.035441527810215395,0.23916971122481404,0.022281285174009235]}
{"step":3456,"t":17.280000000000001,"command":[-0.18757814658186056,-0.25024483516871637,-0.32627669423071409,0.48984117191740795,0.48984117191740795],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1320615053859886,-0.10750084473895138,-0.10177572294365334,-0.087561115277337898],"integral":[0.41543826866692535,0.47634584328498275,0.23802570477580565,0.4608406407556746],"effort":[-0.084539479363370473,0.035185561075085962,0.23994437370541963,0.021917001834752439]}
{"step":3460,"t":17.300000000000001,"command":[-0.18688755898617843,-0.25056794622193646,-0.32541415924568684,0.49063682161177335,0.49063682161177335],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1316285828189161,-0.10719089397428316,-0.10078113564175695,-0.087807291058339731],"integral":[0.41280569701054703,0.47420202540549711,0.2360100820629705,0.45908449493450781],"effort":[-0.08433933535572824,0.034926959703812321,0.24072449072130311,0.021555039681849006]}
{"step":3464,"t":17.32,"command":[-0.1861877025365995,-0.25088823746101935,-0.32455451080699099,0.49143660745058865,0.49143660745058865],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13119406909558795,-0.10688054361960653,-0.0997831615034519,-0.088047782288089294],"integral":[0.41018181562863526,0.47206441453310499,0.23401441883290147,0.45732353928874603],"effort":[-0.084140269090731024,0.034665860575857257,0.24150993914254398,0.021195361394434196]}
{"step":3468,"t":17.34,"command":[-0.18547882154585082,-0.25120581645075557,-0.32369775502203851,0.49224038326261188,0.49224038326261188],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13075800463776543,-0.10656983392610564,-0.098781930326679035,-0.088282623891438039],"integral":[0.40756665553587995,0.46993301785458286,0.2320387802263679,0.45555788681091725],"effort":[-0.083942299412499186,0.034402393242037581,0.24230059491452302,0.020837937193808484]}
{"step":3472,"t":17.359999999999999,"command":[-0.18476116835912126,-0.2515207726486573,-0.32284387750767329,0.49304800494532236,0.49304800494532236],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.13032042989023807,-0.10625880422148848,-0.097777571360546656,-0.08851185098493497],"integral":[0.4049602469380752,0.46780784177015311,0.23008322879915696,0.45378764979121855],"effort":[-0.083745434158983556,0.034136689333427554,0.24309633518056262,0.020482735085206014]}
{"step":3476,"t":17.379999999999999,"command":[-0.18403501027126212,-0.25183315326854688,-0.32199284614602269,0.49385933054409331,0.49385933054409331],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1298813852733014,-0.10594749283706539,-0.096770213299884222,-0.088735498852635875],"integral":[0.40236261923260919,0.46568889191341178,0.22814782453315927,0.45201293981416585],"effort":[-0.083549665027197823,0.033868885005543553,0.24389703836546001,0.020129727942018408]}
{"step":3480,"t":17.400000000000002,"command":[-0.18330061693379426,-0.25214300341953183,-0.3211446341725393,0.49467421685438384,0.49467421685438384],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12944091116698142,-0.1056359370889477,-0.095759984283420696,-0.088953602914778052],"integral":[0.39977380100926957,0.46357617317163285,0.22623262484749085,0.45023386775587027],"effort":[-0.083354985115618063,0.033599116168309587,0.24470258082049795,0.01977889094219603]}
{"step":3484,"t":17.420000000000002,"command":[-0.18255826317939389,-0.25245036158497747,-0.32029921975615316,0.49549252290940848,0.49549252290940848],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12899904791490213,-0.1053241732920589,-0.094747011883512311,-0.089166198700268429],"integral":[0.39719382005097154,0.46146968970579166,0.22433768460982059,0.44845054378186489],"effort":[-0.083161387620393185,0.033327519455076837,0.24551284025913067,0.019430202556007321]}
{"step":3488,"t":17.440000000000001,"command":[-0.18180823132455476,-0.25275526127964015,-0.31945658447771347,0.49631410637797047,0.49631410637797047],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12855583582918251,-0.1050122367689732,-0.093731423101138134,-0.089373321821113905],"integral":[0.39462270333438787,0.45936944497041221,0.22246305614779782,0.44666307734544258],"effort":[-0.082968865735352823,0.033054232977362812,0.24632769218976336,0.019083643630813642]}
{"step":3492,"t":17.460000000000001,"command":[-0.18105079934624588,-0.25305773278038729,-0.31861671361877297,0.49713882991300246,0.49713882991300246],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12811131518605601,-0.1047001618668868,-0.092713344348134719,-0.08957500795168627],"integral":[0.39206047703066677,0.45727544173307449,0.22060878926083513,0.44487157718640885],"effort":[-0.082777413158588539,0.032779391943914583,0.24714701620726917,0.018739197038638647]}
{"step":3496,"t":17.48,"command":[-0.18028625436174553,-0.25335780322505574,-0.31777959247507664,0.49796655332419709,0.49796655332419709],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1276655262253692,-0.10438798196829691,-0.091692901442415042,-0.089771292815242543],"integral":[0.38950716650615941,0.45518768209370858,0.21877493123198682,0.44307615133010397],"effort":[-0.082587022924325917,0.032503133511788004,0.2479706882295804,0.018396846469299854]}
{"step":3500,"t":17.5,"command":[-0.17951489029696205,-0.25365557842524089,-0.31694528257723875,0.4987970124593778,0.4987970124593778],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12721850929932166,-0.1040757296682997,-0.090670219970523824,-0.08996221215857203],"integral":[0.386962796320173,0.4531061675003426,0.21696152683257636,0.44127690708693251],"effort":[-0.082397732307104621,0.032225595838330318,0.24879845963840069,0.018056579840861085]}
{"step":3504,"t":17.52,"command":[-0.17873700410931245,-0.25395122331831838,-0.31611389605786183,0.49962991056225919,0.49962991056225919],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12677030504549602,-0.10376343699170909,-0.089645425585747063,-0.090147801735609212],"integral":[0.38442739021926309,0.45103089876050845,0.21516861832086143,0.43947395105222031],"effort":[-0.08220960955287554,0.031946916637972375,0.24963004752845111,0.017718385728005118]}
{"step":3508,"t":17.539999999999999,"command":[-0.17795288926542002,-0.25424490471496525,-0.3152855467513187,0.5004651161631799,0.5004651161631799],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12632095439174695,-0.1034511354302019,-0.088618643543651565,-0.090328097308138178],"integral":[0.38190097113142812,0.44896187605190441,0.21339624544998839,0.43766738910605757],"effort":[-0.08202272378189987,0.031667230797910839,0.25046533249622516,0.017382252208378114]}
{"step":3512,"t":17.559999999999999,"command":[-0.17716284099430471,-0.25453683833990254,-0.31446038918351238,0.50130249793048953,0.50130249793048953],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12587049858850374,-0.10313885600898165,-0.087589998381218948,-0.090503134648397543],"integral":[0.37938356115965804,0.44689909893172475,0.21164444548236402,0.43585732641308961],"effort":[-0.081837169218759886,0.031386672229173296,0.25130419443134844,0.017048167146686194]}
{"step":3516,"t":17.580000000000002,"command":[-0.1763671618018979,-0.2548270329064537,-0.31363841583670032,0.50214192912626865,0.50214192912626865],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12541897896891374,-0.10282662900999662,-0.08655961394126388,-0.090672949525043123],"integral":[0.37687518158027977,0.4448425663515248,0.20991325320353874,0.43404386742258877],"effort":[-0.081652936294230899,0.031105375762056839,0.25214651698665064,0.01671611959432405]}
{"step":3520,"t":17.600000000000001,"command":[-0.17556615524647687,-0.25511549314945642,-0.31281962216823145,0.50298328590201169,0.50298328590201169],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12496643677953312,-0.10251448378490702,-0.085527613380527168,-0.090837577683093751],"integral":[0.37437585284468911,0.44279227667582666,0.20820270093592819,0.43222711586892687],"effort":[-0.08147001542918271,0.030823474868030019,0.25299218589678485,0.016386100584292369]}
{"step":3524,"t":17.620000000000001,"command":[-0.17476012540317548,-0.25540221996393025,-0.31200400153658991,0.50382644589117698,0.50382644589117698],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1245129131699878,-0.10220244876614792,-0.084494119157420222,-0.090997054834075497],"integral":[0.37188559458128934,0.4407482277005037,0.20651281855277978,0.43040717477224538],"effort":[-0.081288395468674113,0.03054110143093362,0.25384108757933505,0.016058101506170298]}
{"step":3528,"t":17.640000000000001,"command":[-0.17394938398149767,-0.25568721577701886,-0.31119154788144626,0.50467128795616878,0.50467128795616878],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12405844919179154,-0.10189055147760229,-0.083459253022788449,-0.091151416653772133],"integral":[0.36940442559745351,0.43871041667095168,0.20484363349232401,0.42858414643916992],"effort":[-0.081108065892327136,0.03025838818754252,0.2546931088873382,0.015732113580523326]}
{"step":3532,"t":17.66,"command":[-0.17313424244329545,-0.25597047594287481,-0.31038226124080881,0.50551769274698788,0.50551769274698788],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12360308579600332,-0.10157881855040296,-0.082423136009234899,-0.091300698762112442],"integral":[0.36693236388153344,0.43667884029994364,0.20319517077213931,0.42675813246392769],"effort":[-0.080929016323689776,0.029975465906413812,0.25554813768023804,0.015408131769267915]}
{"step":3536,"t":17.68,"command":[-0.17231502197366505,-0.25625199562374545,-0.30957613818228724,0.50636554079233764,0.50636554079233764],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12314686383129692,-0.10126727573072647,-0.081385888426235287,-0.091444936715239455],"integral":[0.3644694266049075,0.43465349478532911,0.20156745300361459,0.42492923372962288],"effort":[-0.080751235296505325,0.029692466797784665,0.25640606090191653,0.015086150035353265]}
{"step":3540,"t":17.699999999999999,"command":[-0.17149204537451782,-0.25653176529179161,-0.30877317656868269,0.50721471548874286,0.50721471548874286],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12268982403852413,-0.10095594788743978,-0.080347629849830238,-0.091584165998650269],"integral":[0.36201563012413701,0.4326343758275803,0.19996050040661797,0.42309755040964986],"effort":[-0.080574710586018894,0.029409521626735682,0.25726676760832634,0.014766163982296021]}
{"step":3544,"t":17.719999999999999,"command":[-0.1706656448384101,-0.25680976753242707,-0.30797337151735776,0.5080650993801733,0.5080650993801733],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12223200704294657,-0.10064485901251508,-0.079308479119347908,-0.091718422014470891],"integral":[0.35957098998327808,0.43062147864732997,0.198374330824231,0.42126318196936047],"effort":[-0.08039942713191385,0.029126762328110335,0.25813014520818534,0.014448170431854628]}
{"step":3548,"t":17.740000000000002,"command":[-0.16983614043797618,-0.25708598986532089,-0.30717672494142068,0.50891657980503568,0.50891657980503568],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12177345334492862,-0.10033403224791071,-0.078268554321377248,-0.091847740072292572],"integral":[0.35713552091637951,0.42861479800237173,0.19680895973780346,0.41942622716791461],"effort":[-0.080225373265384536,0.028844314598867968,0.25899608520045525,0.014132167080352667]}
{"step":3552,"t":17.760000000000002,"command":[-0.16900386149604241,-0.25736042371169621,-0.3063832374014544,0.50976904203908924,0.50976904203908924],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1213142033207999,-0.10002348991032917,-0.077227972784436272,-0.091972155392461286],"integral":[0.35470923684996353,0.42661432820416517,0.19526440028211473,0.41758678406006539],"effort":[-0.080052537926829884,0.028562305200573481,0.25986447622145076,0.013818150233766077]}
{"step":3556,"t":17.780000000000001,"command":[-0.16816914165483826,-0.25763305734803343,-0.30559291448776377,0.51062237111436948,0.51062237111436948],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.12085429722644125,-0.099713253506217736,-0.076186851081705864,-0.09209170309720871],"integral":[0.3522921509054347,0.42462006313404083,0.19374066326048062,0.41574494999812123],"effort":[-0.079880910811810382,0.028280860204925061,0.26073520588246091,0.013506118573315302]}
{"step":3560,"t":17.800000000000001,"command":[-0.16733230820742201,-0.25790387689620842,-0.30480575929954745,0.51147646004832947,0.51147646004832947],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1203937751823474,-0.099403343747243023,-0.075145305005438257,-0.092206418203364282],"integral":[0.34988427540178774,0.42263199625909598,0.19223775716037186,0.41390082163405395],"effort":[-0.079710480310134141,0.028000101370023671,0.26160816918357033,0.013196070592039507]}
{"step":3564,"t":17.82,"command":[-0.16649369772358474,-0.25817286584561594,-0.304021782428193,0.51233119581185071,0.51233119581185071],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11993267717267009,-0.099093780567146794,-0.074103449569548285,-0.092316335607071975],"integral":[0.34748562185833431,0.42065012064775303,0.19075568816898089,0.41205449492191248],"effort":[-0.079541236424876954,0.027720151381672404,0.26248325420200092,0.012888007765938556]}
{"step":3568,"t":17.84,"command":[-0.16565364350117676,-0.25844001007820444,-0.30324099160075013,0.51318646939401003,0.51318646939401003],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11947104304092671,-0.098784583139755577,-0.07306139900717401,-0.092421490081491697],"integral":[0.34509620099751576,0.41867442898495794,0.18929446018883742,0.41020606512028263],"effort":[-0.079373168898114313,0.02744112960521496,0.26336035236908922,0.012581930088891906]}
{"step":3572,"t":17.859999999999999,"command":[-0.16481248201764417,-0.25870528887731586,-0.30246339621429719,0.51404217149193399,0.51404217149193399],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11900891247896817,-0.098475769890609133,-0.072019266763834189,-0.092521916269372673],"integral":[0.34271602274793639,0.41670491358714573,0.18785407485356073,0.40835562679489518],"effort":[-0.079206266271291181,0.02716315422881628,0.26423935407214288,0.012277839778195744]}
{"step":3576,"t":17.879999999999999,"command":[-0.16397054653761747,-0.25896868912502707,-0.30168900428485773,0.5148981957022144,0.5148981957022144],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11854632501964235,-0.098167358516844994,-0.070977165487827509,-0.092617648687645215],"integral":[0.34034509624754355,0.41474156641680882,0.18643453154380418,0.40650327382114226],"effort":[-0.07904051862676191,0.026886340131844974,0.26512015193739591,0.011975736679627008]}
{"step":3580,"t":17.900000000000002,"command":[-0.1631281780754546,-0.25923019093724459,-0.30091783014676204,0.51575443572360857,0.51575443572360857],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1180833200359499,-0.097859366003254067,-0.069935207023478441,-0.092708721715605624],"integral":[0.33798342984682456,0.41278437909674376,0.1850358274033346,0.40464909938683014],"effort":[-0.078875916196797902,0.026610802482217224,0.26600263796857787,0.011675624303437618]}
{"step":3584,"t":17.920000000000002,"command":[-0.16228571170397263,-0.25948977863589351,-0.30014988356646288,0.51661078682728356,0.51661078682728356],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11761993673126492,-0.097551808638775217,-0.068893502405788176,-0.09279516959574996],"integral":[0.33563103111219927,0.41083334292396828,0.18365795735521884,0.40279319599491514],"effort":[-0.078712448910733118,0.026336652223264916,0.26688670506630507,0.011377503694228108]}
{"step":3588,"t":17.940000000000001,"command":[-0.16144348491518287,-0.25974742982518517,-0.29938518178216328,0.51746714413059391,0.51746714413059391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11715621413132249,-0.097244702034543495,-0.067852161857682169,-0.092877026420806863],"integral":[0.33328790682957282,0.40888844888327741,0.1823009141180652,0.40093565546649901],"effort":[-0.078550107185764217,0.026063998821558881,0.2677722452546728,0.011081379884974735]}
{"step":3592,"t":17.960000000000001,"command":[-0.16060183450335341,-0.26000312412864857,-0.2986237376454301,0.51832340501541363,0.51832340501541363],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11669219107532158,-0.096938061137478604,-0.066811294783318598,-0.092954326130632703],"integral":[0.3309540630080664,0.40694968766052786,0.18096468822239883,0.39907656894388638],"effort":[-0.078388880620992057,0.025792949245842522,0.2686591521867725,0.010787256064334616]}
{"step":3596,"t":17.98,"command":[-0.15976109718641365,-0.26025684421649686,-0.29786556714887769,0.51917946641415691,0.51917946641415691],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11622790621106072,-0.096631900250326419,-0.065771009764797217,-0.093027102516830773],"integral":[0.32862950488384518,0.40501704965552132,0.17964926802710288,0.39721602689354979],"effort":[-0.078228760527226229,0.025523608174206708,0.26954731834608869,0.010495135565696324]}
{"step":3600,"t":18,"command":[-0.15892160552033907,-0.26050856757082524,-0.29711068883164787,0.52003522968561766,0.52003522968561766],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11576339798447521,-0.096326233050334498,-0.064731414548953481,-0.093095389211591106],"integral":[0.32631423692415568,0.40309052499451464,0.17835463973612381,0.39535411910931795],"effort":[-0.07806973759790975,0.025256076701162262,0.27043664011417312,0.010205023820106528]}
{"step":3604,"t":18.02,"command":[-0.15808369426112387,-0.26075827136149782,-0.29635912051577873,0.52089059428624906,0.52089059428624906],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11529870463025538,-0.096021072602520796,-0.063692616045726069,-0.093159219681949845],"integral":[0.32400826283155054,0.40117010354246424,0.1770807874152093,0.39349093471567897],"effort":[-0.077911802198161198,0.024990454391244483,0.27132701121588176,0.0099169261147246633]}
{"step":3608,"t":18.039999999999999,"command":[-0.15724769721540044,-0.26100593441108527,-0.29561088333743984,0.52174546227371632,0.52174546227371632],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11483386416793806,-0.095716431378056077,-0.062654720323494395,-0.093218627227540818],"integral":[0.32171158554819179,0.39925577491490311,0.17582769300873941,0.39162656217112818],"effort":[-0.077754946072672596,0.024726838279546255,0.27221832740321394,0.0096308482748688612]}
{"step":3612,"t":18.059999999999999,"command":[-0.15641393904883635,-0.26125153456777628,-0.29486599512019951,0.52259973442439733,0.52259973442439733],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11436891438657337,-0.095412321273778966,-0.061617832609107026,-0.093273644982697634],"integral":[0.31942420726046034,0.3973475284894275,0.17459533635655727,0.38976108927147424],"effort":[-0.077599159696121772,0.024465320328773098,0.27311048242045066,0.0093467953821037529]}
{"step":3616,"t":18.080000000000002,"command":[-0.15558274788673437,-0.26149505081778746,-0.29412447644689238,0.52345331583452437,0.52345331583452437],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11390389283677549,-0.095108753628070142,-0.060582057277061896,-0.093324305916195671],"integral":[0.31714612940372483,0.3954453534168661,0.17338369521101604,0.38789460315315033],"effort":[-0.077444434623677894,0.024205991439987147,0.27400337385815832,0.0090647730214806575]}
{"step":3620,"t":18.100000000000001,"command":[-0.15475445157357284,-0.26173645768294651,-0.29338635129836482,0.52430611316360543,0.52430611316360543],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11343883682605083,-0.094805739234285591,-0.059547497836819119,-0.093370642819063043],"integral":[0.31487735266720379,0.39354923863218039,0.17219274525427966,0.38602719029676907],"effort":[-0.077290762204292193,0.023948940281837298,0.27489690030072744,0.008784788923875346]}
{"step":3624,"t":18.120000000000001,"command":[-0.15392936656553122,-0.26197573384870365,-0.29265163946095052,0.52515803023455021,0.52515803023455021],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11297378340385733,-0.094503288361325932,-0.058514256940214171,-0.093412688310005487],"integral":[0.31261787699912663,0.39165917286495389,0.17102246011547537,0.38415893653056898],"effort":[-0.077138133602374495,0.02369424989126568,0.27579095671983278,0.0085068484768076758]}
{"step":3628,"t":18.140000000000001,"command":[-0.15310781483068758,-0.26221285561980295,-0.29192036812520228,0.52600897541940217,0.52600897541940217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1125087693580118,-0.094201410771623584,-0.057482436372740864,-0.093450474828809527],"integral":[0.31036770161196642,0.3897751446495214,0.16987281138802054,0.38228992703399278],"effort":[-0.07698654148932263,0.023442002962228113,0.27668544222176922,0.0082309598370309961]}
{"step":3632,"t":18.16,"command":[-0.15229010227584794,-0.26244779275684166,-0.29119256251736408,0.52685885664740595,0.52685885664740595],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11204383119570482,-0.093900115736814449,-0.056452137048081941,-0.093484034622763112],"integral":[0.30812682498805233,0.38789714233478512,0.16874376864705889,0.38042024634153754],"effort":[-0.076835976194183545,0.023192275251188221,0.2775802548278119,0.0079571322712454276]}
{"step":3636,"t":18.18,"command":[-0.15147654219987722,-0.26268052611385379,-0.29046824973243568,0.52770758189010103,0.52770758189010103],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11157900514225982,-0.093599412058186893,-0.055423459009338316,-0.093513399755686399],"integral":[0.30589524488520714,0.38602515409362137,0.16763529946687214,0.37854997834642379],"effort":[-0.076686431451037818,0.022945142836831182,0.27847529198429766,0.0076853726515868151]}
{"step":3640,"t":18.199999999999999,"command":[-0.1506674371623094,-0.26291102328982519,-0.28974745641968713,0.52855506407720965,0.52855506407720965],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11111432712655644,-0.09329930807628628,-0.054396501414977649,-0.093538602098881318],"integral":[0.30367295834267599,0.38415916793209565,0.1665473694385726,0.37667920630444618],"effort":[-0.076537897334490748,0.022700676621058451,0.27937045576166319,0.0074156911671877466]}
{"step":3644,"t":18.219999999999999,"command":[-0.14986308421611441,-0.26313926263235093,-0.28903020811426366,0.52940121548873753,0.52940121548873753],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11064983276833784,-0.092999811690191558,-0.053371362532775635,-0.093559673337513916],"integral":[0.30145996168730921,0.38229917169829181,0.16547994218791709,0.37480801283769588],"effort":[-0.076390366370635968,0.022458944010766202,0.28026564696095274,0.0071480948319385916]}
{"step":3648,"t":18.240000000000002,"command":[-0.14906378186890593,-0.26336521693861414,-0.28831653900984089,0.53024594646405121,0.53024594646405121],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.11018555738012159,-0.092700930378493807,-0.052348139748076061,-0.093576644960961075],"integral":[0.29925625053970678,0.38044515309072191,0.16443297939295556,0.37293647993847667],"effort":[-0.076243832079868193,0.022220011065060767,0.28116076374155752,0.0068825945867448911]}
{"step":3652,"t":18.260000000000002,"command":[-0.14826981696594077,-0.26358885591271136,-0.28760647772261183,0.53108917241292564,0.53108917241292564],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10972153595010092,-0.092402671209633302,-0.051326929553618506,-0.093589548255744059],"integral":[0.29706181982070479,0.37859709966652927,0.16340644080188318,0.37106468897336181],"effort":[-0.076098285494689652,0.021983938623113576,0.28205570905424621,0.0066192005333175433]}
{"step":3656,"t":18.280000000000001,"command":[-0.1474814710548065,-0.26381015369619343,-0.286900055302163,0.53193080999793296,0.53193080999793296],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10925780313025002,-0.092105040859619347,-0.050307827537222849,-0.093598414311203637],"integral":[0.29487666375809979,0.37675499884933689,0.16240028425113873,0.36919272068713777],"effort":[-0.075953719462796707,0.021750784304489727,0.282950386625057,0.006357922269587488]}
{"step":3660,"t":18.300000000000001,"command":[-0.14669901545207847,-0.26402908126368124,-0.28619730300377616,0.53277077490763081,0.53277077490763081],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10879439322508988,-0.091808045630838109,-0.049290928384462696,-0.093603274017348581],"integral":[0.292700775893598,0.37491883793672015,0.16141446568344947,0.3673206552067908],"effort":[-0.075810125999789424,0.021520601134609157,0.2838446985956774,0.0060987702468458232]}
{"step":3664,"t":18.32,"command":[-0.14592271924186939,-0.26424560813426617,-0.28549825411064922,0.53360898566401738,0.53360898566401738],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10833134018231672,-0.091511691464760458,-0.048276325873514381,-0.093604158058297804],"integral":[0.29053414908995168,0.37308860410742495,0.16044893916597919,0.36544857204562486],"effort":[-0.075667497259238492,0.021293439990941437,0.28473854958138145,0.005841755840990343]}
{"step":3668,"t":18.34,"command":[-0.14515286863380789,-0.26445970427606752,-0.28480293831855064,0.53444536168587475,0.53444536168587475],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10786867759919616,-0.091215983938619072,-0.047264112869137787,-0.093601096916096305],"integral":[0.28837677553796776,0.37126428442865256,0.15950365690859644,0.36357655010730294],"effort":[-0.075525824430332622,0.021069355272623491,0.28563184462754543,0.0055868892445475431]}
{"step":3672,"t":18.359999999999999,"command":[-0.14438973101842723,-0.26467133898933248,-0.28411138211670289,0.53527982127164553,0.53527982127164553],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10740643871059885,-0.090920928274328627,-0.046254381327644811,-0.09359412087875163],"integral":[0.28622864676375576,0.36944586586316597,0.15857856928204356,0.36170466768972792],"effort":[-0.075385097565334652,0.020848394423573766,0.28652448706060474,0.0053341798829285043]}
{"step":3676,"t":18.379999999999999,"command":[-0.14363354669088871,-0.26488048535808406,-0.28342361665135934,0.53611228643569531,0.53611228643569531],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10694465636482753,-0.090626529373549758,-0.045247222288484323,-0.093583260041753213],"integral":[0.28408975363645922,0.36763333527569497,0.15767362483627387,0.35983300248889288],"effort":[-0.075245308999635441,0.020630595735003705,0.28741638366730904,0.0050836374761012455]}
{"step":3680,"t":18.400000000000002,"command":[-0.14288455852828144,-0.26508711804112794,-0.28273967330772276,0.53694268262367917,0.53694268262367917],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10648336301740535,-0.090332791837558712,-0.044242725857148724,-0.093568544309760138],"integral":[0.28196008637611109,0.36582667943894381,0.15678877031913088,0.35796163160269767],"effort":[-0.075106451506754338,0.020415997065821881,0.28830744442311307,0.0048352713554034492]}
{"step":3684,"t":18.420000000000002,"command":[-0.14214299008368642,-0.26529120794410965,-0.28205958650210439,0.53777093187182745,0.53777093187182745],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10602259071975872,-0.090039719985183675,-0.043240981212257168,-0.093550003389314518],"integral":[0.2798396345617159,0.36402588503924016,0.15592395069488574,0.35609063153491138],"effort":[-0.074968517675091467,0.020204629629930977,0.28919757516629363,0.0045890926626466445]}
{"step":3688,"t":18.440000000000001,"command":[-0.14140905691922787,-0.26549272800947649,-0.28138338957827141,0.53859695850875289,0.53859695850875289],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10556237110687516,-0.089747317870710441,-0.042242076607345691,-0.093527666788571273],"integral":[0.27772838713957837,0.36223093868182593,0.15507910916273882,0.35422007819913998],"effort":[-0.074831500278235569,0.019996521378785423,0.29008668371487933,0.0043451116523216963]}
{"step":3692,"t":18.460000000000001,"command":[-0.14068296821603593,-0.26569164683825375,-0.28071111656441611,0.53942068998746973,0.53942068998746973],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10510273538777604,-0.08945558929221642,-0.041246099358993593,-0.09350156381414676],"integral":[0.27562633243182283,0.36044182689598159,0.15425418717555894,0.35235004692285704],"effort":[-0.074695391081232271,0.019791697546074176,0.29097468078655797,0.0041033398816089223]}
{"step":3696,"t":18.48,"command":[-0.13996491925436291,-0.26588793736034289,-0.28004280469182852,0.5402420526147208,0.5402420526147208],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10464371433899822,-0.089164537811399214,-0.040253135846612054,-0.093471723569463094],"integral":[0.27353345814504287,0.35865853613975363,0.15344912445862671,0.35048061245146778],"effort":[-0.074560183846701614,0.019590178621880332,0.29186147541336671,0.0038637886129640128]}
{"step":3700,"t":18.5,"command":[-0.1392550979138939,-0.26608156971690888,-0.27937848651131181,0.54106097659562924,0.54106097659562924],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10418533829333998,-0.088874166763743156,-0.039263271505025621,-0.093438174959502796],"integral":[0.2714497513791761,0.35688105280447874,0.15266385902852619,0.3486118489522777],"effort":[-0.074425870234182734,0.01939198229500818,0.292746980394616,0.0036264684911685068]}
{"step":3704,"t":18.52,"command":[-0.1385536783393907,-0.26627251093024767,-0.2787182001852177,0.54187739049450268,0.54187739049450268],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10372763712905986,-0.088584479271279992,-0.03827659082539947,-0.093400946681639785],"integral":[0.26937519863659493,0.35510936321905312,0.15189832721201821,0.34674383001864489],"effort":[-0.074292442595792985,0.019197121781375344,0.2936311063291317,0.003391392518694105]}
{"step":3708,"t":18.539999999999999,"command":[-0.13786082659263083,-0.26646073635813805,-0.27806197943101979,0.54269122635374889,0.54269122635374889],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10327064026548083,-0.088295478259379001,-0.037293177349349893,-0.093360067236954003],"integral":[0.26730978583128528,0.35334345365386555,0.15115246366503121,0.34487662867390584],"effort":[-0.074159894212809011,0.019005607508803424,0.29451376716133593,0.0031585701922878604]}
{"step":3712,"t":18.559999999999999,"command":[-0.13717669282982933,-0.26664621144760353,-0.27740986314133625,0.54350241524321297,0.54350241524321297],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10281437665120952,-0.088007166469328491,-0.036313113668680508,-0.093315564921321426],"integral":[0.26525349829826111,0.35158331032447898,0.1504262013916576,0.34301031737547943],"effort":[-0.074028217123727508,0.018817445055729347,0.29539487537520587,0.0029280150443674151]}
{"step":3716,"t":18.580000000000002,"command":[-0.13650141849145464,-0.26682890360061945,-0.27676188907720206,0.54431089281649558,0.54431089281649558],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10235887475417571,-0.087719546468535414,-0.035336481415427556,-0.09326746781859474],"integral":[0.26320632080317757,0.3498289193951083,0.14971947176334904,0.34114496801910754],"effort":[-0.073897403521145086,0.018632637250179232,0.29627434803869057,0.0026997397244364271]}
{"step":3720,"t":18.600000000000001,"command":[-0.13583513225883811,-0.26700878272432621,-0.27611809376287155,0.5451165931590668,0.5451165931590668],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10190416255561785,-0.087432620663919103,-0.03436336126107653,-0.093215803809480913],"integral":[0.2611682375520652,0.34808026698182992,0.14903220453812752,0.3392806519429179],"effort":[-0.073767445877584173,0.018451183155776041,0.29715210013734761,0.002473755825657749]}
{"step":3724,"t":18.620000000000001,"command":[-0.135177950039471,-0.2671858183078854,-0.27547851343724761,0.54591945208514792,0.54591945208514792],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10145026754195241,-0.087146391314841809,-0.033393832917335331,-0.093160600575600938],"integral":[0.25913923220122614,0.34633733915553311,0.14836432787978082,0.33741743993140588],"effort":[-0.073638336435225077,0.018273078176873715,0.29802804816494816,0.0022500749303707313]}
{"step":3728,"t":18.640000000000001,"command":[-0.13452997476921047,-0.26735997315337728,-0.27484319002349211,0.54671940702690636,0.54671940702690636],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.1009972166957378,-0.086860860544043961,-0.032427975130836284,-0.093101885583840804],"integral":[0.25711928786731136,0.34460012194465223,0.1477157683771641,0.33555540221972907],"effort":[-0.073510067173432003,0.018098314111404404,0.29890211001985212,0.0020287119288573876]}
{"step":3732,"t":18.66,"command":[-0.13389129442022749,-0.26753122160486781,-0.27421215649501129,0.54751639588217826,0.54751639588217826],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10054503648829383,-0.086576030352146338,-0.031465865681667093,-0.093039686105364061],"integral":[0.25510838713754547,0.34286860133760932,0.14708645106353077,0.33369460849762178],"effort":[-0.073382630651518732,0.017926878721524042,0.29977420375981012,0.0018096761181258369]}
{"step":3736,"t":18.68,"command":[-0.1332619929685655,-0.2676995259260101,-0.27358545423119368,0.54831035819740015,0.54831035819740015],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.10009375287628353,-0.086291902623065297,-0.030507581380752047,-0.092974029205728947],"integral":[0.25310651208001977,0.34114276328514803,0.14647629943591572,0.33183512791350722],"effort":[-0.073256018473949552,0.017758758769954003,0.30064424890656127,0.0015929822929390079]}
{"step":3740,"t":18.699999999999999,"command":[-0.13264212894956184,-0.26786485633793899,-0.2729631221244494,0.54910123538556055,0.54910123538556055],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.099643391292807193,-0.086008479141206573,-0.029553198063544617,-0.092904941743594094],"integral":[0.2511136442541636,0.33942259370232392,0.14588523547464483,0.32997702907863535],"effort":[-0.073130223650435894,0.017593934372272191,0.3015121667019488,0.0013786423894911852]}
{"step":3744,"t":18.719999999999999,"command":[-0.13203212132559158,-0.26802736255562681,-0.27234536063799386,0.549888967205174,0.549888967205174],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.099193977115881848,-0.085725761704800618,-0.028602790555200652,-0.092832450401692079],"integral":[0.24912976471184597,0.33770807846822792,0.14531317966354082,0.32812038007060151],"effort":[-0.073005331269782175,0.017432481061735734,0.30237787625397294,0.00116666419125676]}
{"step":3748,"t":18.740000000000002,"command":[-0.13143345039165197,-0.26818774114287153,-0.27173283050587099,0.55067348651997317,0.55067348651997317],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.098745537324163246,-0.085443752494967162,-0.027656432560990929,-0.092756581812207028],"integral":[0.24715485396536271,0.33599920341832856,0.14476005101232101,0.32626524843435739],"effort":[-0.072881697837024126,0.017274751881854837,0.30324128875606304,0.00095703333770827577]}
{"step":3752,"t":18.760000000000002,"command":[-0.13084616826527407,-0.26834598712983215,-0.27112553781405524,0.55145474030264119,0.55145474030264119],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.098298099426747054,-0.085162453841850949,-0.026714196733746309,-0.092677362575589561],"integral":[0.24518889197682778,0.33429595434149156,0.14422576707764609,0.32441170118284562],"effort":[-0.07275931303182237,0.017120719749704416,0.30410233060225345,0.00074974422313833257]}
{"step":3756,"t":18.780000000000001,"command":[-0.13027030183128813,-0.26850209507192691,-0.27052348560855405,0.55223267140099275,0.55223267140099275],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.097851690316423046,-0.084881867984626158,-0.02577615476348738,-0.092594819234193104],"integral":[0.2432318581704993,0.33259831698179904,0.14371024398237633,0.32255980479816176],"effort":[-0.072638165661907811,0.01697035153921491,0.30496092336267683,0.00054479060389374737]}
{"step":3760,"t":18.800000000000001,"command":[-0.12970584581557162,-0.26865605220077898,-0.2699266755251104,0.553007228168238,0.553007228168238],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.097406336243334835,-0.084601997085048453,-0.024842377371915969,-0.09250897826522031],"integral":[0.24128373144563262,0.33090627704009806,0.14321339643493802,0.32070962523285734],"effort":[-0.072518242272072958,0.01682360643873284,0.3058169944063176,0.00034216788796527162]}
{"step":3764,"t":18.82,"command":[-0.12915278682175768,-0.2688078408128855,-0.26933510915481379,0.55377835820852972,0.55377835820852972],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.096962062802479876,-0.08432284323082806,-0.023912934308513822,-0.092419866068213508],"integral":[0.23934449018958301,0.32921982017548151,0.14273513774876775,0.31886122791149307],"effort":[-0.072399528152960524,0.016680442343826388,0.3066704700201347,0.00014187287047492773]}
{"step":3768,"t":18.84,"command":[-0.12861107977979486,-0.26895743981905368,-0.26874878323114498,0.55454601205206289,0.55454601205206289],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.09651889491550425,-0.084044408442445651,-0.022987894347092475,-0.092327508962016136],"integral":[0.23741411229127293,0.32753893200663259,0.1422753798618259,0.31701467773225273],"effort":[-0.072282006461120415,0.016540809842124755,0.30752127948284669,-5.609797289946386e-05]}
{"step":3772,"t":18.859999999999999,"command":[-0.12808067429179415,-0.26910483170026406,-0.26816769584663203,0.55531013762779602,0.55531013762779602],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.096076856829357071,-0.083766694683837795,-0.02206732529245059,-0.092231933187822412],"integral":[0.2354925751546858,0.32586359811295584,0.14183403335597689,0.31517003906849628],"effort":[-0.072165661770059591,0.016404659127040658,0.3083693489522018,-0.00025174867436784931]}
{"step":3776,"t":18.879999999999999,"command":[-0.1275614933520326,-0.26924998920083115,-0.26759184322209129,0.5560706883610903,0.5560706883610903],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.095635972104765932,-0.083489703866779674,-0.021151293971683582,-0.092133164899223297],"integral":[0.23357985571259049,0.32419380403562026,0.14141100747654323,0.31332737577051178],"effort":[-0.072050475621821999,0.016271934586200659,0.30921461045437687,-0.00044508106282569945]}
{"step":3780,"t":18.900000000000002,"command":[-0.12705344177604405,-0.26939288349627533,-0.26702122416254453,0.55682761658492796,0.55682761658492796],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.095196263604850673,-0.083213437859942729,-0.020239866231223758,-0.092031230149229759],"integral":[0.23167593044049348,0.32252953527842143,0.14100621015191875,0.31148675116752716],"effort":[-0.071936429915850808,0.016142577067138619,0.31005699459165154,-0.0006360957625869499]}
{"step":3784,"t":18.920000000000002,"command":[-0.12655640716519398,-0.26953348711720665,-0.26645583120458993,0.55758087686251601,0.55758087686251601],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.094757753489245644,-0.082937898496152407,-0.019333106935918831,-0.09192615489618694],"integral":[0.22978077537070857,0.32087077730849839,0.14061954801320037,0.3096482280696034],"effort":[-0.07182350533024516,0.016016524194562363,0.31089643424277225,-0.00082479534731624143]}
{"step":3788,"t":18.940000000000001,"command":[-0.1260702553217824,-0.2696717654745962,-0.26589566226194694,0.55833042439206482,0.55833042439206482],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.094320463205759264,-0.082663087580873373,-0.01843107996686566,-0.09181796499212902],"integral":[0.22789436610659339,0.31921751555688094,0.14025092641386305,0.3078118687697608],"effort":[-0.071711682151952477,0.015893709276899405,0.31173286280182322,-0.0010111789422331333]}
{"step":3792,"t":18.960000000000001,"command":[-0.12559483963983564,-0.26980768410589534,-0.26534071070127041,0.55907621439806288,0.55907621439806288],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.093884413486261975,-0.082389006896894657,-0.017533848224806192,-0.091706686178050778],"integral":[0.22601667783686816,0.31756973541894307,0.13990024944936694,0.30597773504619979],"effort":[-0.071600939579020945,0.015774063744156033,0.31256621350566871,-0.0011952468235656589]}
{"step":3796,"t":18.98,"command":[-0.12513000028220145,-0.26994120948599243,-0.26479097203713792,0.55981820460191745,0.55981820460191745],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.093449624349383864,-0.082115658210829112,-0.016641473625607084,-0.091592344085202893],"integral":[0.22414768534988047,0.31592742225472648,0.13956741997685479,0.30414588816449573],"effort":[-0.071491257725566401,0.015657516970623737,0.31339642220371428,-0.0013769988531940319]}
{"step":3800,"t":19,"command":[-0.12467555588189048,-0.27007230153116707,-0.26424644469999709,0.56055635218976285,0.56055635218976285],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.093016115096809182,-0.08184304328227876,-0.015754017101480944,-0.091474964220601196],"integral":[0.22228736304794428,0.3142905613890809,0.13925233963482517,0.30231638888008372],"effort":[-0.071382615795465121,0.015543994234458396,0.31422342398029346,-0.0015564322588764966]}
{"step":3804,"t":19.02,"command":[-0.12423130163041643,-0.27020092142651297,-0.26370712010338787,0.5612906185662766,0.5612906185662766],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.092583904300799436,-0.081571163870230778,-0.014871538592818645,-0.091354571969711085],"integral":[0.22043568496192828,0.31265913811167628,0.1389549088629688,0.30048929744068947],"effort":[-0.071274991566479637,0.015433416304787506,0.31504715849051346,-0.0017335463732569903]}
{"step":3808,"t":19.039999999999999,"command":[-0.12379703084690082,-0.27032702906174944,-0.26317299558695456,0.56202096281395619,0.56202096281395619],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.092153009811424935,-0.081300021737885642,-0.013994097051867271,-0.091231192592749477],"integral":[0.21859262476569979,0.31103313767691859,0.13867502692193145,0.29866467358883447],"effort":[-0.071168364123781552,0.015325704846508512,0.31586756264232629,-0.0019083385175703588]}
{"step":3812,"t":19.059999999999999,"command":[-0.12337250867742476,-0.27045058231864055,-0.26264405922115441,0.5627473477324203,0.5627473477324203],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.09172344874867111,-0.081029618655266589,-0.013121750440246327,-0.091104851227737371],"integral":[0.21675815579072638,0.30941254530381324,0.13841259191312652,0.2968425765642797],"effort":[-0.07106270966032853,0.015220775897361247,0.31668457737987354,-0.0020808078161632521]}
{"step":3816,"t":19.080000000000002,"command":[-0.12295749034267829,-0.27057153558683666,-0.26212031084546211,0.56346973540654899,0.56346973540654899],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.091295237503268512,-0.080759956409036882,-0.012254555728215877,-0.090975572875288901],"integral":[0.21493225104066102,0.30779734617563248,0.13816750079856222,0.29502306510677395],"effort":[-0.070958006613770247,0.015118544431369826,0.31749814271912635,-0.0022509492560485699]}
{"step":3820,"t":19.100000000000001,"command":[-0.12255171941359946,-0.27068984598419615,-0.26160174211505727,0.56418808965088918,0.56418808965088918],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.090868391741809829,-0.080491036806159322,-0.011392568894990518,-0.090843382400386363],"integral":[0.21311488320582483,0.30618752543950928,0.13793964942066239,0.29320619745876625],"effort":[-0.070854232098290379,0.015018923931229611,0.31830820050391972,-0.002418760620657455]}
{"step":3824,"t":19.120000000000001,"command":[-0.12215492059813927,-0.27080546994181953,-0.26108834623343025,0.56490237433474455,0.56490237433474455],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.090442926405724489,-0.080222861680014468,-0.010535844930098293,-0.090708304537519213],"integral":[0.21130602467771034,0.30458306820590897,0.13772893252206042,0.29139203136801589],"effort":[-0.070751363544658635,0.014921824626337711,0.31911469252903191,-0.0025842390057510753]}
{"step":3828,"t":19.140000000000001,"command":[-0.1217668069500191,-0.27091835856909613,-0.26058011581569729,0.5656125558507562,0.5656125558507562],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.090018855709453449,-0.07995543289199647,-0.0096844378300646738,-0.09057036388185602],"integral":[0.20950564756352127,0.30298395954806906,0.13753524376545911,0.28958062409037877],"effort":[-0.070649376884147769,0.01482715527480322,0.31991756333602483,-0.0027473801256255558]}
{"step":3832,"t":19.16,"command":[-0.12138707918939477,-0.27102830827065544,-0.26007688080248614,0.56631850034063391,0.56631850034063391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.089596192945014863,-0.079688752096944704,-0.008838400985271111,-0.090429584888184755],"integral":[0.20771372370462099,0.30139018450613014,0.13735847574575369,0.28777203239261506],"effort":[-0.07054816390600202,0.014734822994132396,0.32071664382806453,-0.0029081799780514318]}
{"step":3836,"t":19.18,"command":[-0.1210154157720477,-0.27113510390325507,-0.2595784318815858,0.56702004636553505,0.56702004636553505],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.089174950337773007,-0.079422820582567111,-0.0079977875149603861,-0.090285991906327578],"integral":[0.20593022469786554,0.2998017280944788,0.13719851999545449,0.28596631255448851],"effort":[-0.070447603433366007,0.014644730854481574,0.32151173298037355,-0.0030666411352629243]}
{"step":3840,"t":19.199999999999999,"command":[-0.12065147488659717,-0.27123863013747579,-0.2590846578506481,0.56771710748861404,0.56771710748861404],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.08875513915262867,-0.079157639413181213,-0.0071626500402883764,-0.090139609205839744],"integral":[0.20415512191481297,0.29821857530621521,0.13705526699464873,0.28416352037037174],"effort":[-0.070347627206220884,0.014556778392311186,0.32230271413523859,-0.0032227672726334936]}
{"step":3844,"t":19.219999999999999,"command":[-0.12029489648914836,-0.27133879918081899,-0.25859546275247897,0.56840961402214962,0.56840961402214962],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.088336769795118064,-0.078893209563005051,-0.0063330404490127279,-0.089990460994338162],"integral":[0.20238838651891061,0.2966407111149551,0.13692860618566849,0.28236371115048498],"effort":[-0.070248178648528767,0.014470862121334919,0.32308948931280912,-0.0033765652923600335]}
{"step":3848,"t":19.240000000000002,"command":[-0.11994530913293455,-0.2714355886911658,-0.25811082727865681,0.56909754025168879,0.56909754025168879],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.087919851920994052,-0.078629532049811379,-0.0055090096889953699,-0.089838571414354917],"integral":[0.20062998948049074,0.29506812047395886,0.13681842599188859,0.28056693972219787],"effort":[-0.070149238983296169,0.014386877182995233,0.32387201032052249,-0.0035280398248235603]}
{"step":3852,"t":19.260000000000002,"command":[-0.11960232998613396,-0.27152898408153209,-0.25763072460860703,0.56978086170120168,0.56978086170120168],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.087504394495363735,-0.07836660800333517,-0.0046906076661445972,-0.089683964555166029],"integral":[0.19887990159058347,0.29350078831389215,0.13672461383856571,0.27877326043109457],"effort":[-0.070050789729352414,0.014304717338112078,0.32465023036096397,-0.0036771994669964822]}
{"step":3856,"t":19.280000000000001,"command":[-0.11926556644023881,-0.271618962217128,-0.25715513349660618,0.57045955972065954,0.57045955972065954],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.087090405794916892,-0.078104438663850084,-0.0038778832277426289,-0.089526664444549819],"integral":[0.19713809347468514,0.29193869954061513,0.13664705617401085,0.27698272714220357],"effort":[-0.069952811659783468,0.014224275338311016,0.32542410927668874,-0.0038240489761261348]}
{"step":3860,"t":19.300000000000001,"command":[-0.11893462477879714,-0.27170543923109075,-0.25668395948522787,0.57113352728251765,0.57113352728251765],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.086677893345356249,-0.077843025292873902,-0.0030708844831801585,-0.089366695048757716],"integral":[0.19540453560777801,0.29038183903475767,0.13658563848434724,0.27519539324122844],"effort":[-0.069855250382387032,0.014145444971273267,0.32619350598617036,-0.0039685953253729214]}
{"step":3864,"t":19.32,"command":[-0.11860908210008324,-0.27178834109029704,-0.25621710579030404,0.57180266366864618,0.57180266366864618],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.086266863882025646,-0.077582369138357032,-0.0022696589799044986,-0.089204080294352006],"integral":[0.1936791983301375,0.28883019165199053,0.13654024530474915,0.27341131163534138],"effort":[-0.069758053826087754,0.014068114356624285,0.32695828617855893,-0.0041108485265278841]}
{"step":3868,"t":19.34,"command":[-0.11828851301756199,-0.27186766955971614,-0.25575454386012608,0.57246695418013316,0.57246695418013316],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.085857323437694477,-0.077322471539833515,-0.0014742533707652328,-0.089038844089625813],"integral":[0.1919620518613836,0.28728374222119385,0.13651076023733386,0.27163053475354887],"effort":[-0.069661208228466082,0.013992172311905932,0.32771841362827869,-0.0042508215233649331]}
{"step":3872,"t":19.359999999999999,"command":[-0.11797248794356319,-0.27194342004260613,-0.255296253040598,0.57312638556258821,0.57312638556258821],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.085449277402867008,-0.077063333984432436,-0.00068471322152063863,-0.088871010312131626],"integral":[0.19025306631332625,0.28574247554150523,0.13649706597290345,0.26985311454730626],"effort":[-0.069564700260519169,0.01391750791159416,0.32847385382803651,-0.004388523443950125]}
{"step":3876,"t":19.379999999999999,"command":[-0.11766056359881139,-0.27201559339819886,-0.25484220740345392,0.57378094546263225,0.57378094546263225],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.085042730531215804,-0.076804958109975452,9.8916988521491334e-05,-0.088700602809750451],"integral":[0.18855221170270195,0.28420637637930574,0.13649904431267387,0.26807910249111128],"effort":[-0.069468516863019636,0.013844008226389939,0.3292245733759922,-0.0045239661887546134]}
{"step":3880,"t":19.400000000000002,"command":[-0.1173522969363566,-0.27208418687355457,-0.25439238350881421,0.5744306244907641,0.5744306244907641],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.084637686947542479,-0.076547345701941882,0.00087659387164418234,-0.088527645399290256],"integral":[0.18685945796375111,0.28267542946526691,0.13651657619010676,0.2663085495831255],"effort":[-0.069372644766969485,0.01377156159623881,0.32997054235284923,-0.0046571599796738708]}
{"step":3884,"t":19.420000000000002,"command":[-0.11704724168312657,-0.27214920058757458,-0.25394675926097704,0.57507541536266527,0.57507541536266527],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.084234150161295096,-0.076290498691892861,0.001648275138579347,-0.088352161862011558],"integral":[0.1851747749605252,0.28114961949142908,0.13654954169287836,0.26454150634588525],"effort":[-0.069277071959804259,0.013700056785628242,0.33071173335454201,-0.0047881154206516341]}
{"step":3888,"t":19.440000000000001,"command":[-0.11674494689954823,-0.27221063682210123,-0.25350531355263106,0.57571530886806455,0.57571530886806455],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.083832123080495924,-0.076034419160878608,0.0024139195893253529,-0.08817417594490129],"integral":[0.18349813249891528,0.27962893110821152,0.13659782008466487,0.2627780228269872],"effort":[-0.069181787399255845,0.013629382626578337,0.33144811686505093,-0.0049168433998380556]}
{"step":3892,"t":19.460000000000001,"command":[-0.11644496744137864,-0.27226849146525978,-0.25306803018189783,0.57635029907298241,0.57635029907298241],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.083431608026063531,-0.075779109332851702,0.0031734871131221531,-0.087993711345102033],"integral":[0.18182950033839401,0.27811334892155448,0.13666128982692732,0.26101814860008515],"effort":[-0.069086779672457091,0.01355943044242373,0.33217966724151626,-0.0050433517723111505]}
{"step":3896,"t":19.48,"command":[-0.11614684349875899,-0.27232276705456232,-0.25263488497834385,0.57698037981266537,0.57698037981266537],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.083032606736717751,-0.075524571573333699,0.003926938686734438,-0.087810791718570091],"integral":[0.18016884820365967,0.27660285749008778,0.136739828600662,0.25926193276571374],"effort":[-0.068992037282137222,0.013490089254725213,0.33290635868876756,-0.0051676521741162024]}
{"step":3900,"t":19.5,"command":[-0.11585012561793326,-0.27237342398871689,-0.25220582149182319,0.57760548661414557,0.57760548661414557],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.082635120344734636,-0.075270808339744644,0.0046742361499751972,-0.087625440674249822],"integral":[0.17851614579676497,0.27509744132329289,0.1368333133236615,0.25750942395222876],"effort":[-0.06889752924485136,0.013421251605690916,0.33362809816676386,-0.005289752850485982]}
{"step":3904,"t":19.52,"command":[-0.11555435470321976,-0.27242046297556133,-0.25178080996853525,0.57822560413574975,0.57822560413574975],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.082239149399525591,-0.075017822194315187,0.0054153422531726392,-0.087437681783248733],"integral":[0.17687136280877447,0.27359708487940659,0.13694162016872496,0.2557606703165638],"effort":[-0.068803242458115421,0.013352808890877525,0.33434484927815283,-0.0054096661897037671]}
{"step":3908,"t":19.539999999999999,"command":[-0.11525907434155186,-0.2724638850343869,-0.25135983287433711,0.57884073170012373,0.57884073170012373],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.081844693904313814,-0.074765615832317778,0.0061502208144394999,-0.087247538574140915],"integral":[0.1752344689306882,0.27210177256276025,0.13706462458501376,0.25401571954508095],"effort":[-0.068709167115323141,0.013284654218071377,0.3350565926751346,-0.0055274015327084515]}
{"step":3912,"t":19.559999999999999,"command":[-0.11496383184536593,-0.27250369370147487,-0.25094287050377628,0.57945086713941152,0.57945086713941152],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.08145175333469501,-0.074514192079842223,0.0068788367387240257,-0.08705503452847474],"integral":[0.1736054338639943,0.27061148872116342,0.13720220131978825,0.25227461885451147],"effort":[-0.068615293668811139,0.013216682632569574,0.33576330742861593,-0.0056429694121361007]}
{"step":3916,"t":19.580000000000002,"command":[-0.11466816733403427,-0.27253989373342474,-0.25052990423752131,0.58005601074222979,0.58005601074222979],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.081060326649079251,-0.07426355389381456,0.0076011560154540803,-0.086860193083265202],"integral":[0.17198422733101271,0.26912621764328715,0.13735422444009732,0.25053741499284615],"effort":[-0.068521613296744027,0.013148788599746084,0.33646497559818977,-0.0057563803794824404]}
{"step":3920,"t":19.600000000000001,"command":[-0.11437163435830472,-0.27257248630181463,-0.25012091720211865,0.58065616347520632,0.58065616347520632],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.080670412304208128,-0.074013704352712706,0.0083171457177986241,-0.086663037622611849],"integral":[0.17037081908492854,0.26764594355623289,0.13752056735445328,0.24880415424039393],"effort":[-0.068428116755391011,0.013080870745789747,0.33716158018174547,-0.0058676435333619159]}
{"step":3924,"t":19.620000000000001,"command":[-0.11407378855143169,-0.27260147367806903,-0.24971589127905108,0.58125132621381648,0.58125132621381648],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.080282008270989191,-0.073764646647028531,0.0090267739951750414,-0.08646359147515581],"integral":[0.16876517891950876,0.26617065062329232,0.13770110283435677,0.24707488241089082],"effort":[-0.068334794904372914,0.013012829234476747,0.3378531042253205,-0.0059767685470820467]}
{"step":3928,"t":19.640000000000001,"command":[-0.11377418067130317,-0.27262686006561293,-0.24931480841959167,0.58184150126018463,0.58184150126018463],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.079895112044655381,-0.073516384078609498,0.0097300100698936021,-0.086261877917106933],"integral":[0.16716727667861567,0.26470032294172013,0.13789570303575463,0.24534964485254868],"effort":[-0.068241639263266499,0.012944564187426337,0.33853953258870539,-0.0060837655659688045]}
{"step":3932,"t":19.66,"command":[-0.11347236913351229,-0.27264864576793524,-0.24891765131658627,0.58242669167620931,0.58242669167620931],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.079509720656389504,-0.073268920052716568,0.010426824234099907,-0.086057920166181301],"integral":[0.16557708226548787,0.26323494454066582,0.13810423952043663,0.24362848644922505],"effort":[-0.068148640588027332,0.012875978556772073,0.33922085117689416,-0.006188643451061706]}
{"step":3936,"t":19.68,"command":[-0.11316792440238245,-0.27266683220205651,-0.24852440361634517,0.58300690041775971,0.58300690041775971],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.07912583069300827,-0.073022258066952173,0.011117187842327958,-0.085851741376921198],"integral":[0.16399456565162771,0.26177449937932679,0.1383265832772832,0.24191145162168662],"effort":[-0.06805579028798224,0.012806979113543348,0.33989704593472359,-0.0062914110951221951]}
{"step":3940,"t":19.699999999999999,"command":[-0.11286041629190563,-0.27268142271574886,-0.2481350455713274,0.58358213154136596,0.58358213154136596],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.078743438310743485,-0.072776401704699678,0.011801073306474397,-0.085643364646526998],"integral":[0.16241969688541283,0.2603189713452328,0.1385626047434127,0.24019858432875607],"effort":[-0.067963079567484819,0.012737473565582236,0.34056810425436412,-0.0063920787268000878]}
{"step":3944,"t":19.719999999999999,"command":[-0.11254942008642171,-0.27269241877472272,-0.24774955875555058,0.58415238935223301,0.58415238935223301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.078362539247068153,-0.072531354628176947,0.012478454090081748,-0.085432813013496367],"integral":[0.16085244610047147,0.25886834425266925,0.13881217382521432,0.23848992806848615],"effort":[-0.067870499560389375,0.012667371961789829,0.34123401398592279,-0.0064906556968193641]}
{"step":3948,"t":19.740000000000002,"command":[-0.11223451471652182,-0.27269981789173203,-0.24736792845812763,0.58471767795673679,0.58471767795673679],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.077983128833910564,-0.072287120571340679,0.013149304699156872,-0.085220109443901459],"integral":[0.15929278352379325,0.25742260184124244,0.13907515991919747,0.23678552587960813],"effort":[-0.067778041353924581,0.012596586293653154,0.34189476291511822,-0.0065871493242592345]}
{"step":3952,"t":19.760000000000002,"command":[-0.11191529359651621,-0.27270362230261702,-0.24699013452384869,0.58527800275323683,0.58527800275323683],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.077605202015896602,-0.072043703328490416,0.013813600677401006,-0.085005276837495591],"integral":[0.15774067948347531,0.25598172777467265,0.13935143193274549,0.23508542034285823],"effort":[-0.067685696084538644,0.012525032940794423,0.34255034050681787,-0.0066815695324297722]}
{"step":3956,"t":19.780000000000001,"command":[-0.11159134972369551,-0.27270383378817342,-0.24661615673688195,0.58583336827432109,0.58583336827432109],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.077228753364153802,-0.071801106747109822,0.014471318596820826,-0.084788338033961463],"integral":[0.15619610441619222,0.25454570563973045,0.1396408583046819,0.233389653582179],"effort":[-0.067593454863219021,0.012452629333156117,0.34320073538363627,-0.0067739260995487022]}
{"step":3960,"t":19.800000000000001,"command":[-0.11126226733756893,-0.27270049680100189,-0.24624601375392446,0.5863837063287235,0.5863837063287235],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.076853777155418745,-0.071559334817479003,0.015122435793326172,-0.084569315822360935],"integral":[0.15465902887308386,0.25311451894338088,0.13994330702054841,0.23169826726573178],"effort":[-0.067501330122605605,0.012379292133096659,0.34384585104781068,-0.0068642308329076515]}
{"step":3964,"t":19.82,"command":[-0.11092764802980376,-0.27269363505499233,-0.24587969861821171,0.5869289953175284,0.5869289953175284],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.076480267388540524,-0.071318391664496383,0.0157669303710124,-0.084348232949498669],"integral":[0.15312942352531306,0.25168815111009096,0.14025864562796866,0.2300113026067418],"effort":[-0.067409322396043997,0.012304943097424026,0.34448564554444328,-0.0069524962034613683]}
{"step":3968,"t":19.84,"command":[-0.11058710421231344,-0.27268325624631456,-0.24551718788126448,0.587469243167698,0.587469243167698],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.076108217748695584,-0.071078281467537252,0.016404781396455625,-0.084125112118579204],"integral":[0.15160725917033915,0.25026658548074021,0.14058674125589779,0.2283288003643702],"effort":[-0.067317423891108688,0.012229507618065072,0.34512011166802792,-0.0070387343459845687]}
{"step":3972,"t":19.859999999999999,"command":[-0.11024025580706723,-0.27266936040636564,-0.24515846409184644,0.58800445945244106,0.58800445945244106],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.075737621604049732,-0.07083900842742219,0.01703596895764381,-0.083899975968955265],"integral":[0.15009250673825816,0.24884980531219178,0.14092746063505066,0.22665080084499109],"effort":[-0.067225626310144837,0.012152914000407619,0.34574924433595744,-0.0071229537942716775]}
{"step":3976,"t":19.879999999999999,"command":[-0.10988673362332163,-0.27265195379333362,-0.24480350510809476,0.58853465326850385,0.58853465326850385],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.075368472023406685,-0.070600576757279265,0.01766047415656935,-0.083672847078540946],"integral":[0.14858513729779002,0.24743779377704619,0.14128067011818204,0.22497734390342028],"effort":[-0.067133922010265551,0.012075094226402846,0.34637303809787806,-0.0072051658970565709]}
{"step":3980,"t":19.900000000000002,"command":[-0.10952617613791124,-0.27263103653522269,-0.24445229069156699,0.58905983416869589,0.58905983416869589],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.075000761790333659,-0.070362990670822745,0.018278279100079065,-0.083443747960557646],"integral":[0.14708512206198335,0.24603053396362973,0.14164623570018361,0.22330846894420914],"effort":[-0.067042302253312147,0.011995983259392759,0.34699148823085146,-0.0072853798289577859]}
{"step":3984,"t":19.920000000000002,"command":[-0.10915823159728417,-0.27260660688354782,-0.24410480396967824,0.58958001383864012,0.58958001383864012],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0746344834179129,-0.070126254371445373,0.018889366899048632,-0.083212701049397597],"integral":[0.1455924323936251,0.24462800887620081,0.14202402303816458,0.22164421492322117],"effort":[-0.066950758718818115,0.011915519525446328,0.34760459271797106,-0.0073636033977430744]}
{"step":3988,"t":19.940000000000001,"command":[-0.10878256003361707,-0.27257866971151168,-0.24376101986716581,0.59009520185993214,0.59009520185993214],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.074269629166907603,-0.069890372042212823,0.019493721655885476,-0.082979728714758005],"integral":[0.14410703981028694,0.24323020143535656,0.1424138974712823,0.21998462034892602],"effort":[-0.066859282994189084,0.011833645367467501,0.34821234725811412,-0.0074398481875082891]}
{"step":3992,"t":19.960000000000001,"command":[-0.10839881948994513,-0.27254722089386785,-0.24342091960862922,0.59060540966252872,0.59060540966252872],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.073906191054206705,-0.06965534783779348,0.020091328456742996,-0.08274485325209413],"integral":[0.1426289159892028,0.24183709447860069,0.14281572404041717,0.21832972328388414],"effort":[-0.06676786586004077,0.01175030406681371,0.34881474992264339,-0.0075141217569300381]}
{"step":3996,"t":19.98,"command":[-0.10800668587437112,-0.27251226132090023,-0.24308447766771732,0.59111064816009429,0.59111064816009429],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.073544160867761388,-0.069421185872029278,0.020682173363821388,-0.082508096884794657],"integral":[0.14115803277184757,0.24044867076116011,0.14322936750769361,0.21667956134618824],"effort":[-0.066676497926608791,0.011665444193565078,0.34941179836824682,-0.0075864346436218325]}
{"step":4000,"t":20,"command":[-0.1076058444488933,-0.27247379148061196,-0.24275167051210103,0.59161092874645849,0.59161092874645849],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.073183530185986889,-0.069187890207538016,0.021266243406561358,-0.082269481769298269],"integral":[0.13969436216812783,0.23906491295700935,0.14365469237582484,0.21503417171080227],"effort":[-0.066585170290117832,0.011579017759559423,0.3500034910122472,-0.0076567967537021706]}
{"step":4004,"t":20.02,"command":[-0.10719598516069806,-0.27243180585758381,-0.24242247643806306,0.59210626345178685,0.59210626345178685],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.07282429038863536,-0.068955464845735337,0.02184352657506583,-0.08202902998195305],"integral":[0.13823787636035512,0.23768580366009465,0.14409156290732617,0.21339359111116321],"effort":[-0.066493872962593736,0.011490979234572599,0.3505898272188368,-0.0077252158802304967]}
{"step":4008,"t":20.039999999999999,"command":[-0.10677680885251647,-0.27238630417196597,-0.24209686781926243,0.59259666367988617,0.59259666367988617],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.072466432670273973,-0.068723913716559171,0.022414011809325451,-0.081786763526281336],"integral":[0.13678854770694965,0.23631132538576347,0.14453984314351268,0.21175785584063758],"effort":[-0.066402596054180085,0.01140128690872684,0.35117080580453208,-0.0077917026462826638]}
{"step":4012,"t":20.059999999999999,"command":[-0.10634802204682539,-0.27233728035426163,-0.24177482113568438,0.59308214085156252,0.59308214085156252],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.072109948053312278,-0.068493240669377453,0.022977688988101708,-0.081542704327835058],"integral":[0.13534634874588342,0.23494146057237592,0.14499939692327471,0.21012700175408089],"effort":[-0.066311329202973932,0.01130990179327206,0.3517464257970726,-0.0078562650677817605]}
{"step":4016,"t":20.080000000000002,"command":[-0.1059093468925581,-0.27228473038622242,-0.24145630940529664,0.59356270682505463,0.59356270682505463],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.071754827404032717,-0.068263449460675751,0.023534548920747689,-0.081296874232664629],"integral":[0.13391125219780275,0.2335761915831624,0.14547008790168967,0.20850106426942761],"effort":[-0.066220061876562084,0.011216789759208205,0.35231668693348578,-0.0079189125249357513]}
{"step":4020,"t":20.100000000000001,"command":[-0.10546051058713156,-0.27222864687204962,-0.24114130550582577,0.59403837425026063,0.59403837425026063],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.071401061444688718,-0.06803454374211193,0.024084583341030807,-0.081049295006332955],"integral":[0.13248323096890899,0.23221550070832014,0.14595177956851027,0.20688007836930095],"effort":[-0.066128782699420546,0.011121919293298487,0.35288159008189274,-0.007979653478366551]}
{"step":4024,"t":20.120000000000001,"command":[-0.10500124925472333,-0.27216902613905697,-0.24082978018262477,0.59450915394248594,0.59450915394248594],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.07104864076765316,-0.067806527053760668,0.02462778489255113,-0.080799988338134177],"integral":[0.13106225815355593,0.23085937016724492,0.1464443352663613,0.20526407860253826],"effort":[-0.066037480906147028,0.011025262345052536,0.35344113412141048,-0.0080384978833356602]}
{"step":4028,"t":20.140000000000001,"command":[-0.1045313089618826,-0.2721058598797968,-0.24052170450058305,0.59497505816732121,0.59497505816732121],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.070697555848524773,-0.067579402812905753,0.0251641471201145,-0.08054897583821663],"integral":[0.12964830703658545,0.2295077821109868,0.14694761820876359,0.20365309908577392],"effort":[-0.065946144658394698,0.010926794553284557,0.35399531984120725,-0.0080954543225289083]}
{"step":4032,"t":20.16,"command":[-0.10405044150531723,-0.27203913715947764,-0.24021704794188767,0.59543609985525947,0.59543609985525947],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.070347797054583383,-0.067353174301217456,0.025693664465051835,-0.080296279031190854],"integral":[0.12824135109549378,0.22816071862496246,0.14746149149806462,0.20204717350515011],"effort":[-0.065854761134194126,0.010826494377451441,0.35454414901084258,-0.008150531012278972]}
{"step":4036,"t":20.18,"command":[-0.10355841100716257,-0.27196885116172309,-0.23991577965005129,0.59589228873145117,0.59589228873145117],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.069999354662116264,-0.067127844658519509,0.026216332245533103,-0.080041919360477776],"integral":[0.12684136400225146,0.22681816173179206,0.14798581814297529,0.20044633511794055],"effort":[-0.065763318663659726,0.01072434449032841,0.35508761976960712,-0.0082037373385677598]}
{"step":4040,"t":20.199999999999999,"command":[-0.10305499135846079,-0.27189499172468168,-0.23961786720759881,0.59634363689265391,0.59634363689265391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.06965221887064077,-0.066903416871759713,0.026732146648471566,-0.079785918188576721],"integral":[0.12544831962483866,0.22548009339435687,0.14852046107594472,0.19885061675416901],"effort":[-0.065671804405041584,0.010620331243892427,0.35562573326235741,-0.0082550821199231308]}
{"step":4044,"t":20.219999999999999,"command":[-0.10253995744015068,-0.27181754388525597,-0.23932328007015216,0.59679015662851542,0.59679015662851542],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.069306379809068952,-0.066679893765001719,0.027241104725309828,-0.07952829678605422],"integral":[0.12406219202865727,0.22414649551905683,0.14906528317045092,0.19726005081844794],"effort":[-0.065580204773674766,0.010514442871827914,0.35615849104868802,-0.008304572390138279]}
{"step":4048,"t":20.240000000000002,"command":[-0.10201309854370184,-0.27173649707377362,-0.23903198061598502,0.59723185914808452,0.59723185914808452],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.068961827548117638,-0.066457277988837271,0.027743204378542163,-0.079269076340216849],"integral":[0.12268295547769492,0.22281734995928007,0.14962014725802178,0.19567466929164359],"effort":[-0.065488505799562807,0.010406672274487022,0.35668589358147751,-0.0083522180423621639]}
{"step":4052,"t":20.260000000000002,"command":[-0.10147420237719847,-0.27165183453929265,-0.23874393277167741,0.59766875577510881,0.59766875577510881],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.068618552107101882,-0.066235572011167365,0.028238444349620195,-0.079008277952922756],"integral":[0.12131058443555288,0.22149263851905673,0.1501849161450142,0.19409450373258513],"effort":[-0.065396692321925229,0.01029701374808863,0.35720794162976666,-0.008398026886638002]}
{"step":4056,"t":20.280000000000001,"command":[-0.10092307119030061,-0.27156349424372456,-0.23845904915466948,0.59810085763993293,0.59810085763993293],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.068276543400541456,-0.066014778031245891,0.028726824197966128,-0.078745922634063437],"integral":[0.11994505356754205,0.22017234295843183,0.15075945262897353,0.19251958527990387],"effort":[-0.065304724764805241,0.010185466298482486,0.35772463590962333,-0.0084420066410561614]}
{"step":4060,"t":20.300000000000001,"command":[-0.10035951573258635,-0.27147137953886852,-0.23817720331085795,0.59852817688672488,0.59852817688672488],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.067935791165596671,-0.065794897868157287,0.029208344280644116,-0.07848203130089737],"integral":[0.11858633774423012,0.21885644500106868,0.15134361951458641,0.19094994465388593],"effort":[-0.065212545042859074,0.010072032398079248,0.35823597852734657,-0.0084841648658773097]}
{"step":4064,"t":20.32,"command":[-0.099783353146558881,-0.27137547257470068,-0.23789835311810772,0.59895072444051467,0.59895072444051467],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.067596285058091121,-0.065575933052754998,0.029683005755090974,-0.078216624782834532],"integral":[0.1172344120430683,0.21754492634001357,0.15193727962968823,0.18938561215822924],"effort":[-0.065120136765725006,0.0099567175651708827,0.3587419703078174,-0.0085245103494171262]}
{"step":4068,"t":20.34,"command":[-0.099194403890282515,-0.27127575382187968,-0.23762245847201974,0.59936851043657513,0.59936851043657513],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.067258014730993354,-0.065357884903216812,0.030150810575599429,-0.077949723819540906],"integral":[0.11588925174844843,0.21623776864194924,0.15254029584120021,0.18782661768183842],"effort":[-0.065027483690957913,0.0098395297631484954,0.35924261130295887,-0.0085630509206711669]}
{"step":4072,"t":20.359999999999999,"command":[-0.098592500399609859,-0.27117220301024242,-0.23734948021543179,0.59978154480350021,0.59978154480350021],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.066920969848383915,-0.065140754518544952,0.030611761481547983,-0.077681349055615079],"integral":[0.11455083235148075,0.21493495355157835,0.15315253107083118,0.18627299070072612],"effort":[-0.064934569721981888,0.0097204811350470703,0.35973790148687312,-0.0085997939634462478]}
{"step":4076,"t":20.379999999999999,"command":[-0.097977477662080523,-0.27106479651389348,-0.23707937833986753,0.60018983790223224,0.60018983790223224],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.066585140094002071,-0.064924542769956295,0.031065861988830434,-0.077411521035503861],"integral":[0.11321912954960071,0.21363646269617922,0.15377384831060778,0.18472476028001603],"effort":[-0.064841377771568273,0.0095995861290234866,0.36022784152110782,-0.0086347461375502199]}
{"step":4080,"t":20.400000000000002,"command":[-0.097349174482162584,-0.27095351134703044,-0.23681211102725641,0.60059339936043887,0.60059339936043887],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.066250515178357672,-0.064709250294876286,0.031513116378488526,-0.077140260204187516],"integral":[0.11189411924603355,0.21234227769028169,0.15440411063817755,0.18318195507593227],"effort":[-0.06474789062023549,0.0094768617723585344,0.3607124313553276,-0.0086679146910498689]}
{"step":4084,"t":20.420000000000002,"command":[-0.096707440703567488,-0.27083833482911707,-0.23654764852193555,0.60099222680332987,0.60099222680332987],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.065917084869730358,-0.064494877511505511,0.031953529643885759,-0.076867586908477281],"integral":[0.11057577754863895,0.21105238014005157,0.15504318123105526,0.18164460333776272],"effort":[-0.064654096817133036,0.0093523290874340213,0.36119165667802505,-0.008699306795875883]}
{"step":4088,"t":20.440000000000001,"command":[-0.096052122948045049,-0.27071926828041248,-0.23628599346653115,0.60138627550244528,0.60138627550244528],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.065584839054801503,-0.064281424677511412,0.03238710730481964,-0.076593521377553042],"integral":[0.10926408076754292,0.20976675164650133,0.15569092337715165,0.18011273291021165],"effort":[-0.064559996463373778,0.0092260103228263626,0.36166545236270298,-0.0087289257549081831]}
{"step":4092,"t":20.460000000000001,"command":[-0.095383073592667109,-0.27059625931886372,-0.23602708838420222,0.60177555522371162,0.60177555522371162],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.065253767680200303,-0.064068891808777506,0.03281385549868121,-0.076318083710046447],"integral":[0.10795900541393891,0.20848537381032578,0.15634720048712528,0.17858637123601073],"effort":[-0.064465561004242874,0.0090979307279841493,0.36213381886480633,-0.0087567745531188651]}
{"step":4096,"t":20.48,"command":[-0.094700152879318586,-0.27046928189944275,-0.23577089284234626,0.60216007416832495,0.60216007416832495],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.064923860740042638,-0.063857278645037985,0.03323378108551589,-0.076041293888707284],"integral":[0.10666052819913806,0.20720822823742502,0.1570118761088356,0.1770655453582366],"effort":[-0.064370773181438676,0.008968118955366311,0.36259675492240256,-0.0087828592697615504]}
{"step":4100,"t":20.5,"command":[-0.09400289909491881,-0.27033844299139997,-0.23551720539816462,0.60253984064169075,0.60253984064169075],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.064595108155476755,-0.063646584784589955,0.03364689163839607,-0.075763172158522241],"integral":[0.10536862603602852,0.20593529654173323,0.15768481394160352,0.17555028191506616],"effort":[-0.064275613898787845,0.0088365450382494881,0.36305425956051407,-0.0088072598602265822]}
{"step":4104,"t":20.52,"command":[-0.093291095057713047,-0.27020374118698143,-0.23526594320417574,0.60291486362392044,0.60291486362392044],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.064267499802669992,-0.063436809651509662,0.034053195436167361,-0.075483738957110358],"integral":[0.10408327603997512,0.20466656034870304,0.15836587785032688,0.17404060713592395],"effort":[-0.064180062891595835,0.0087032284170672526,0.36350633277865052,-0.0088299988598453949]}
{"step":4108,"t":20.539999999999999,"command":[-0.092564605859499119,-0.27006513695664347,-0.23501706498738914,0.6032851515611124,0.6032851515611124],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.063941025621927938,-0.063227952400129794,0.034452701453381973,-0.075203014638567267],"integral":[0.10280445552753656,0.20340200130070044,0.15905493187939451,0.17253654684315262],"effort":[-0.064084099517348642,0.0085682062579244198,0.36395297409411437,-0.0088510786820619469]}
{"step":4112,"t":20.559999999999999,"command":[-0.091823288711652309,-0.26992258996458213,-0.2347705251841414,0.60365071277013027,0.60365071277013027],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.063615675639910219,-0.06302001189283235,0.03484541934908103,-0.074921019416907764],"integral":[0.10153214201473836,0.20214160106284379,0.15975184026637612,0.17103812645481445],"effort":[-0.063987702034212751,0.0084315163498234549,0.36439418302788629,-0.0088705025389751724]}
{"step":4116,"t":20.580000000000002,"command":[-0.091067008601368529,-0.26977605713644759,-0.23452628281617627,0.60401155411760876,0.60401155411760876],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.063291439977701813,-0.062812986696716866,0.035231359452151167,-0.074637773359887527],"integral":[0.10026631321518432,0.20088534132890945,0.16045646745541914,0.16954537098761671],"effort":[-0.063890849167830471,0.0082932000556017287,0.36482995750756902,-0.008888271836257379]}
{"step":4120,"t":20.600000000000001,"command":[-0.090295630893923298,-0.26962549293805887,-0.23428429309793009,0.60436768337094837,0.60436768337094837],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.062968308856822919,-0.062606875075983615,0.035610532752135882,-0.074353296385346601],"integral":[0.099006947038047868,0.19963320382738978,0.16116867811046184,0.16805830505990979],"effort":[-0.063793518217244022,0.0081533009585316348,0.36526029670316684,-0.0089043882248472164]}
{"step":4124,"t":20.620000000000001,"command":[-0.089509019635895484,-0.26947085145026184,-0.23404451132491572,0.60471910757957226,0.60471910757957226],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.062646272603614328,-0.062401674987691447,0.035982950889472232,-0.074067608262014639],"integral":[0.097754021585975584,0.19838517032763595,0.16188833712825129,0.16657695289466951],"effort":[-0.063695686531323847,0.0080118645961791239,0.36568519907183422,-0.0089188532500052431]}
{"step":4128,"t":20.640000000000001,"command":[-0.088707030043716856,-0.26931208323052624,-0.23380689362203888,0.60506583318778318,0.60506583318778318],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.062325321651009791,-0.062197384081410068,0.036348626142671314,-0.073780728604178836],"integral":[0.096507515152955387,0.19714122264600775,0.16261530965110471,0.16510133832258592],"effort":[-0.063597330839576652,0.0078689371791768846,0.3661046624912262,-0.0089316673343892428]}
{"step":4132,"t":20.66,"command":[-0.087889530076689024,-0.2691491359306748,-0.2335713966696204,0.60540786561024607,0.60540786561024607],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.062005446546978815,-0.061993999691686064,0.036707571414091866,-0.073492676864554296],"integral":[0.095267406222015807,0.19590134265217404,0.16334946107938655,0.16363148478529482],"effort":[-0.063498427357213005,0.0077245694971012253,0.3665186837427537,-0.0089428300150158485]}
{"step":4136,"t":20.68,"command":[-0.087056371060486817,-0.26898195285862642,-0.23333797709916199,0.60574521114189661,0.60574521114189661],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.061686637954555534,-0.061791518834360737,0.037059800221789896,-0.073203472326783814],"integral":[0.094033673462924697,0.19466551227548684,0.16409065708382234,0.16216741533875914],"effort":[-0.063398951260184688,0.0075788117422211677,0.36692726082134086,-0.0089523397034556446]}
{"step":4140,"t":20.699999999999999,"command":[-0.086207405228894946,-0.26881047795765722,-0.23310659061292879,0.60607787394077328,0.60607787394077328],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.061368886654832533,-0.061589938205854455,0.037405326684782025,-0.072913134105036304],"integral":[0.092806295729828042,0.19343371351136976,0.16483876361751798,0.16070915265665842],"effort":[-0.063298877823503852,0.0074317167162989035,0.36733038928056783,-0.0089601952363202661]}
{"step":4144,"t":20.719999999999999,"command":[-0.085342481242304452,-0.26863465405305265,-0.23287719035847507,0.60640585840613825,0.60640585840613825],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.061052183552159134,-0.061389254179318398,0.037744165510446237,-0.072621681147824746],"integral":[0.091585252058784858,0.19220592842778339,0.16559364692772691,0.15925671903370192],"effort":[-0.063198181573730347,0.0072833391045930874,0.36772806510928546,-0.0089663957844729192]}
{"step":4148,"t":20.740000000000002,"command":[-0.084461438402628347,-0.26845441763107802,-0.2326497329009358,0.60672916834617951,0.60672916834617951],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.060736519674627676,-0.061189462801725547,0.038076331984000511,-0.07232913222759163],"integral":[0.090370521665292303,0.19098213917174889,0.16635517356740692,0.15781013638915009],"effort":[-0.063096836282259011,0.0071337345770409837,0.36812028372204658,-0.0089709380633822486]}
{"step":4152,"t":20.760000000000002,"command":[-0.083564104188186716,-0.26826970785652338,-0.23242417191980588,0.60704780675296477,0.60704780675296477],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.06042188617540778,-0.060990559795830457,0.038401841955753913,-0.072035505941512756],"integral":[0.089162083941784154,0.18976232797583228,0.167123210406522,0.15636942627031983],"effort":[-0.062994815923015951,0.0069829595087741239,0.36850703968358484,-0.0089738202304084635]}
{"step":4156,"t":20.780000000000001,"command":[-0.082650300456768674,-0.26808045602604336,-0.23220046269350625,0.60736177582556783,0.60736177582556783],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.060108274333254164,-0.060792540556294572,0.038720711827479271,-0.071740820704669805],"integral":[0.087959918455119065,0.18854647716470641,0.16789762464307159,0.15493460985622642],"effort":[-0.062892092889104884,0.0068310721655941362,0.36888832673398736,-0.0089750380140264929]}
{"step":4160,"t":20.800000000000001,"command":[-0.08171983606195278,-0.26788659481528837,-0.23197855971917369,0.60767107735705694,0.60767107735705694],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.059795675554343619,-0.060595400149178191,0.039032958540773155,-0.071445094746897531],"integral":[0.086764004944032191,0.18733456916172284,0.16867828381388705,0.15350570796128848],"effort":[-0.062788639925556361,0.0066781316059924371,0.36926413825628623,-0.0089745877561741225]}
{"step":4164,"t":20.82,"command":[-0.080772507198711874,-0.26768805145354041,-0.23175841961171212,0.6079757121686139,0.6079757121686139],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.059484081373228692,-0.060399133312392994,0.039338599564232357,-0.071148346106330029],"integral":[0.085574323316567613,0.18612658649547498,0.16946505580517171,0.15208274103916189],"effort":[-0.062684428975955858,0.006524197919165961,0.36963446658693327,-0.0089724639150374347]}
{"step":4168,"t":20.84,"command":[-0.079808101549855515,-0.267484756999886,-0.23153999337254735,0.60827568006970345,0.60827568006970345],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.059173483456240739,-0.060203734454242541,0.039637652879305652,-0.070850592636930609],"integral":[0.084390853647442796,0.18492251180639013,0.17025780886275782,0.15066572918642326],"effort":[-0.062579431879123668,0.0063693330729920512,0.3699993029642602,-0.0089686633481643949]}
{"step":4172,"t":20.859999999999999,"command":[-0.078826373730409446,-0.26727663392324896,-0.2313232368911266,0.6085709802642979,0.6085709802642979],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.058863873595994098,-0.060009197656910374,0.039930136967467611,-0.070551852000061421],"integral":[0.083213576175522913,0.18372232785325193,0.17105641160210716,0.14925469214642204],"effort":[-0.062473619483565362,0.0062135971954861841,0.37035863801984853,-0.0089631795577770831]}
{"step":4176,"t":20.879999999999999,"command":[-0.077827076180383994,-0.26706360941955953,-0.2311081005812935,0.60886161096895641,0.60886161096895641],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.058555243714710548,-0.059815516675849612,0.040216070797258308,-0.070252141668698087],"integral":[0.0820424713012287,0.18252601751973493,0.17186073301805233,0.14784964931304809],"effort":[-0.062366962815248173,0.0060570537867872948,0.37071246131171287,-0.0089560086609548964]}
{"step":4180,"t":20.900000000000002,"command":[-0.076809927322994354,-0.26684560111968608,-0.23089454047643687,0.60914756984336105,0.60914756984336105],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.058247585862122753,-0.059622684940758175,0.04049547381191454,-0.069951478917658072],"integral":[0.080877519583986243,0.18133356382091978,0.17267064249429062,0.14645061973469492],"effort":[-0.06225943182937578,0.0058997649353636737,0.3710607618460724,-0.0089471430075508326]}
{"step":4184,"t":20.920000000000002,"command":[-0.075774615552161834,-0.26662253007080972,-0.23068250698825374,0.60942885340926922,0.60942885340926922],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.057940892209574102,-0.059430695560737989,0.040768365915951676,-0.069649880825148336],"integral":[0.079718701739794756,0.18014494990970503,0.17348600981260964,0.14505762211819195],"effort":[-0.062150996285872784,0.0057417923620779257,0.37140352736773657,-0.0089365772554870493]}
{"step":4188,"t":20.940000000000001,"command":[-0.074720811641476564,-0.26639431036912581,-0.2304719539308813,0.60970545727509728,0.60970545727509728],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.057635155050625331,-0.059239541323051315,0.041034767461307187,-0.069347364268322442],"integral":[0.078565998638782247,0.178960159083244,0.17430670516183577,0.1436706748328255],"effort":[-0.062041625072880205,0.0055831996923610197,0.37174074463103551,-0.0089243035241619306]}
{"step":4192,"t":20.960000000000001,"command":[-0.073648149523827325,-0.26616086056255539,-0.23026283198641465,0.60997737579543199,0.60997737579543199],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.057330366802064381,-0.059049214697807662,0.041294699233326071,-0.069043945927111494],"integral":[0.077419391302740961,0.17777917478928784,0.17513259914650228,0.14228979591428328],"effort":[-0.061931287744901933,0.0054240499282840263,0.37207239898228167,-0.0089103159504981128]}
{"step":4196,"t":20.98,"command":[-0.072556222219210986,-0.26592209165528768,-0.2300550922598929,0.61024460266588432,0.61024460266588432],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.05702651999720576,-0.058859707841193876,0.041548182437680659,-0.068739642281661517],"integral":[0.076278860902796841,0.17660198063246396,0.17596356279525591,0.14091500306865004],"effort":[-0.061819952152515539,0.0052644053827235263,0.37239847508284296,-0.0088946066778077051]}
{"step":4200,"t":21,"command":[-0.071444586504691737,-0.26567791892299369,-0.22984868281841361,0.61050713035569182,0.61050713035569182],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.056723607284732802,-0.058671012599121219,0.041795238687021286,-0.068434469617494886],"integral":[0.075144388757102179,0.17542856038048155,0.17679946756899634,0.13954631367630013],"effort":[-0.061707586798306263,0.0051043289408263803,0.37271895621514173,-0.0088771698049465581]}
{"step":4204,"t":21.02,"command":[-0.070312749257776946,-0.26542825515702928,-0.22964355280622567,0.61076495008140042,0.61076495008140042],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.056421621427814594,-0.058483120513893594,0.042035889986608233,-0.068128444028773827],"integral":[0.074015956328545893,0.17425889797020366,0.1776401853687285,0.13818374479572465],"effort":[-0.061594159990585394,0.0049438827081870126,0.37303382424793552,-0.0088579986451196302]}
{"step":4208,"t":21.039999999999999,"command":[-0.069160159399278762,-0.26517300897459312,-0.22943964570391492,0.61101805217490568,0.61101805217490568],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.056120555293668106,-0.058296022825333083,0.042270158720274509,-0.0678215814188593],"integral":[0.072893545222672537,0.17309297751369701,0.17848558854313398,0.13682731316734748],"effort":[-0.061479637854688823,0.0047831276481336456,0.37334306008361579,-0.0088370868339508121]}
{"step":4212,"t":21.059999999999999,"command":[-0.067986209114616919,-0.26491209029459628,-0.22923691000145577,0.61126642543715515,0.61126642543715515],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.055820401852675561,-0.058109710478745136,0.042498067636131509,-0.067513897499238529],"integral":[0.071777137185619025,0.17193078330412212,0.17933554989585662,0.13547703521736271],"effort":[-0.061363988245633938,0.0046221246297764203,0.37364664286671717,-0.0088144273386184038]}
{"step":4216,"t":21.080000000000002,"command":[-0.066790218316242905,-0.26464540427927147,-0.22903529031297465,0.61151005775902878,0.61151005775902878],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.055521154172716747,-0.057924174129793782,0.042719639832699663,-0.067205407787703342],"integral":[0.070666714102164685,0.17077229982152625,0.18018994269251062,0.13413292706160865],"effort":[-0.061247177107443804,0.004460933262731389,0.37394455074045069,-0.0087900128986952292]}
{"step":4220,"t":21.100000000000001,"command":[-0.065571441797124472,-0.26437286275140692,-0.2288347273161371,0.61174893537308872,0.61174893537308872],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.055222805419181009,-0.057739404149180107,0.042934898744111827,-0.066896127623067181],"integral":[0.06956225799378106,0.16961751173854264,0.18104864066739287,0.1327950045091473],"effort":[-0.061129171492612537,0.0042996139793536822,0.37423675993010752,-0.0087638390667617097]}
{"step":4224,"t":21.120000000000001,"command":[-0.064329032291040575,-0.26409436917298751,-0.2286351646718815,0.61198304372230106,0.61198304372230106],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.054925348847751465,-0.05755539063022308,0.04314386812678439,-0.06658607216109047],"integral":[0.06846375101682603,0.16846640392593817,0.18191151802992855,0.1314632830659255],"effort":[-0.061009937176708287,0.0041382243955017418,0.3745232458036119,-0.0087358986521699211]}
{"step":4228,"t":21.140000000000001,"command":[-0.063062039917081286,-0.26380982971500122,-0.22843653697524974,0.61221236698079617,0.61221236698079617],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.054628777792456562,-0.057372123393727659,0.04334657204581216,-0.066275256382229975],"integral":[0.067371175460976901,0.16731896145806363,0.18277844947084479,0.13013777793828091],"effort":[-0.060889438839751286,0.0039768208785035536,0.37480398228422906,-0.0087061874145066415]}
{"step":4232,"t":21.16,"command":[-0.061769409426324709,-0.26351915003146953,-0.22823878499204639,0.61243688704662957,0.61243688704662957],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.054333085667122694,-0.057189591996921862,0.043543034857838947,-0.065963695094737429],"integral":[0.066284513747634444,0.1661751696181252,0.18364931016800157,0.12881850403638617],"effort":[-0.060767642703976867,0.0038154599408769321,0.37507894061536617,-0.0086746997293312839]}
{"step":4236,"t":21.18,"command":[-0.060449943183798052,-0.26322223708470327,-0.22804183951640106,0.6126565852320941,0.6126565852320941],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.054038265958008092,-0.057007785740550876,0.043733281197466223,-0.065651402945572146],"integral":[0.065203748428474276,0.16503501390331418,0.1845239757919509,0.12750547597747472],"effort":[-0.060644513332949873,0.0036541956309244124,0.37534809142825021,-0.0086414327629258589]}
{"step":4240,"t":21.199999999999999,"command":[-0.059102294412519747,-0.26291899739162977,-0.22784563185495268,0.61287144094217016,0.61287144094217016],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.053744312216924328,-0.056826693675822382,0.043917335962647464,-0.065338394429458102],"integral":[0.064128862184135785,0.16389848002979773,0.18540232251120384,0.12619870808888556],"effort":[-0.060520015572401227,0.0034930812048241631,0.37561140312253194,-0.0086063836170185981]}
{"step":4244,"t":21.219999999999999,"command":[-0.057724930880204063,-0.26260933903201289,-0.22765008681185797,0.61308143239417567,0.61308143239417567],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.053451218053633287,-0.056646304612582021,0.044095224299995905,-0.065024683899918223],"integral":[0.063059837823063125,0.1627655539375461,0.18628422699720376,0.12489821441088719],"effort":[-0.06039411348613858,0.0033321676451243364,0.37586884274649424,-0.0085695514606921042]}
{"step":4248,"t":21.240000000000002,"command":[-0.056312917286414944,-0.2622943114749145,-0.2274537967984139,0.61328653595664095,0.61328653595664095],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.053158976279849446,-0.056466607854829709,0.044266971588927007,-0.064710288584829301],"integral":[0.061996658297466138,0.16163622178044951,0.1871695664289823,0.1236040086391906],"effort":[-0.060266767755056815,0.0031711446533066109,0.37612037518569624,-0.0085315380770426483]}
{"step":4252,"t":21.260000000000002,"command":[-0.054862878700955686,-0.2619741657889576,-0.22725617364263959,0.6134867274385879,0.6134867274385879],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.052867578890128941,-0.056287593086963517,0.044432603419236383,-0.064395228371763924],"integral":[0.060939306719663557,0.16051046991871024,0.18805821849736704,0.12231610407175533],"effort":[-0.060137915999756895,0.0030099354593557774,0.3763659647433083,-0.008492547541063343]}
{"step":4256,"t":21.280000000000001,"command":[-0.053372224927727654,-0.26164874672087923,-0.2270571077312975,0.61368198085655989,0.61368198085655989],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.052577017674449333,-0.056109249782357429,0.044592145572913466,-0.064079523505589098],"integral":[0.059887766366174572,0.15938828492306309,0.18895006140882531,0.12103451360164355],"effort":[-0.060007498415954423,0.002848594393735953,0.37660557362803115,-0.0084525682446523823]}
{"step":4260,"t":21.300000000000001,"command":[-0.051837977495321305,-0.26131790860086712,-0.22685651256896022,0.61387226841774301,0.61387226841774301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.052287284431962844,-0.055931567076519029,0.044745624012974439,-0.063763193923495054],"integral":[0.058842020677535314,0.15826965358153272,0.18984497388908481,0.11975924972317364],"effort":[-0.059875463325240984,0.002687175910805438,0.37683916193234557,-0.0084115860302901718]}
{"step":4264,"t":21.32,"command":[-0.050256518290852273,-0.26098165490221403,-0.22665413047603966,0.6140575602564482,0.6140575602564482],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.051998370947815342,-0.055754533823910712,0.044893064869499177,-0.063446259638842095],"integral":[0.057802053258579005,0.1571545629050545,0.19074283518647478,0.1184903245303968],"effort":[-0.059741759528673978,0.0025257176307187691,0.37706668730810156,-0.0083696646668243724]}
{"step":4268,"t":21.34,"command":[-0.048623615979853957,-0.26064001531435371,-0.22644967221496429,0.61423782502317081,0.61423782502317081],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.051710268969145545,-0.055578138627065288,0.045034494425133076,-0.063128741041749925],"integral":[0.056767847879196094,0.15604300013251318,0.19164352507497745,0.1172277497095618],"effort":[-0.059606335814665651,0.002364256030956309,0.37728810568919546,-0.0083268817684008858]}
{"step":4272,"t":21.359999999999999,"command":[-0.046934505147462308,-0.26029283737490977,-0.22624305744828541,0.61441302991047553,0.61441302991047553],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.051422970252527289,-0.055402369801716311,0.045169939102045031,-0.062810658461108781],"integral":[0.05573938847414555,0.15493495273647886,0.19254692385701835,0.11597153654033963],"effort":[-0.05946914111611469,0.0022028477734371658,0.37750337132377093,-0.0082832200725665231]}
{"step":4276,"t":21.379999999999999,"command":[-0.04518352329809041,-0.25993998302016241,-0.22603419815759551,0.61458313961330358,0.61458313961330358],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.051136466603269426,-0.055227215362233073,0.045299425446186703,-0.062492031908071288],"integral":[0.054716659142080161,0.15383040842923421,0.19345291236594209,0.11472169590217821],"effort":[-0.059330126754634727,0.0020415507776290788,0.37771243549694539,-0.0082386680178875779]}
{"step":4280,"t":21.400000000000002,"command":[-0.043363837722360639,-0.25958131094584824,-0.22582300699982186,0.61474811783448291,0.61474811783448291],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.050850749879712609,-0.055052663029653726,0.045422980114468547,-0.062172881091776433],"integral":[0.053699644144485907,0.15272935516864114,0.19436137196823144,0.11347823828034267],"effort":[-0.059189243741403372,0.0018804224220112277,0.37791524838103929,-0.0081932132509617769]}
{"step":4284,"t":21.420000000000002,"command":[-0.041467089167055847,-0.25921669103841521,-0.2256093921211168,0.61490792587380549,0.61490792587380549],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.050565811997601351,-0.054878700245056811,0.04554062986057783,-0.061853225440008486],"integral":[0.052688327904533878,0.15163178116374001,0.19527218456544301,0.11224117377154251],"effort":[-0.059046445363082518,0.0017195194839885602,0.37811175730242547,-0.0081468475498226792]}
{"step":4288,"t":21.440000000000001,"command":[-0.039482930685398494,-0.258845992608499,-0.22539326842635635,0.61506252356805957,0.61506252356805957],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.050281644945673554,-0.054705314178425724,0.045652401521764308,-0.061533084106390912],"integral":[0.051682695005620408,0.1505376748801715,0.19618523259587831,0.11101051208941469],"effort":[-0.058901686670697319,0.001558901815507982,0.37830190789790985,-0.0080995612187817895]}
{"step":4292,"t":21.460000000000001,"command":[-0.037398235677332498,-0.25846909952318925,-0.22517454156544922,0.61521186868067024,0.61521186868067024],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.049998240796201632,-0.054532491741682509,0.045758322005580165,-0.06121247599830093],"integral":[0.050682730189696372,0.14944702504533786,0.19710039903598991,0.10978626256944866],"effort":[-0.058754924788769265,0.0013986280317773055,0.37848564336556223,-0.0080513506195590417]}
{"step":4296,"t":21.48,"command":[-0.035196009514449636,-0.25808589377129171,-0.22495312652955696,0.61535591753655339,0.61535591753655339],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.049715591717952812,-0.054360219599766335,0.045858418277826996,-0.060891419784809608],"integral":[0.049688418355337313,0.14835982065334252,0.19801756740154647,0.10856843417375248],"effort":[-0.058606118849574673,0.0012387590857412291,0.37866290524725349,-0.0080022097141518103]}
{"step":4300,"t":21.5,"command":[-0.032853530477003193,-0.25769599561632928,-0.22472898124991139,0.61549462602957405,0.61549462602957405],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.049433689822908411,-0.05418848400163756,0.045952717329272197,-0.060569933507843343],"integral":[0.048699744558879147,0.14727605097330976,0.19893662174813193,0.10735703550359561],"effort":[-0.058455170585157118,0.0010793544648033775,0.37883363467128517,-0.0079520555715340904]}
{"step":4304,"t":21.52,"command":[-0.03033961198584097,-0.25729858390519045,-0.22450235595179696,0.61562794926882458,0.61562794926882458],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.049152526986440792,-0.054017270499170822,0.046041246132879188,-0.060248033467577899],"integral":[0.047716694019150331,0.14619570556332634,0.1998574466707895,0.10615207483424406],"effort":[-0.058301934553761842,0.00092049205545138499,0.37899777192093848,-0.0079006267258544954]}
{"step":4308,"t":21.539999999999999,"command":[-0.027608484413892818,-0.25689346335179475,-0.22427326495282174,0.61575583839037851,0.61575583839037851],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.048872095048570152,-0.053846564227555183,0.046124031662325038,-0.059925734781732132],"integral":[0.046739252118178927,0.14511877427877523,0.20077992730403602,0.10495356013860942],"effort":[-0.058146374442739249,0.00076222841163216259,0.3791552525118379,-0.0078478770701406672]}
{"step":4312,"t":21.559999999999999,"command":[-0.024588890976531445,-0.25648053500023843,-0.22404162646602335,0.61587824306770456,0.61587824306770456],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.048592385959667972,-0.053676350164488351,0.046201100906545278,-0.059603052277171331],"integral":[0.045767404398985564,0.14404524727548546,0.20170394932216693,0.10376149909306599],"effort":[-0.057988457611774839,0.00060461355945574946,0.37930601028416255,-0.0077938072222337035]}
{"step":4316,"t":21.580000000000002,"command":[-0.021158871026871164,-0.25605970665645134,-0.22380736142953847,0.61599511124850714,0.61599511124850714],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.04831339178555516,-0.053506613155947846,0.046272480859368859,-0.059280000639357788],"integral":[0.04480113656327446,0.14297511501236651,0.2026293989393543,0.10257589908027884],"effort":[-0.057828154201519981,0.00044769782313176798,0.37944997708206074,-0.0077384191714679196]}
{"step":4320,"t":21.600000000000001,"command":[-0.017074520413798616,-0.25563088719423399,-0.22357040030375611,0.61610638954216435,0.61610638954216435],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.048035104737730316,-0.053337337916484762,0.046338198509894291,-0.058956594409129703],"integral":[0.043840434468519852,0.14190836825403683,0.2035561629095522,0.10139676719209624],"effort":[-0.057665437189846458,0.00029153924736122563,0.37958708323468116,-0.0076817132978647118]}
{"step":4324,"t":21.620000000000001,"command":[-0.011670562345133426,-0.25519398726129705,-0.2233306785901015,0.61621202340433801,0.61621202340433801],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.047757517207049016,-0.053168509021405574,0.046398280834206496,-0.05863284797646473],"integral":[0.042885284124378871,0.1408449980736087,0.20448412852623632,0.10022411023256694],"effort":[-0.057500281566917125,0.0001362020254516462,0.37971725778806847,-0.0076236895674019062]}
{"step":4328,"t":21.640000000000001,"command":[0.0042687319090684408,-0.25474892523986598,-0.22308813897583962,0.61631195683890638,0.61631195683890638],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.047480621845473747,-0.053000110863996364,0.046452754787105643,-0.058308775582652017],"integral":[0.041935671687469395,0.13978499585632878,0.20541318362197844,0.099057934720913898],"effort":[-0.057332666331285184,-1.8222072111499094e-05,0.37984042814260205,-0.007564348579581652]}
{"step":4332,"t":21.66,"command":[0.013088209858756068,-0.25429494472015712,-0.22284335981261519,0.61640613359125529,0.61640613359125529],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.047204412199678858,-0.052832126936079638,0.046501647282328751,-0.057984389742984477],"integral":[0.040991583443475817,0.13872835331760719,0.20634321656762503,0.097898246926054214],"effort":[-0.05716254096140122,-0.00017130123730683955,0.37995652152892045,-0.0075033779488265437]}
{"step":4336,"t":21.68,"command":[0.017976651233209934,-0.2538317731949275,-0.22259640388467133,0.61649449627991793,0.61649449627991793],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.046928882412730077,-0.052664540078613875,0.04654498518452721,-0.057659701608492653],"integral":[0.040053005795221218,0.13767506251603492,0.20727411627131556,0.096745052893884367],"effort":[-0.056989864052834419,-0.00032315998956046824,0.38006546394342977,-0.0074407050304466926]}
{"step":4340,"t":21.699999999999999,"command":[0.021782356126124038,-0.25335921040419812,-0.22234723991371069,0.61657698679709327,0.61657698679709327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.046654024529437566,-0.052497334867280809,0.046582795303948377,-0.057334721801793775],"integral":[0.039119925304632465,0.1366251158186893,0.20820577217739453,0.09559835845784849],"effort":[-0.056814592296941982,-0.00047447103840529345,0.38016718064778293,-0.007376297199696763]}
{"step":4344,"t":21.719999999999999,"command":[0.025018125412096519,-0.25287706414220423,-0.22209585894537018,0.61665354576654952,0.61665354576654952],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.046379827862209844,-0.05233049822686997,0.046615104392253137,-0.057009460544090174],"integral":[0.038192328747388267,0.1355785058541519,0.20913807426523959,0.094458169246966692],"effort":[-0.056636690064931119,-0.0006259065991353896,0.38026159550645794,-0.0073101195042493544]}
{"step":4348,"t":21.740000000000002,"command":[0.027881924634338744,-0.2523852882403419,-0.22184218855754298,0.61672411280285344,0.61672411280285344],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.046106280713142489,-0.052164018052834438,0.046641939145039224,-0.056683927895358699],"integral":[0.037270203133125415,0.13453522549309521,0.21007091304814038,0.093324490689059514],"effort":[-0.05645614517208046,-0.00077740172131494575,0.38034863131246671,-0.0072421885480800016]}
{"step":4352,"t":21.760000000000002,"command":[0.030470484651456999,-0.2518839322154629,-0.22158611162684294,0.61678862701476089,0.61678862701476089],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.045833373080939932,-0.051997880988074119,0.046663326208709499,-0.056358134167057594],"integral":[0.036353535671506614,0.13349526787333374,0.21100417957231457,0.092197328005718365],"effort":[-0.056272960087113806,-0.00092845043489467663,0.38042821041475389,-0.0071725552212101099]}
{"step":4356,"t":21.780000000000001,"command":[0.032842900596769802,-0.25137302539887785,-0.2213275223475126,0.61684702755633491,0.61684702755633491],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.045561096690567737,-0.051832072407965724,0.046679292179416354,-0.05603208993369424],"integral":[0.035442313737695262,0.13245862642517442,0.2119377654159029,0.091076686207044483],"effort":[-0.056087135023336787,-0.0010786561196093024,0.38050025540508581,-0.0071012628748480938]}
{"step":4360,"t":21.800000000000001,"command":[0.035038758891490655,-0.25085258201890964,-0.22106632408880877,0.61689925373482135,0.61689925373482135],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.045289444591051442,-0.051666576757520399,0.046689863601101944,-0.055705805976236755],"integral":[0.034536524845874231,0.13142529489002402,0.21287156268792493,0.089962570087519747],"effort":[-0.055898668775846018,-0.0012277146246560157,0.3805646892585795,-0.0070283491297077894]}
{"step":4364,"t":21.82,"command":[0.037086355759779831,-0.25032260797657874,-0.2208024323210899,0.61694524513723037,0.61694524513723037],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.045018410837532885,-0.051501377830850181,0.046695066965595888,-0.055379293238660865],"integral":[0.033636156629123573,0.13039526733340703,0.21380546402723685,0.088854984222746528],"effort":[-0.055707561091552699,-0.0013753977835409548,0.38062143549743732,-0.0069538469726432156]}
{"step":4368,"t":21.84,"command":[0.039006880400901639,-0.24978310142120511,-0.2205357694011609,0.61698494171016449,0.61698494171016449],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.044747990239821123,-0.051336458994313938,0.046694928713459039,-0.055052562794998372],"integral":[0.032741196824327148,0.12936853815352076,0.21473936260150603,0.087753932966846554],"effort":[-0.05551381167047903,-0.0015215367186102446,0.38067041829709514,-0.0068777860851170075]}
{"step":4372,"t":21.859999999999999,"command":[0.040816764938559548,-0.24923405034656343,-0.2202662721299867,0.61701828395804226,0.61701828395804226],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.044478178169544469,-0.051171803360401613,0.046689475235949907,-0.054725625809612266],"integral":[0.031851633260936256,0.12834510208631272,0.21567315210622504,0.086659420450654306],"effort":[-0.05531742124509733,-0.0016660083000496241,0.38071156273852724,-0.0068001906070559795]}
{"step":4376,"t":21.879999999999999,"command":[0.04252910326711748,-0.24867544256608751,-0.21999388348466237,0.61704521304163673,0.61704521304163673],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.044208970416070636,-0.051007393925578848,0.046678732878384199,-0.054398493512928803],"integral":[0.030967453852614842,0.12732495420780116,0.21660672676379272,0.085571450580395725],"effort":[-0.055118392253051346,-0.0018087246247051429,0.38074479493759888,-0.0067210834823881391]}
{"step":4380,"t":21.900000000000002,"command":[0.044154567042187134,-0.24810726093550006,-0.21971855495218187,0.61706567108318611,0.61706567108318611],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.043940363074394861,-0.050843213678040566,0.046662727944714266,-0.054071177182040908],"integral":[0.030088646591126946,0.12630808993424034,0.21753998132268701,0.0844900270367549],"effort":[-0.05491672815959564,-0.0019496257906829982,0.38077004242934276,-0.0066404847693206717]}
{"step":4384,"t":21.920000000000002,"command":[0.045701959933998594,-0.24752949610051048,-0.21944024584951197,0.61707960126975547,0.61707960126975547],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.043672352476125331,-0.05067924568121418,0.046641486704314783,-0.053743688133088607],"integral":[0.029215199541604439,0.12529450502061606,0.2184728110567733,0.083415153274093129],"effort":[-0.054712436469133444,-0.0020886691418088126,0.38078723430324041,-0.0065584149706391925]}
{"step":4388,"t":21.940000000000001,"command":[0.047175399698683701,-0.24694291199992841,-0.21915953911136934,0.61708695153153181,0.61708695153153181],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.043404936747665435,-0.050515473492123597,0.046615035559647744,-0.053416037993791798],"integral":[0.028347100806651131,0.12428419555077359,0.21940511176796626,0.082346832514217289],"effort":[-0.054505852685256109,-0.0022255183367305663,0.38079630575047907,-0.0064749491017482771]}
{"step":4392,"t":21.960000000000001,"command":[0.048573624440027878,-0.24635170573573573,-0.2188797118977312,0.61708770758687215,0.61708770758687215],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.043138121679228147,-0.050351884838317984,0.046583401932003721,-0.053088240136686449],"integral":[0.027484338373066568,0.12327715785400724,0.22033677980660635,0.081285067711483555],"effort":[-0.05429874559967017,-0.0023593969912408738,0.38079723885482109,-0.006390417319236362]}
{"step":4396,"t":21.98,"command":[0.049900258934680336,-0.24576086062538643,-0.21860325569677569,0.61708192764739411,0.61708192764739411],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.042871922434417842,-0.050188474675629369,0.046546614991758162,-0.052760312212960514],"integral":[0.026626899924378212,0.12227338836049464,0.2212677121064415,0.080229861467224342],"effort":[-0.054092892008280255,-0.002490035841748145,0.38079010542902375,-0.0063055086070503627]}
{"step":4400,"t":22,"command":[0.051154829293539358,-0.24517591624899199,-0.2183358447260349,0.61706971911587427,0.61706971911587427],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.042606365777125399,-0.050025247463413969,0.046504706343430069,-0.05243227434291664],"integral":[0.025774772608835705,0.12127288341122637,0.22219780623331009,0.07918121598036601],"effort":[-0.053890885500381978,-0.0026168165600511523,0.38077503824974401,-0.0062203444081507589]}
{"step":4404,"t":22.02,"command":[0.052341260803863768,-0.24459908612343556,-0.21807980722467951,0.61705123014035235,0.61705123014035235],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.042341486331646028,-0.049862214304761565,0.046457709755091781,-0.052104146929475736],"integral":[0.024927942882202785,0.12027563912513115,0.22312696042841193,0.078139133041776498],"effort":[-0.053693757625786612,-0.0027396075825380853,0.38075222061772207,-0.0061349553066332302]}
{"step":4408,"t":22.039999999999999,"command":[0.053462956457957914,-0.24403553334618705,-0.21784028083966547,0.61702664148659991,0.61702664148659991],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.042077326843720231,-0.049699394637245486,0.046405661508035934,-0.051775950904495271],"integral":[0.02408639634532838,0.11928165123238624,0.22405507365857266,0.077103614023686595],"effort":[-0.053503864745931148,-0.002858287713225504,0.38072187630423304,-0.0060494767896268273]}
{"step":4412,"t":22.059999999999999,"command":[0.054526364274266451,-0.24348705721021274,-0.21761843553766286,0.61699616791412215,0.61699616791412215],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.041813934676802278,-0.049536814164474086,0.046348600141450813,-0.051447708220617838],"integral":[0.023250117651792336,0.11829091494909676,0.22498204566140168,0.076074659859274238],"effort":[-0.053321865257374673,-0.0029731244009700009,0.38068427122071163,-0.005964081771514744]}
{"step":4416,"t":22.080000000000002,"command":[0.055535580665801811,-0.24295396598314842,-0.2174142387560144,0.61696003001161659,0.61696003001161659],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.041551357107777243,-0.049374499841394304,0.046286565762700516,-0.051119441430665713],"integral":[0.02241909050963679,0.11730342495226886,0.22590777697665568,0.075052271030660922],"effort":[-0.053147790400399034,-0.0030842007198877801,0.38063967863193482,-0.0058788391865417997]}
{"step":4420,"t":22.100000000000001,"command":[0.056495199059027931,-0.24243700165080315,-0.21722724662888787,0.61691844437442112,0.61691844437442112],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.04128964034523408,-0.049212478757284073,0.046219599856927474,-0.050791174333795319],"integral":[0.021593297702732109,0.11631917537712318,0.22683216897379424,0.074036447543985015],"effort":[-0.0529816882236996,-0.0031917075167191902,0.38058836700935567,-0.0057940115457319266]}
{"step":4424,"t":22.120000000000001,"command":[0.057410401499713472,-0.24193754498245976,-0.21705664181680678,0.61687162655560313,0.61687162655560313],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.041028829352093954,-0.049050778776041248,0.046147745291322373,-0.050462933704892077],"integral":[0.020772721115690229,0.11533815980160235,0.22775512387962069,0.073027188869887169],"effort":[-0.052823680714464652,-0.0032959542003583031,0.38053060364935543,-0.0057100949576750909]}
{"step":4428,"t":22.140000000000001,"command":[0.058283583593259074,-0.24145549076843245,-0.21690235485746695,0.6168197894166495,0.6168197894166495],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.040768967907592657,-0.048889427644019268,0.046071046210522049,-0.05013474734015011],"integral":[0.019957341757538376,0.11436037124872196,0.22867654480383112,0.072024493923084174],"effort":[-0.052673692782469542,-0.003396976116472418,0.38046665261599977,-0.005627061239755024]}
{"step":4432,"t":22.16,"command":[0.059117143550082941,-0.24099082426497304,-0.21676424987540643,0.6167631407097276,0.6167631407097276],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.040510098637565273,-0.048728452380665921,0.045989547941096998,-0.04980664265340673],"integral":[0.019147139784787069,0.11338580220110864,0.22959633576265306,0.071028361070016033],"effort":[-0.052531658701979379,-0.0034948366615211134,0.38039677173812725,-0.0055449186779317414]}
{"step":4436,"t":22.18,"command":[0.059913273473577972,-0.24054348356695976,-0.21664215380754079,0.61670188196529285,0.61670188196529285],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.040252262956762985,-0.048567879293953897,0.045903296932330306,-0.049478646772233681],"integral":[0.01834209452565181,0.11241444461522956,0.23051440170129966,0.070038788134571359],"effort":[-0.052397495146449202,-0.0035896003383197421,0.38032121121953394,-0.0054636723400790371]}
{"step":4440,"t":22.199999999999999,"command":[0.060673747020206593,-0.24011324351951618,-0.21653592204831476,0.61663620749191939,0.61663620749191939],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.039995501034635339,-0.04840773381122454,0.045812340677598318,-0.049150786304384075],"integral":[0.017542184504959105,0.11144628993900507,0.23143064851485162,0.069055772408483679],"effort":[-0.052271087625388166,-0.0036813035774720289,0.38024021239001748,-0.0053832820880743149]}
{"step":4444,"t":22.219999999999999,"command":[0.061400183890466732,-0.23969986372235624,-0.21644536499871372,0.61656630450046379,0.61656630450046379],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.039739851770218548,-0.048248040369478717,0.045716727640329413,-0.048823087239533547],"integral":[0.016747387469554734,0.1104813291316155,0.23234498306765822,0.068079310663693007],"effort":[-0.052152310348971283,-0.0037699825817831302,0.38015400784535863,-0.0053037143195448708]}
{"step":4448,"t":22.240000000000002,"command":[0.062094073464894463,-0.23930305037663707,-0.21637025201840543,0.61649235326898932,0.61649235326898932],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.039485352737318236,-0.048088822354211302,0.045616507183528832,-0.048495574957649557],"integral":[0.01595768041480837,0.10951955268453127,0.23325731321132878,0.067109399164540021],"effort":[-0.052041017939035789,-0.0038556739594637103,0.38006282163913635,-0.0052249319805275085]}
{"step":4452,"t":22.260000000000002,"command":[0.06275678995098416,-0.23892247925909413,-0.21631032302704375,0.61641452674055675,0.61641452674055675],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.039232040138061253,-0.047930102049277945,0.045511729500454123,-0.048168274222602614],"integral":[0.015173039612047145,0.10856095064354571,0.23416754780133786,0.066146033680087965],"effort":[-0.051937053471688144,-0.003938414684951947,0.37996686877678454,-0.0051468976236241221]}
{"step":4456,"t":22.280000000000001,"command":[0.06338954502710456,-0.23855839995522571,-0.2162645713413871,0.61633299112503759,0.61633299112503759],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.038979948757418947,-0.047771900552718849,0.045402445544755921,-0.047841210679580137],"integral":[0.014393440636898767,0.10760551263249132,0.23507559671223299,0.065189209466496367],"effort":[-0.051840237503335669,-0.0040182344187433168,0.37986635594913565,-0.0050698726858617593]}
{"step":4460,"t":22.300000000000001,"command":[0.063993495744131629,-0.2382105692363157,-0.21623261150482384,0.61624790456935363,0.61624790456935363],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.038729111995823517,-0.047614237813243809,0.045288706973370729,-0.047514410480060332],"integral":[0.013618858396982297,0.10665322787622644,0.2359813708517004,0.064238921256895162],"effort":[-0.051750408787042818,-0.0040951674975541925,0.37976147988611925,-0.0049938665088467421]}
{"step":4464,"t":22.32,"command":[0.064569732791071768,-0.23787859251324056,-0.21621423302748285,0.6161594178398424,0.6161594178398424],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.038479561917993843,-0.047457132705785998,0.045170566093943432,-0.047187899151707957],"integral":[0.01284926715862242,0.10570408522211072,0.23688478217357928,0.063295163273861005],"effort":[-0.051667409669871503,-0.0041692503927104087,0.37965242819273354,-0.0049188151062088403]}
{"step":4468,"t":22.34,"command":[0.065119292020772726,-0.23756206078977363,-0.21620920999239865,0.61606767446318167,0.61606767446318167],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.038231329255818736,-0.047300603051214196,0.045048075806921162,-0.046861701387530541],"integral":[0.012084640573506045,0.10475807316108644,0.23778574368971769,0.062357929246110395],"effort":[-0.051591077606110619,-0.0042405221932866749,0.37953937951847277,-0.004844655120573485]}
{"step":4472,"t":22.359999999999999,"command":[0.06564314700476391,-0.2372605396993813,-0.21621732606805763,0.61597281103729939,0.61597281103729939],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.037984443408181745,-0.047144665625264315,0.044921289548721877,-0.046535841019414659],"integral":[0.011324951705342411,0.10381517984858116,0.23868416948069213,0.061427212425722105],"effort":[-0.051521247895231222,-0.0043090227486890457,0.37942250393719257,-0.0047713158032104686]}
{"step":4476,"t":22.379999999999999,"command":[0.066142235028945312,-0.23697358149451533,-0.2162383514605497,0.61587495721996244,0.61587495721996244],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.037738932435801953,-0.046989336168728579,0.044790261235979401,-0.046210341007078437],"integral":[0.010570173056626372,0.10287539312520659,0.2395799747054117,0.060503005605580536],"effort":[-0.05145775148435696,-0.0043747952546242409,0.37930196293069063,-0.0046987268419807424]}
{"step":4480,"t":22.400000000000002,"command":[0.066617443759430323,-0.23670072630835048,-0.21627205618954856,0.61577423600040726,0.61577423600040726],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.03749482306297991,-0.046834629401012906,0.044655045212262046,-0.045885223437757139],"integral":[0.0098202765953667743,0.10193870053718633,0.24047307560965694,0.059585301136825392],"effort":[-0.051400418061677944,-0.0044378838130408622,0.3791779097218852,-0.0046268157732226936]}
{"step":4484,"t":22.420000000000002,"command":[0.067069617563350989,-0.23644166330751137,-0.21631788437671148,0.61567076422503164,0.61567076422503164],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.037252140597334282,-0.046680558937860273,0.044515696184189046,-0.04556051006068873],"integral":[0.0090752337834200877,0.10100508935842913,0.24136338953334072,0.058674090935611614],"effort":[-0.051349043624419444,-0.0044983336000941603,0.37905048992143447,-0.0045556165232031251]}
{"step":4488,"t":22.440000000000001,"command":[0.067499512195575248,-0.23619639329299036,-0.21637465658403815,0.61556465387729364,0.61556465387729364],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.037010908737966197,-0.046527137056937562,0.044372269143889476,-0.045236223654210761],"integral":[0.0083350156086607636,0.10007454661729037,0.24225083491621852,0.057769366462527401],"effort":[-0.051303364108238714,-0.0045561841466406124,0.37891984310307231,-0.0044853720963782678]}
{"step":4492,"t":22.460000000000001,"command":[0.067907901434728524,-0.23596440498271912,-0.21644216636011759,0.6154560087937887,0.6154560087937887],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.036771149737534481,-0.046374374896331894,0.044224819344615973,-0.044912386985347719],"integral":[0.0075995926139100743,0.099147059119363737,0.24313533130311082,0.056871118722820448],"effort":[-0.05126320589875475,-0.0046114830772688038,0.37878609876038005,-0.0044159945200939257]}
{"step":4496,"t":22.48,"command":[0.068295548545357201,-0.23574517508414128,-0.21652020765776311,0.61534492661734674,0.61534492661734674],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.036532884548857503,-0.046222282654111435,0.044073402275319307,-0.044589021804291917],"integral":[0.0068689349229329247,0.098222613466281514,0.2440167993486172,0.055979338286734612],"effort":[-0.051228393949806647,-0.0046642819511112429,0.37864937871370785,-0.0043473936256457832]}
{"step":4500,"t":22.5,"command":[0.068663197214704888,-0.23553816231038543,-0.21660858100583927,0.61523149918572506,0.61523149918572506],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.036296132825624383,-0.046070869608398457,0.043918073615876629,-0.044266148823980611],"integral":[0.0061430122664204367,0.097301196074113541,0.24489516082093474,0.055094015310254998],"effort":[-0.05119875163495835,-0.0047146346517454567,0.37850979759031483,-0.0042794742695951224]}
{"step":4504,"t":22.52,"command":[0.069011568890333441,-0.23534282191308245,-0.21670708332453426,0.61511581311059493,0.61511581311059493],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.036060912929704925,-0.045920144136583962,0.043758889196433337,-0.043943787719603056],"integral":[0.0054217940078263383,0.096382793191381863,0.24577033860486341,0.054215139555862935],"effort":[-0.051174101894519736,-0.004762596640705238,0.37836746353870837,-0.0042121419314931005]}
{"step":4508,"t":22.539999999999999,"command":[0.069341370227686036,-0.23515860703811955,-0.21681550345638695,0.61499794956678411,0.61499794956678411],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.035827241937672394,-0.045770113734601825,0.043595904957751674,-0.043621957151210866],"integral":[0.0047052491690728901,0.09546739091668982,0.24664225670401846,0.053342700412838714],"effort":[-0.051154266501577637,-0.0048082256250530225,0.37822247797134873,-0.0041453039625310995]}
{"step":4512,"t":22.559999999999999,"command":[0.069653294621795689,-0.23498496110781861,-0.21693362932994711,0.61487798437690633,0.61487798437690633],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.035595135644448161,-0.045620785034303779,0.043429176911546019,-0.043300674772978165],"integral":[0.0039933464561839266,0.094554975216003742,0.24751084024224937,0.052476686917379153],"effort":[-0.051139065740552957,-0.004851581451670672,0.3780749356714071,-0.0040788662062900619]}
{"step":4516,"t":22.580000000000002,"command":[0.06994801167567237,-0.23482132457494934,-0.21706124441996555,0.61475598862428571,0.61475598862428571],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.035364608572414413,-0.045472163818252476,0.043258761104097765,-0.042979957243913458],"integral":[0.0032860542847356383,0.09364553193963869,0.24837601546433133,0.051617087772500882],"effort":[-0.051128319152138862,-0.0048927243373799983,0.37792492554942286,-0.0040127353229948426]}
{"step":4520,"t":22.600000000000001,"command":[0.070226173132180297,-0.23466714506304509,-0.21719812126584992,0.61463202891293434,0.61463202891293434],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.035135673985168703,-0.045324255037063832,0.043084713583314116,-0.042659820264201675],"integral":[0.0025833408050322643,0.092739046838897415,0.2492377097359976,0.050763891367216846],"effort":[-0.051121846426727548,-0.0049317153927909627,0.37777253096563018,-0.0039468225453127004]}
{"step":4524,"t":22.620000000000001,"command":[0.070488417657542615,-0.23452187597502305,-0.21734402166654859,0.61450616712006412,0.61450616712006412],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.034908343899937799,-0.045177062828558157,0.042907090365941869,-0.042340278620440763],"integral":[0.0018851739270335083,0.091835505582326254,0.25009585154331643,0.049917085794808032],"effort":[-0.051119467032516616,-0.0049686170238641657,0.37761782942859223,-0.0038810432783274729]}
{"step":4528,"t":22.640000000000001,"command":[0.070735351146607714,-0.23438497725594096,-0.21749869783126752,0.6143784612553973,0.6143784612553973],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.034682629106334462,-0.045030590530950931,0.042725947407932896,-0.04202134622870124],"integral":[0.0011915213449068191,0.090934893771707243,0.25095037049147506,0.049076658870234005],"effort":[-0.05112100056078249,-0.0050034899018338973,0.37746089365454971,-0.0038153170024854757]}
{"step":4532,"t":22.66,"command":[0.070967562353201938,-0.23425591753111119,-0.21766189018053489,0.61424896519704242,0.61424896519704242],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.034458539184933468,-0.044884840696487682,0.042541340576208064,-0.041703036181617636],"integral":[0.00050235056120814976,0.090037196957777482,0.25180119730299921,0.048242598146601652],"effort":[-0.051126266667652999,-0.0050363949063556047,0.37730179124563745,-0.0037495682306897676]}
{"step":4536,"t":22.68,"command":[0.071184801960907484,-0.2341347441146811,-0.2178327299662999,0.61411772883126292,0.61411772883126292],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.034236082799474099,-0.044739814870854655,0.042353325621679261,-0.041385362113916857],"integral":[-0.00018237109478133227,0.089142400660360388,0.25264826381543282,0.047414890904323312],"effort":[-0.051135088323109069,-0.0050672760302136171,0.37714058486486857,-0.0036839900785381324]}
{"step":4540,"t":22.699999999999999,"command":[0.07138590464458304,-0.2340221636272353,-0.21800973692906622,0.61398479816126839,0.61398479816126839],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.034015268229826923,-0.044595513257638331,0.042161958161684332,-0.041068340439227802],"integral":[-0.00086267645937787075,0.088250490395207618,0.25349150297866652,0.046593524095538755],"effort":[-0.051147309232326577,-0.0050959473819255034,0.37697733237313347,-0.0036190638364459182]}
{"step":4544,"t":22.719999999999999,"command":[0.071571489609192684,-0.2339176961140042,-0.2181927466703866,0.61385021597866474,0.61385021597866474],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.033796103032381675,-0.044451935173093871,0.041967293665939209,-0.040751988363784908],"integral":[-0.0015385985200255044,0.087361451691745737,0.25433084885198531,0.045778484328263057],"effort":[-0.05116278162742556,-0.0051224781248787755,0.37681208765705332,-0.003554706927858059]}
{"step":4548,"t":22.740000000000002,"command":[0.071742162878297794,-0.23382084836664727,-0.21838160256938202,0.61371402181354129,0.61371402181354129],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.033578593710863469,-0.044309079396141593,0.041769387436197292,-0.04043632216316928],"integral":[-0.0022101703942427739,0.086475270103822902,0.25516623660070925,0.04496975788499967],"effort":[-0.051181356735835085,-0.0051469379344562093,0.37664490057055178,-0.0034908323950635645]}
{"step":4552,"t":22.760000000000002,"command":[0.071898518163163713,-0.23373113629995115,-0.21857614354124322,0.6135762521153505,0.6135762521153505],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.033362745730995957,-0.044166944183747558,0.041568294584736876,-0.040121357196969964],"integral":[-0.0028774253088626931,0.085591931220147952,0.255997602492404,0.044167330741060273],"effort":[-0.051202887300714248,-0.0051693969140587815,0.37647581715992018,-0.0034273567753520945]}
{"step":4556,"t":22.780000000000001,"command":[0.072041157331073039,-0.23364807806886201,-0.21877620685035046,0.61343694097761525,0.61343694097761525],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.033148563529868058,-0.044025527292943512,0.041364070016511878,-0.039807107935696084],"integral":[-0.0035403965794600541,0.084711420674289079,0.25682488389273422,0.04337118858234635],"effort":[-0.051227226534550183,-0.005189928349600418,0.37630488055597416,-0.0033641978507228526]}
{"step":4560,"t":22.800000000000001,"command":[0.072170670807371745,-0.23357119099741588,-0.21898163024336056,0.61329611913871507,0.61329611913871507],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.032936050525790073,-0.043884825997168031,0.041156768408987077,-0.039493587974625544],"integral":[-0.0041991175899758551,0.083833724154345715,0.25764801926091396,0.042581316822853842],"effort":[-0.051254227823995607,-0.005208605724786021,0.376132129750609,-0.003301273439955725]}
{"step":4564,"t":22.82,"command":[0.072287637460671073,-0.23350000478296476,-0.21919224552950597,0.61315381526749657,0.61315381526749657],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.03272520913641741,-0.043744837102411616,0.040946444195500753,-0.039180810066224758],"integral":[-0.0048536217727042034,0.082958827412297487,0.25846694814482396,0.041797700621529349],"effort":[-0.051283746366955901,-0.005225502529645416,0.37595760117708737,-0.0032385058666886679]}
{"step":4568,"t":22.84,"command":[0.072392628486286581,-0.23343405688735008,-0.21940788414865114,0.6130100558405791,0.6130100558405791],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.032516040798828749,-0.04360555696679147,0.040733151551807456,-0.03886878615403333],"integral":[-0.0055039425886807781,0.082086716272961657,0.25928161117586013,0.04102032489844868],"effort":[-0.051315639270737262,-0.0052406926591535112,0.37578132856166996,-0.0031758196441493344]}
{"step":4572,"t":22.859999999999999,"command":[0.07248620689070677,-0.2333728926872766,-0.21962837162536072,0.61286486508179272,0.61286486508179272],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.032308545986124759,-0.043466981516431469,0.040516944381743691,-0.038557527405415515],"integral":[-0.0061501135084032731,0.081217376642633024,0.260091950063495,0.040249174350340373],"effort":[-0.051349764332017336,-0.0052542501894023465,0.37560334285172398,-0.0031131427092097805]}
{"step":4576,"t":22.879999999999999,"command":[0.072568927406611111,-0.23331606791792706,-0.21985353263460308,0.61271826470150026,0.61271826470150026],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.032102724227097701,-0.043329106263353845,0.040297876302395341,-0.038247044244870354],"integral":[-0.0067921679929452269,0.080350794517365945,0.2608979075895429,0.039484233465442969],"effort":[-0.05138598168029862,-0.005266249224945993,0.37542367189881776,-0.0030504058683841345]}
{"step":4580,"t":22.900000000000002,"command":[0.072641335493727255,-0.23326314854376037,-0.22008319227849077,0.61257027534084207,0.61257027534084207],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031898574129497703,-0.043191926325569563,0.040076000634868159,-0.037937346383701387],"integral":[-0.0074301394755351812,0.079486955990854549,0.26169942760224024,0.038725486537768944],"effort":[-0.051424153996019774,-0.0052767636223122385,0.37524234223115505,-0.002987542472528637]}
{"step":4584,"t":22.920000000000002,"command":[0.072703967582104831,-0.2332137130253216,-0.22031716855006156,0.61242091594567793,0.61242091594567793],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031696093400659153,-0.043055436443171891,0.039851370395610264,-0.037628442859244826],"integral":[-0.0080640613435483642,0.078625847261991108,0.26249645501015245,0.037972917680584049],"effort":[-0.051464145350486643,-0.0052858669021797495,0.37505937828774316,-0.0029244905925704112]}
{"step":4588,"t":22.940000000000001,"command":[0.072757350115673275,-0.23316735385097179,-0.2205552785916538,0.61227020360550366,0.61227020360550366],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031495278871538579,-0.04291963099674434,0.039624038286286467,-0.037320342075070623],"integral":[-0.0086939669209791359,0.077767454642056227,0.2632889357758782,0.037226510839082634],"effort":[-0.051505822908253153,-0.0052936319958546627,0.37487480222312486,-0.0028611919936111299]}
{"step":4592,"t":22.960000000000001,"command":[0.07280200691450861,-0.23312366943051352,-0.22079734220072988,0.61211815380472789,0.61211815380472789],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031296126518236544,-0.042784504026811998,0.03939405668431295,-0.03701305182428305],"integral":[-0.0093198894513438664,0.076911764561519991,0.26407681690956447,0.036486249802596973],"effort":[-0.051549055785826775,-0.0053001322107801598,0.37468863421730852,-0.0027975894629205661]}
{"step":4596,"t":22.98,"command":[0.072838454177941367,-0.23308227508256671,-0.22104317181132224,0.61196478145013278,0.61196478145013278],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.031098631482492811,-0.042650049251057087,0.039161477637791098,-0.036706579328385391],"integral":[-0.0099418620809937231,0.07605876357649885,0.26486004646232031,0.035752118216029263],"effort":[-0.051593715381037505,-0.0053054404070320641,0.37450089373530876,-0.0027336315766277874]}
{"step":4600,"t":23,"command":[0.072867193943655817,-0.23304279405599482,-0.22129258647545952,0.61181009989173862,0.61181009989173862],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.03090278809881486,-0.04251626008166931,0.038926352859677493,-0.036400931264100156],"integral":[-0.01055991784297002,0.075208438374865461,0.26563857351951387,0.03502409959074726],"effort":[-0.051639676345211771,-0.0053096279532223508,0.3743115983295392,-0.0026692675162130405]}
{"step":4604,"t":23.02,"command":[0.072888730148109773,-0.23300486941562784,-0.22154539331360268,0.61165412118794893,0.61165412118794893],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.030708589915536599,-0.042383129643677409,0.03868873372046,-0.036096113808640196],"integral":[-0.011174089641280752,0.074360775781991906,0.26641234819392307,0.034302177314574453],"effort":[-0.051686815234936345,-0.005312766982603967,0.37412076396620209,-0.002604453936457439]}
{"step":4608,"t":23.039999999999999,"command":[0.072903556792676863,-0.23296814768213039,-0.22180141155639291,0.61149685701021073,0.61149685701021073],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.030516029718243409,-0.042250650793782318,0.038448671245246757,-0.03579213265944392],"integral":[-0.01178441023564562,0.073515762766116266,0.26718132161882802,0.033586334661385574],"effort":[-0.051735012001425655,-0.0053149285930230612,0.37392840613336609,-0.0025391458330172659]}
{"step":4612,"t":23.059999999999999,"command":[0.072912156867319389,-0.2329322964755513,-0.22206044950569556,0.61133831771257163,0.61133831771257163],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.030325099555710944,-0.042118816135943593,0.038206216109379909,-0.035488993072315567],"integral":[-0.012390912226759839,0.072673386443397395,0.2679454459410156,0.032876554799939263],"effort":[-0.051784148988022853,-0.0053161826190445891,0.37373453870363721,-0.0024733057533512792]}
{"step":4616,"t":23.080000000000002,"command":[0.072914979093124402,-0.23289704165798553,-0.22232227004852395,0.61117851356637276,0.61117851356637276],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.03013579077449946,-0.041987618029971863,0.037961418636792477,-0.035186700008279725],"integral":[-0.012993628042249829,0.071833634082797956,0.26870467431375145,0.032172820799773669],"effort":[-0.051834111886285131,-0.0053165941761507685,0.37353917544520088,-0.0024069201267563206]}
{"step":4620,"t":23.100000000000001,"command":[0.072912356247391938,-0.23286230214200945,-0.22258645833889482,0.61101745354157733,0.61101745354157733],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029948094091983402,-0.041857048577686573,0.037714328797640029,-0.03488525863172165],"integral":[-0.013592589924089496,0.07099649311124423,0.26945896088970422,0.031475115627139234],"effort":[-0.051884791597364525,-0.0053162116935465947,0.37334232853243365,-0.0023400601615119684]}
{"step":4624,"t":23.120000000000001,"command":[0.072904762251306057,-0.23282777914881467,-0.22285284874540875,0.61085514638310312,0.61085514638310312],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029761999600726119,-0.041727099674094159,0.037464996207511092,-0.034584674033429574],"integral":[-0.014187829916104018,0.070161951117762342,0.27020826081385446,0.030783422146470642],"effort":[-0.051936083468656621,-0.0053151043589194612,0.37314400986272228,-0.0022726912747125932]}
{"step":4628,"t":23.140000000000001,"command":[0.072892658215168729,-0.23279318925290726,-0.22312127279101882,0.61069160019122126,0.61069160019122126],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029577496766961975,-0.041597763051572256,0.037213470126528314,-0.034284950935874914],"integral":[-0.014779379851443258,0.0693299958567309,0.27095253021638505,0.030097723127753145],"effort":[-0.051987885667212061,-0.0053133396216734057,0.37294423054411441,-0.0022047832953278335]}
{"step":4632,"t":23.16,"command":[0.072876497842205012,-0.23275825744497206,-0.22339156693598197,0.61052682294556815,0.61052682294556815],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029394574455585243,-0.04146903029383564,0.036959799459032272,-0.033986093715828392],"integral":[-0.015367271340554963,0.068500615250854185,0.2716917262055657,0.029418001253436576],"effort":[-0.052040099293466605,-0.0053109839377449113,0.37274300153600909,-0.0021363071153532864]}
{"step":4636,"t":23.18,"command":[0.072856726188376658,-0.23272272084193021,-0.22366356729109385,0.61036082210299036,0.61036082210299036],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.029213220953664409,-0.041340892849438537,0.036704032752828741,-0.033688106426877917],"integral":[-0.015951535759628252,0.06767379739386542,0.27242580686062229,0.028744239124899019],"effort":[-0.052092628064724325,-0.0053081025508880889,0.37254033315823831,-0.0020672367313466569]}
{"step":4640,"t":23.199999999999999,"command":[0.072833790356922445,-0.23268632565084491,-0.22393711345954662,0.6101936048893416,0.6101936048893416],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02903342399040798,-0.04121334204788063,0.036446218198618929,-0.033390992819982701],"integral":[-0.01653220423943641,0.066849530552907807,0.27315473122459466,0.028076419268499367],"effort":[-0.052145378464742445,-0.0053047610177561298,0.37233623544784988,-0.0019975476801485925]}
{"step":4644,"t":23.219999999999999,"command":[0.072808124626993001,-0.23264883246521664,-0.22421204535734815,0.61002517821366842,0.61002517821366842],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02885517076149946,-0.041086369114561316,0.036186403630050989,-0.033094756368805545],"integral":[-0.017109307654666398,0.066027803170616586,0.27387845929719568,0.027414524141123255],"effort":[-0.052198260265376994,-0.0053010230116997438,0.37213071805461795,-0.0019272189820514485]}
{"step":4648,"t":23.240000000000002,"command":[0.072780160418121492,-0.23261001319728752,-0.22448820652251736,0.60985554934631481,0.60985554934631481],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.028678447953688568,-0.040959965186559089,0.035924636526281084,-0.032799400293310299],"integral":[-0.01768287661374017,0.065208603866885401,0.27459695202772127,0.026758536135257048],"effort":[-0.052251186553669338,-0.0052969517504874979,0.37192379106849538,-0.001856231685972938]}
{"step":4652,"t":23.260000000000002,"command":[0.072750316911511986,-0.23256964608592942,-0.22476544417380978,0.60968472512690974,0.60968472512690974],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02850324176725505,-0.040834121323776174,0.035660964012527607,-0.0325049275728444],"integral":[-0.018252941449085271,0.06439192144040988,0.27531017130797181,0.026108437583800159],"effort":[-0.052304072587592232,-0.0052926086107254276,0.37171546405307554,-0.0017845676929422322]}
{"step":4656,"t":23.280000000000001,"command":[0.072719010357068237,-0.23252752569383819,-0.22504360735183465,0.6095127126002019,0.6095127126002019],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.028329537940469773,-0.040708828524593788,0.035395432861784926,-0.032211340969237834],"integral":[-0.018819532207894667,0.063577744869918004,0.2760180799652075,0.025464210764415404],"effort":[-0.052356837707612652,-0.0052880544673113983,0.37150574682125637,-0.0017122124976859249]}
{"step":4660,"t":23.300000000000001,"command":[0.072686643782450905,-0.23248345139185925,-0.22532254621242698,0.60933951838811473,0.60933951838811473],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0281573217707074,-0.040584077734799884,0.035128089494809611,-0.031918643045275585],"integral":[-0.019382678643308816,0.062766063315222012,0.27672064175510369,0.024825837903509892],"effort":[-0.052409402501361134,-0.0052833481843569084,0.37129464866945966,-0.001639152669709848]}
{"step":4664,"t":23.32,"command":[0.072653623458687547,-0.23243723331996247,-0.22560211900485039,0.60916514950347533,0.60916514950347533],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027986578135400952,-0.040459859863147596,0.034858979982338223,-0.031626836174460382],"integral":[-0.019942410206016836,0.061956866117959059,0.27741782135475046,0.024193301180020683],"effort":[-0.052461691766458672,-0.0052785490016767538,0.37108217936959143,-0.0015653756669799998]}
{"step":4668,"t":23.34,"command":[0.072620340585073453,-0.23238869493425476,-0.22588218449242609,0.6089896132496293,0.6089896132496293],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027817291517334253,-0.040336165795929579,0.034588150049029487,-0.031335922561570584],"integral":[-0.02049875603636352,0.061150142802040466,0.27810958435573108,0.023566582728789271],"effort":[-0.052513633402158269,-0.0052737138666920673,0.37086834904593302,-0.0014908721310878531]}
{"step":4672,"t":23.359999999999999,"command":[0.072587169281708261,-0.2323376670191305,-0.2261626038766022,0.6088129167822437,0.6088129167822437],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027649446029528901,-0.040212986402602624,0.034315645074735723,-0.031045904260754487],"integral":[-0.021051744956954097,0.060345883073988416,0.27879589725722581,0.022945664643574181],"effort":[-0.052565157454068617,-0.0052688971443313713,0.37065316764090317,-0.0014156340618237395]}
{"step":4676,"t":23.379999999999999,"command":[0.072554491512020564,-0.23228398728052507,-0.22644324601389795,0.60863506747168206,0.60863506747168206],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027483025433491015,-0.04009031255012685,0.034041510096373795,-0.030756783181549063],"integral":[-0.021601405465623919,0.059544076822985875,0.27947672745915331,0.022330528979943198],"effort":[-0.052616197206124926,-0.0052641542385678643,0.37043664535625898,-0.0013396535408142091]}
{"step":4680,"t":23.400000000000002,"command":[0.072522666821056764,-0.23222750454529748,-0.22672398187866313,0.60845607316881722,0.60845607316881722],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027318013163230015,-0.039968135113383818,0.033765789811766034,-0.030468561102113156],"integral":[-0.022147765728888519,0.058744714120718196,0.28015204325538862,0.021721157757900934],"effort":[-0.052666688913126265,-0.0052595372028380084,0.37021879297601712,-0.0012629249542098903]}
{"step":4684,"t":23.420000000000002,"command":[0.072492053283747845,-0.23216807534863201,-0.22700468588367445,0.60827594164133303,0.60827594164133303],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.027154392346369738,-0.039846444984472873,0.03348852858161333,-0.030181239683508831],"integral":[-0.022690853575815913,0.057947785221028739,0.28082181382702087,0.021117532964230759],"effort":[-0.052716571312116885,-0.0052550977892937365,0.36999962117965035,-0.0011854438989711835]}
{"step":4688,"t":23.440000000000001,"command":[0.072462993455751981,-0.2321055617281427,-0.22728523932957204,0.60809468110916831,0.60809468110916831],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026992145825384783,-0.039725233081313149,0.03320977043217832,-0.02989482047405323],"integral":[-0.023230696492323608,0.057153280559402476,0.28148600923566441,0.020519636554749695],"effort":[-0.052765785901118752,-0.0052508854205683539,0.36977914119326116,-0.0011072058840179075]}
{"step":4692,"t":23.460000000000001,"command":[0.072435826067364636,-0.23203983596055119,-0.22756552507652891,0.60791229989150442,0.60791229989150442],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026831256177697327,-0.039604490357335598,0.032929559057851776,-0.029609304921236479],"integral":[-0.023767321615877555,0.056361190752255763,0.28214460041682143,0.019927450456324967],"effort":[-0.05281427683797791,-0.0052469488980615023,0.36955736435937836,-0.0010282086346215941]}
{"step":4696,"t":23.48,"command":[0.072410880160811986,-0.2319707766701852,-0.22784543131200755,0.60772880652246064,0.60772880652246064],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026671705734872209,-0.039484207811134375,0.032647937823283346,-0.0293246943816039],"integral":[-0.024300755730575,0.055571506596033077,0.28279755917328708,0.019340956568692887],"effort":[-0.052861990899361846,-0.0052433355656634744,0.36933430227721442,-0.00094845032960709508]}
{"step":4700,"t":23.5,"command":[0.072388464098854119,-0.23189827023613435,-0.22812485097411697,0.60754421025445893,0.60754421025445893],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026513476606647268,-0.039364376491880959,0.032364949767710538,-0.029040990127504829],"integral":[-0.024831025262707945,0.054784219066195461,0.28344485816864129,0.018760136766142792],"effort":[-0.052908877685237138,-0.0052400897345910909,0.36910996741371421,-0.0008679300532740547]}
{"step":4704,"t":23.52,"command":[0.072368880135809971,-0.2318222092237483,-0.22840368005825262,0.60735852055911188,0.60735852055911188],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026356550700346038,-0.039244987505338669,0.032080637608218332,-0.028758193355199024],"integral":[-0.025358156276714866,0.053999319316088687,0.28408647092080563,0.018184972899038813],"effort":[-0.052954888876765978,-0.0052372548121112309,0.36888437249575312,-0.00078664781261335304]}
{"step":4708,"t":23.539999999999999,"command":[0.072352423397528148,-0.23174249233605904,-0.22868181996043696,0.60717174706195443,0.60717174706195443],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026200909737844169,-0.039126032022562818,0.031795043741637663,-0.028476305190178852],"integral":[-0.025882174471471748,0.053216798675637431,0.28472237179563836,0.017615446795235235],"effort":[-0.05299997876727304,-0.0052348731714951784,0.368657530430266,-0.00070460398685533859]}
{"step":4712,"t":23.559999999999999,"command":[0.072339371718902243,-0.23165902458133611,-0.22895917587304085,0.60698389976265488,0.60698389976265488],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.026046535275753069,-0.039007501285130086,0.03150821024710071,-0.028195326692780465],"integral":[-0.02640310517698681,0.052436648649934831,0.28535253600058036,0.017051540261379627],"effort":[-0.053044103943219068,-0.0052329847006855135,0.36842945457108067,-0.00062179972675701495]}
{"step":4716,"t":23.580000000000002,"command":[0.072329992145622649,-0.23157172084222841,-0.22923565418614092,0.60679498932266107,0.60679498932266107],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02589340872520296,-0.038889386610444721,0.03122017889016826,-0.027915258872001636],"integral":[-0.026920973351490868,0.051658860917725938,0.28597693957838372,0.016493235083939593],"effort":[-0.053087223521989475,-0.0052316277637858332,0.36820015906708831,-0.0005382383718414846]}
{"step":4720,"t":23.600000000000001,"command":[0.072324545125909412,-0.23148049551790098,-0.22951116985815317,0.60660502637686453,0.60660502637686453],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.025741511367263881,-0.038771679397975545,0.030930991124719753,-0.027636102682973562],"integral":[-0.027435803578836147,0.050883427329766424,0.28659555940087811,0.015940513030280122],"effort":[-0.053129298447435504,-0.0052308398276697072,0.36796965802567655,-0.00045392135777747034]}
{"step":4724,"t":23.620000000000001,"command":[0.072323268129473248,-0.23138527136587222,-0.22978563918836659,0.60641402200034189,0.60641402200034189],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.025590824372584198,-0.038654371131075171,0.030640688095017854,-0.027357859030670006],"integral":[-0.027947620066287832,0.050110339907144918,0.28720837316277847,0.015393355849666722],"effort":[-0.05317029189113226,-0.0052306551129276801,0.36773796607863107,-0.0003688519139260632]}
{"step":4728,"t":23.640000000000001,"command":[0.072326396380723357,-0.23128597682587709,-0.23005898375303438,0.6062219874291771,0.6062219874291771],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.025441328818687436,-0.038537453383732156,0.030349310638018601,-0.02708052877702527],"integral":[-0.02845644664266158,0.049339590839470274,0.28781535937553887,0.014851745274126216],"effort":[-0.053210169540889543,-0.0052311076134215128,0.36750509804258136,-0.00028303353541060672]}
{"step":4732,"t":23.66,"command":[0.072334139172786457,-0.23118254754786599,-0.2303311259037584,0.6060289351117798,0.6060289351117798],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02529300570901083,-0.038420917822012957,0.030056899288713357,-0.026804112750301035],"integral":[-0.028962306756841798,0.048571172483030015,0.28841649736131314,0.014315663019120196],"effort":[-0.053248898925407163,-0.0052322276898680393,0.36727107019271787,-0.00019647136531415754]}
{"step":4736,"t":23.68,"command":[0.072346702392748166,-0.23107491946928957,-0.23060199688595479,0.60583487694971427,0.60583487694971427],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.025145835988923837,-0.038304756208015656,0.029763494281153768,-0.026528611741139296],"integral":[-0.029465223476620273,0.047805077358869699,0.28901176724693622,0.01378509078429741],"effort":[-0.053286449687764283,-0.0052340453471048732,0.36703589812867549,-0.00010916871997437849]}
{"step":4740,"t":23.699999999999999,"command":[0.072364276479966669,-0.23096303816644087,-0.23087152529535696,0.60563982610967471,0.60563982610967471],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024999800559890595,-0.038188960403039873,0.029469135552143477,-0.026254026512292583],"integral":[-0.029965219487818086,0.047041298150808902,0.28960114995797909,0.013260010254051558],"effort":[-0.053322793095638733,-0.005236588510469058,0.36679959897015701,-2.1131903434092048e-05]}
{"step":4744,"t":23.719999999999999,"command":[0.072387035732137811,-0.23084685063951679,-0.23113964666432341,0.6054437953391365,0.6054437953391365],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024854880296240722,-0.03807352236852668,0.02917386274267475,-0.025980357802148135],"integral":[-0.030462317093742902,0.046279827703438366,0.29018462721283256,0.012740403098008595],"effort":[-0.053357902355145821,-0.0052398829420857961,0.36656218931465823,6.7633904962449698e-05]}
{"step":4748,"t":23.740000000000002,"command":[0.072415139707634885,-0.23072631163274623,-0.2314062987530954,0.60524679802316173,0.60524679802316173],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024711056062981962,-0.037958434168965161,0.02887771519980209,-0.025707606328554622],"integral":[-0.030956538215002542,0.045520659020059064,0.29076218151682859,0.012226250971437503],"effort":[-0.053391752991128985,-0.0052439524588762778,0.36632368651728991,0.00015712211147785732]}
{"step":4752,"t":23.760000000000002,"command":[0.072448732964792831,-0.23060137694740887,-0.2316714240918262,0.60504884806574621,0.60504884806574621],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024568308730995581,-0.037843687972620277,0.028580731980089702,-0.025435772789563549],"integral":[-0.031447904389622451,0.044763785260606655,0.2913337961564304,0.011717535515646232],"effort":[-0.053424321895387872,-0.0052488189082038591,0.3660841085456864,0.00024732684534691657]}
{"step":4756,"t":23.780000000000001,"command":[0.072487948232058827,-0.23047200948017499,-0.23193496507679454,0.60484995965347088,0.60484995965347088],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024426619190261567,-0.037729276052354432,0.02828295185174623,-0.025164857870356716],"integral":[-0.031936436773427682,0.044009199739559565,0.29189945519346533,0.011214238358239098],"effort":[-0.053455587589501884,-0.0052545026388936406,0.36584347369280534,0.00033824043567201589]}
{"step":4760,"t":23.800000000000001,"command":[0.072532906381471793,-0.23033817381601837,-0.23219687066820024,0.60465014733807487,0.60465014733807487],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024285968363636501,-0.037615190788413022,0.027984413296736399,-0.024894862243657223],"integral":[-0.03242215614070041,0.043256895923791304,0.29245914345940005,0.010716341113365953],"effort":[-0.053485530532501602,-0.0052610225081433509,0.3656018006759556,0.00042985621560331227]}
{"step":4764,"t":23.82,"command":[0.07258370410200557,-0.23019983881882503,-0.23245709276482934,0.60444942619839059,0.60444942619839059],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024146337224280279,-0.03750142466710682,0.027685154513652499,-0.024625786568870822],"integral":[-0.032905082885186017,0.042506867430449166,0.29301284654967308,0.010223825381988537],"effort":[-0.053514132884444746,-0.0052683941011674998,0.36535910883156358,0.00052216709223172619]}
{"step":4768,"t":23.84,"command":[0.07264043612817439,-0.23005698035932853,-0.23271558092478567,0.60424781150925244,0.60424781150925244],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.024007706806012274,-0.03738797028195151,0.027385213419346854,-0.024357631504791644],"integral":[-0.03338523702130626,0.041759108024810136,0.29356055081806004,0.0097366727518927044],"effort":[-0.053541377908606469,-0.0052766329608913837,0.36511541771372102,0.00061516369655399694]}
{"step":4772,"t":23.859999999999999,"command":[0.072703170638656139,-0.22990957403926271,-0.23297229253426066,0.60404531887143931,0.60404531887143931],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023870058218188106,-0.037274820332267478,0.027084627650463933,-0.024090397707498545],"integral":[-0.033862638185670021,0.041013611618164789,0.29410224337106933,0.0092548647977427328],"effort":[-0.053567250661792173,-0.005285751020913553,0.36487074725049884,0.00070883842687695375]}
{"step":4776,"t":23.879999999999999,"command":[0.072772072574982249,-0.22975757543816827,-0.23322720987027695,0.60384196418045766,0.60384196418045766],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023733372624503701,-0.037161967655207961,0.026783434565102127,-0.023824085773571091],"integral":[-0.034337305638160093,0.040270372265060632,0.29463791206237139,0.0087783830822713103],"effort":[-0.0535917374475499,-0.0052957745468584843,0.36462511770531314,0.00080319397632431372]}
{"step":4780,"t":23.900000000000002,"command":[0.072847274598985282,-0.22960095144955106,-0.23348031179723538,0.60363776384907175,0.60363776384907175],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023597631240710459,-0.037049405241286637,0.026481671245363714,-0.023558696227272358],"integral":[-0.034809258262974305,0.039529384160234902,0.29516754548727864,0.008307209157725863],"effort":[-0.053614826451736673,-0.0053067254164999656,0.36437854994470775,0.00089822954519757497]}
{"step":4784,"t":23.920000000000002,"command":[0.072928799505982758,-0.22943969086034841,-0.23373156050092928,0.60343273434511879,0.60343273434511879],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023462815382312208,-0.036937126200549564,0.026179374498498831,-0.023294229576868442],"integral":[-0.035278514570620548,0.038790641636223915,0.29569113297724864,0.0078413245661884939],"effort":[-0.053636507058145905,-0.0053186097973838302,0.3641310648792267,0.00099393531605365681]}
{"step":4788,"t":23.940000000000001,"command":[0.073016654732218841,-0.22927378573601376,-0.23398092009344321,0.60322689276153729,0.60322689276153729],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023328906495086787,-0.036825123742660004,0.025876580858984699,-0.023030686343797457],"integral":[-0.035745092700522285,0.038054139161370716,0.29620866459442835,0.0073807108393125443],"effort":[-0.053656769896748904,-0.005331431868284056,0.36388268415073927,0.0010903010710253541]}
{"step":4792,"t":23.960000000000001,"command":[0.073110838809531273,-0.22910323410872338,-0.23422835460469926,0.60302025632938006,0.60302025632938006],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023195886165230384,-0.036713391177338295,0.025573326590152323,-0.022768067071060605],"integral":[-0.03620901042382689,0.037319871337823947,0.29672013112623141,0.0069253494978913322],"effort":[-0.053675606989950629,-0.0053451947514332639,0.36363342954355127,0.0011873151108741167]}
{"step":4796,"t":23.98,"command":[0.073211322725682218,-0.22892809942039943,-0.23447382100328468,0.60281284211078945,0.60281284211078945],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.023063736168687621,-0.036601921946084914,0.02526964768919937,-0.022506372410835862],"integral":[-0.036670285147200644,0.036587832898902252,0.2972255240800154,0.0064752220496746152],"effort":[-0.053693023720058339,-0.0053598977752439938,0.36338332261368755,0.001284949015822049]}
{"step":4800,"t":24,"command":[0.073318079260625571,-0.22874838720035021,-0.23471728593427862,0.60260466813952085,0.60260466813952085],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022932438465010474,-0.036490709607797323,0.024965579887625822,-0.022245603096025413],"integral":[-0.037128933916500857,0.035858018706746306,0.29772483567776792,0.006030309987754107],"effort":[-0.053709014481557626,-0.0053755407464673739,0.36313238606354209,0.0013831898347962876]}
{"step":4804,"t":24.02,"command":[0.073431061717624299,-0.22856409689326657,-0.23495872328908951,0.60239575258658251,0.60239575258658251],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022801975183313283,-0.036379747813648944,0.024661158649647241,-0.021985759877816924],"integral":[-0.037584973420167124,0.03513042375047333,0.29821805885076086,0.0055905947901977683],"effort":[-0.053723574019136737,-0.0053921208249775483,0.36288064273435511,0.0014820276305021925]}
{"step":4808,"t":24.039999999999999,"command":[0.07355020685081036,-0.22837523482438771,-0.23519810668500582,0.60218611366379837,0.60218611366379837],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022672328634627092,-0.036269030303065275,0.024356419172221422,-0.021726843524939699],"integral":[-0.038038419992859666,0.034405043144412027,0.2987051872342053,0.0051560579196989744],"effort":[-0.053736698634652802,-0.0054096329277969913,0.36262811548950907,0.0015814507535585783]}
{"step":4812,"t":24.060000000000002,"command":[0.073675448397503049,-0.2281818090517595,-0.23543540859070117,0.60197577020938309,0.60197577020938309],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022543481317127689,-0.036158550902317455,0.024051396386755464,-0.02146885483223604],"integral":[-0.03848928961920222,0.033681872126365676,0.29918621516194044,0.0047266808230542537],"effort":[-0.053748384800202019,-0.0054280716965731338,0.36237482791917996,0.00168144681806838]}
{"step":4816,"t":24.080000000000002,"command":[0.073806697277402092,-0.22798382781858303,-0.23567060828229094,0.60176474083775644,0.60176474083775644],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02241541592734686,-0.036048303521526437,0.023746124959282966,-0.02121179461507039],"integral":[-0.03893759793774916,0.03296090605593515,0.29966113766112612,0.0043024449307528462],"effort":[-0.053758630677479172,-0.0054474285629980742,0.3621208033155322,0.0017820049306658502]}
{"step":4820,"t":24.100000000000001,"command":[0.073943855928064323,-0.22778130292790141,-0.23590368514957064,0.60155304539465493,0.60155304539465493],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022288115370586281,-0.035938282152379264,0.023440639294219245,-0.020955663708812522],"integral":[-0.039383360245160884,0.032242140412887567,0.30012995044701052,0.0038833316565765959],"effort":[-0.053767435315340069,-0.0054676938295103329,0.36186606642358377,0.0018831133518076755]}
{"step":4824,"t":24.120000000000001,"command":[0.074086815300178507,-0.22757424867827042,-0.23613461682723316,0.60134070274400364,0.60134070274400364],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022161562766542131,-0.035828480864454226,0.02313497353257743,-0.020700462976317113],"integral":[-0.039826591500491726,0.031525570795598486,0.30059264991766205,0.0034693223970502537],"effort":[-0.053774797962811746,-0.0054888562013227643,0.36161064077665217,0.001984759301332472]}
{"step":4828,"t":24.140000000000001,"command":[0.074235460572196432,-0.22736268138339638,-0.23636338578942323,0.60112773257825347,0.60112773257825347],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.022035741456461588,-0.03571889380563209,0.02282916155250625,-0.020446193307561145],"integral":[-0.040267306329620958,0.030811192919485843,0.30104923314871218,0.0030603985308990307],"effort":[-0.053780719513843771,-0.0055109036063661319,0.36135455087467216,0.0020869306279959546]}
{"step":4832,"t":24.16,"command":[0.074389653158684191,-0.22714661904617783,-0.23658997457593692,0.60091415522422365,0.60091415522422365],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021910635013956181,-0.035609515196460606,0.022523236972993299,-0.020192855619508121],"integral":[-0.040705519029900085,0.03009900261555663,0.30149969788817205,0.0026565414185088683],"effort":[-0.053785201306975956,-0.0055338204970693337,0.36109782194884238,0.0021896147628665229]}
{"step":4836,"t":24.18,"command":[0.074549256583831963,-0.22692608157007563,-0.23681436796163133,0.60069999052197953,0.60069999052197953],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021786227250711887,-0.035500339329156416,0.022217233152885818,-0.019940450856782865],"integral":[-0.041141243574914325,0.029388995828973502,0.30194404255122975,0.0022577324013732109],"effort":[-0.053788245684907768,-0.005557591657202013,0.36084047861310636,0.0022927991881591496]}
{"step":4840,"t":24.199999999999999,"command":[0.074714121968631211,-0.22670109342238298,-0.2370365500626212,0.60048525940451647,0.60048525940451647],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021662502222358215,-0.035391360567284647,0.021911183193425998,-0.019688979997339762],"integral":[-0.04157449361936149,0.02868116861762781,0.30238226621509828,0.0018639528014264156],"effort":[-0.053789855912246769,-0.0055822000215435003,0.36058254676210938,0.0023964701533427529]}
{"step":4844,"t":24.219999999999999,"command":[0.074884085238372339,-0.22647167654133366,-0.23725650648598193,0.6002699818313596,0.6002699818313596],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021539444235272542,-0.035282573338554002,0.021605119936102035,-0.019438444051324555],"integral":[-0.042005282504066939,0.027975517150856728,0.30281436861382033,0.0014751839203999244],"effort":[-0.053790035072687627,-0.0056076262219878145,0.36032405108782073,0.0025006147972451639]}
{"step":4848,"t":24.240000000000002,"command":[0.075058980085571103,-0.22623785737395166,-0.23747422747943503,0.60005417899234592,0.60005417899234592],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021417037854168264,-0.035173972135854603,0.021299075964905434,-0.019188844057801413],"integral":[-0.042433623261150306,0.027272037708139636,0.30324035013311845,0.0010914070392438961],"effort":[-0.053788788413055469,-0.0056338504914861601,0.36006501772617833,0.0026052203038989773]}
{"step":4852,"t":24.260000000000002,"command":[0.075238628442266739,-0.2259996644357441,-0.23768969863162964,0.59983787154962798,0.59983787154962798],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021295267906560333,-0.035065551513708382,0.020993083606338558,-0.018940181092281794],"integral":[-0.042859528619281516,0.026570726677865468,0.30366021180524522,0.00071260341739826018],"effort":[-0.053786120580331928,-0.005660851209873469,0.35980547214518804,0.002710272255262991]}
{"step":4856,"t":24.280000000000001,"command":[0.075422842173165097,-0.22575712635260414,-0.23790291033191296,0.59962108062895458,0.59962108062895458],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021174119489076659,-0.034957306083756468,0.020687174929282293,-0.018692456265662849],"integral":[-0.043283011009063052,0.025871580556190339,0.30407395530383086,0.00033875429208500319],"effort":[-0.053782037421689945,-0.0056886051214781715,0.3595454403346352,0.0028157573227042751]}
{"step":4860,"t":24.300000000000001,"command":[0.075611432233825313,-0.22551027420745484,-0.23811385369274543,0.59940382751478527,0.59940382751478527],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.021053577972132587,-0.034849230515276108,0.020381381746260807,-0.018445670722569862],"integral":[-0.043704082568505706,0.025174595945884816,0.30448158293875605,-3.015912236639407e-05],"effort":[-0.053776545546765822,-0.0057170886844503579,0.35928494843937442,0.002921661773644349]}
{"step":4864,"t":24.32,"command":[0.075804200310966158,-0.22525914011399822,-0.23832252040891264,0.59918613377393704,0.59918613377393704],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020933629003870191,-0.034741319532821224,0.020075735614212942,-0.018199825642727152],"integral":[-0.044122755148583111,0.024479769555228393,0.30488309765104032,-0.00039415563522093714],"effort":[-0.053769651969477236,-0.0057462767847850814,0.3590240229069584,0.0030279717645793451]}
{"step":4868,"t":24.34,"command":[0.07600093746872319,-0.22500375766739952,-0.23852890234858254,0.59896802121005988,0.59896802121005988],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020814258515697182,-0.0346335679110501,0.019770267835274691,-0.017954922242423343],"integral":[-0.044539040318897057,0.023787098197007393,0.30527850300774584,-0.00075325408006940409],"effort":[-0.053761364110034737,-0.0057761424961247721,0.35876269043229475,0.003134673145584882]}
{"step":4872,"t":24.359999999999999,"command":[0.076201432014558423,-0.22474416501220437,-0.23873299154093011,0.59874951153423184,0.59874951153423184],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.02069545272755291,-0.034525970473911149,0.019465009456595794,-0.017710961779977663],"integral":[-0.044952949373448112,0.02309657878752917,0.30566780319687775,-0.0011074733156689574],"effort":[-0.053751690478557379,-0.0058066582410693703,0.35850097756248128,0.0032417507715244327]}
{"step":4876,"t":24.379999999999999,"command":[0.076405471870473543,-0.22448039594628635,-0.23893478196634144,0.59853062625767062,0.59853062625767062],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020577198147557318,-0.034418522092701131,0.019159991268499876,-0.017467945551056907],"integral":[-0.045364493336399261,0.022408208345675147,0.30605100302224775,-0.0014568322266900956],"effort":[-0.053740639098752305,-0.0058377961317497232,0.3582389105683994,0.0033491909345508102]}
{"step":4880,"t":24.400000000000002,"command":[0.076612834565100971,-0.22421260684944569,-0.23913437882953223,0.59831144112760071,0.59831144112760071],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020459481711673888,-0.034311217823152607,0.018855244028445295,-0.017225874888371906],"integral":[-0.045773682970632737,0.021721983989212094,0.30642810790281666,-0.0018013497244575337],"effort":[-0.053728272104205166,-0.0058695264200995297,0.35797658058418641,0.0034569790339810669]}
{"step":4884,"t":24.420000000000002,"command":[0.076823296498745475,-0.22394093117010694,-0.23933186430552042,0.5980920207031335,0.5980920207031335],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020342290839203914,-0.034204052957219622,0.018550798545871494,-0.01698475116472109],"integral":[-0.046180528787416818,0.021037902930067701,0.30679912387373409,-0.0021410447477519558],"effort":[-0.053714640962645305,-0.0059018188849341595,0.35771406522875748,0.0035651003093107349]}
{"step":4888,"t":24.440000000000001,"command":[0.077036624932056666,-0.22366540259036008,-0.23952723009919294,0.59787238574404633,0.59787238574404633],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020225613303737067,-0.034097022881863781,0.018246685466793977,-0.016744575788912308],"integral":[-0.046585041053491559,0.020355962472430426,0.30716405758306997,-0.0024759362635302018],"effort":[-0.053699753137449791,-0.0059346415809223754,0.35745138963527773,0.0036735408215419381]}
{"step":4892,"t":24.460000000000001,"command":[0.077252592101039214,-0.22338606088470703,-0.23972046586878215,0.5976525564250923,0.5976525564250923],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.020109437166386135,-0.033990123008863948,0.017942935160424778,-0.016505350212149827],"integral":[-0.046987229796819283,0.019676160012253148,0.30752291628627848,-0.0028060432677731984],"effort":[-0.053683616976965991,-0.0059679629863295461,0.35718857820144811,0.0037822847793799498]}
{"step":4896,"t":24.48,"command":[0.077470961827435403,-0.22310294187367399,-0.23991156540530198,0.59743255288633901,0.59743255288633901],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019993750778388719,-0.033883348773028787,0.017639577717467603,-0.016267075923702023],"integral":[-0.04738710481238706,0.018998493036792571,0.30787570784062784,-0.0031313847862472388],"effort":[-0.053666240943955223,-0.0060017499264679525,0.35692565524828823,0.0038913182712672599]}
{"step":4900,"t":24.5,"command":[0.077691492438664772,-0.2228160847358886,-0.24010052026923223,0.5972123956063099,0.5972123956063099],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019878542784292907,-0.033776695627379949,0.01733664295089099,-0.016029754451202582],"integral":[-0.047784675668072915,0.018322959124244972,0.30822244069964566,-0.0034519798752712903],"effort":[-0.053647633725293339,-0.0060359679973471057,0.35666264546582765,0.004000626108262656]}
{"step":4904,"t":24.52,"command":[0.077913946611532683,-0.22252552829776343,-0.24028732322378629,0.59699210453234752,0.59699210453234752],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019763802121518514,-0.033670159042554326,0.017034160394369557,-0.015793387362148303],"integral":[-0.048179951710503287,0.017649555943393885,0.30856312390753304,-0.0037678476225142562],"effort":[-0.053627804223125533,-0.0060705830765847655,0.35639957287396129,0.0041101934789268199]}
{"step":4908,"t":24.539999999999999,"command":[0.078138082728849159,-0.22223131245626024,-0.24047196730790429,0.59677169978813427,0.59677169978813427],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019649518021101597,-0.03356373450544714,0.016732159301509952,-0.015557976263085194],"integral":[-0.048572942070925322,0.016978281253284943,0.30889776709356326,-0.0040790071477759598],"effort":[-0.053606761648482874,-0.0061055599725404752,0.3561364616680191,0.0042200054124509126]}
{"step":4912,"t":24.560000000000002,"command":[0.078363658257973923,-0.22193347983680736,-0.2406544463339915,0.59655120164695563,0.59655120164695563],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019535680010520418,-0.033457417518687915,0.016430668646831847,-0.015323522801646505],"integral":[-0.048963655671135732,0.016309132902911184,0.30922638046649992,-0.0043854776038088896],"effort":[-0.053584516006397284,-0.0061408629355725252,0.35587333618642669,0.0043300465339227018]}
{"step":4916,"t":24.580000000000002,"command":[0.078590432486120743,-0.22163206997605434,-0.24083475572656754,0.59633062965975447,0.59633062965975447],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019422277912833463,-0.033351203599594648,0.016129717123123388,-0.015090028661810195],"integral":[-0.049352101229392403,0.01564210883091929,0.30954897480896237,-0.0046872781770450934],"effort":[-0.053561077003873053,-0.0061764560783555029,0.3556102198703992,0.0044403025620024031]}
{"step":4920,"t":24.600000000000001,"command":[0.07881816341193261,-0.22132712660119777,-0.24101288972169391,0.59611000433766292,0.59611000433766292],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019309301846822446,-0.033245088279097335,0.015829333143263735,-0.014857495566138801],"integral":[-0.049738287266328854,0.014977207065337343,0.30986556147182764,-0.0049844280883678694],"effort":[-0.05353645499077201,-0.0062123028836301129,0.35534713727144851,0.0045507580212293813]}
{"step":4924,"t":24.620000000000001,"command":[0.079046606615081977,-0.22101869205713698,-0.24118884418378908,0.59588934610740107,0.59588934610740107],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.019196742228222874,-0.033139067099652531,0.015529544841922149,-0.014625925275277507],"integral":[-0.050122222110893309,0.014314425723344291,0.31017615236866608,-0.0052769465938734194],"effort":[-0.05351066039867982,-0.0062483660173595218,0.35508411280430596,0.0046613981600322693]}
{"step":4928,"t":24.640000000000001,"command":[0.079275521944259061,-0.22070681086550928,-0.24136261438997936,0.59566867512243882,0.59566867512243882],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01908458976884142,-0.033033135615198272,0.015230380074235494,-0.014395319588286104],"integral":[-0.05050391390627014,0.013653763011040326,0.31048075997015079,-0.0055648529856391418],"effort":[-0.053483703993794776,-0.0062846083795347002,0.35482117052212159,0.0047722076313710879]}
{"step":4932,"t":24.66,"command":[0.07950466621278178,-0.22039152903539597,-0.2415341969281582,0.59544801175374307,0.59544801175374307],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018972835478021866,-0.032927289391198711,0.014931866416129758,-0.014165680343848241],"integral":[-0.050883370615830578,0.012995217223216352,0.31077939729847337,-0.0058481665925161066],"effort":[-0.053455597178145041,-0.0063209919496058451,0.35455833470148568,0.0048831711075852588]}
{"step":4936,"t":24.68,"command":[0.079733800881412589,-0.2200728897105691,-0.24170359005236372,0.59522737657533353,0.59522737657533353],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018861470660847646,-0.032821524003678215,0.014634031165368988,-0.013937009414386137],"integral":[-0.051260600029047532,0.012338786743142788,0.31107207792178077,-0.0061269067808038292],"effort":[-0.053426351114880706,-0.0063574790029967514,0.35429562982475393,0.0049942743293203903]}
{"step":4940,"t":24.699999999999999,"command":[0.07996268907711053,-0.21975094129956418,-0.24187079084246815,0.59500679011075608,0.59500679011075608],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018750486917504583,-0.032715835040626917,0.014336901341933661,-0.013709308709442425],"integral":[-0.051635609767397624,0.011684470042330249,0.31135881594861942,-0.0064010929549926775],"effort":[-0.053395977832402741,-0.0063940316444426526,0.35403308027790537,0.0051055016303582362]}
{"step":4944,"t":24.719999999999999,"command":[0.080191093030159283,-0.21942573003965793,-0.24203579775362408,0.59478627339449819,0.59478627339449819],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018639876143001999,-0.032610218100705524,0.014040503689756623,-0.013482580175179115],"integral":[-0.052008407290257665,0.01103226568031614,0.31163962602241457,-0.0066707445584962598],"effort":[-0.053364489198835026,-0.0064306114013716609,0.35377071101851476,0.0052168381953981852]}
{"step":4948,"t":24.740000000000002,"command":[0.080418780184443359,-0.21909730314770801,-0.24219860867572945,0.59456584707890303,0.59456584707890303],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018529630524288798,-0.032504668792579849,0.013744864676236368,-0.013256825792888671],"integral":[-0.052378999900743441,0.010382172304464542,0.31191452331593927,-0.006935881074354033],"effort":[-0.053331897145528898,-0.0064671802063538206,0.35350854651265357,0.0053282688989302364]}
{"step":4952,"t":24.760000000000002,"command":[0.080645520114394562,-0.21876570874774584,-0.24235922241989175,0.59434553183898908,0.59434553183898908],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018419742538544392,-0.032399182735933341,0.013450010491541597,-0.013032047579119466],"integral":[-0.052747394751514326,0.0097341886497458764,0.31218352352577011,-0.0071965220259364226],"effort":[-0.053298214007939063,-0.0065036999145212174,0.35324661121697076,0.0054397786840354977]}
{"step":4956,"t":24.780000000000001,"command":[0.080871083393021029,-0.21843099463391832,-0.24251764045468566,0.59412534895922775,0.59412534895922775],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018310204953276621,-0.032293755562250226,0.013155967051158957,-0.012808247581182153],"integral":[-0.053113598850579861,0.0090883135385008713,0.3124466428667933,-0.0074526869775600659],"effort":[-0.053263452674235517,-0.006540132129160962,0.35298493027592415,0.0055513532574726666]}
{"step":4960,"t":24.800000000000001,"command":[0.081095243159335403,-0.21809320980842267,-0.24267386267587468,0.5939053193972631,0.5939053193972631],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01820101082450476,-0.032188382914340119,0.012862759996013828,-0.012585427877402577],"integral":[-0.053477619067069958,0.0084445458802140695,0.31270389806671356,-0.0077043955351081177],"effort":[-0.053227625895284979,-0.0065764384630717359,0.35272352840836513,0.0056629777307443049]}
{"step":4964,"t":24.82,"command":[0.081317777702317434,-0.21775240349233013,-0.24282788843829534,0.59368546470323968,0.59368546470323968],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.018092153492433427,-0.032083060445907474,0.012570414693747978,-0.01236359057910863],"integral":[-0.053839462136918627,0.0078028846712959203,0.31295530636058849,-0.0079516673466902901],"effort":[-0.053190746315043877,-0.0066125809704435153,0.3524624309999016,0.0057746370883573275]}
{"step":4968,"t":24.84,"command":[0.081538469066575858,-0.21740862538366434,-0.24297971928717554,0.59346580593638543,0.59346580593638543],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01798362657931718,-0.031977783823569084,0.012278956238417127,-0.012142737828136796],"integral":[-0.05419913466850497,0.0071633289948245388,0.31320088548535685,-0.0081945221032530269],"effort":[-0.053152827188044566,-0.0066485219377209488,0.35220166281572346,0.0058863167968300628]}
{"step":4972,"t":24.859999999999999,"command":[0.081757102396255235,-0.21706192440172106,-0.24312935732668323,0.59324636432790789,0.59324636432790789],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017875423987124162,-0.031872548727673422,0.01198840945015478,-0.011922871793138445],"integral":[-0.054556643148247451,0.0065258780202710701,0.31344065367435997,-0.0084329795391157956],"effort":[-0.05311388170953224,-0.0066842237922317624,0.35194124878828087,0.0059980026845537701]}
{"step":4976,"t":24.879999999999999,"command":[0.081973464271146768,-0.2167123496882605,-0.24327680666757351,0.59302716148754764,0.59302716148754764],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017767539896205831,-0.03176735085274407,0.011698798877166183,-0.011703994665604234],"integral":[-0.054911993946171571,0.0058905310032161887,0.31367462965190329,-0.0086670594324278795],"effort":[-0.053073923584889424,-0.0067196488446129759,0.35168121426197796,0.0061096810774825192]}
{"step":4980,"t":24.900000000000002,"command":[0.082187348151857451,-0.21635995226524996,-0.24342206649302886,0.59280821848807097,0.59280821848807097],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017659968759688782,-0.031662185906893514,0.011410148794360087,-0.011486108665727301],"integral":[-0.055265193321365348,0.005257287285078318,0.31390283262779051,-0.0088967816057424261],"effort":[-0.053032965699978903,-0.0067547601962346252,0.35142158390700046,0.0062213367557576692]}
{"step":4984,"t":24.920000000000002,"command":[0.082398551082127389,-0.21600478261386341,-0.24356514295565782,0.59258955773430355,0.59258955773430355],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017552705301969507,-0.031557049615519972,0.011122483207601785,-0.011269216037239405],"integral":[-0.055616247427404737,0.0046261462927679187,0.31412528229194253,-0.0091221659264872149],"effort":[-0.052991022487536205,-0.0067895212204339573,0.35116238393573745,0.0063329563754738194]}
{"step":4988,"t":24.940000000000001,"command":[0.082606875999693435,-0.21564689053501351,-0.24370603906545166,0.5923712002769852,0.5923712002769852],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01744574451440295,-0.031451937722489109,0.010835825851716052,-0.011053319044156074],"integral":[-0.055965162317692795,0.0039971075383181363,0.31434199880897684,-0.0093432323073703357],"effort":[-0.052948107437195774,-0.006823895962428727,0.35090363891759613,0.0064445260397756783]}
{"step":4992,"t":24.960000000000001,"command":[0.08281212399189411,-0.21528632924743807,-0.24384475655468346,0.5921531681954102,0.5921531681954102],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017339081652598454,-0.031346845988397209,0.010550200191285608,-0.010838419976992753],"integral":[-0.056311943950744764,0.003370170618550192,0.31455300281280257,-0.0095600007069101909],"effort":[-0.05290423443002458,-0.0068578478800488431,0.3506453746038618,0.0065560308691882639]}
{"step":4996,"t":24.98,"command":[0.083014109232928721,-0.21492314632794485,-0.24398130145963987,0.59193548312243893,0.59193548312243893],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017232712230490055,-0.031241770193241036,0.01026562942141096,-0.010624521143625443],"integral":[-0.056656598195354568,0.0027453352146853713,0.31475831540123078,-0.0097724911297826997],"effort":[-0.052859417144721428,-0.0068913423317366225,0.35038761617939518,0.006667458317218232]}
{"step":5000,"t":25,"command":[0.08321264424193392,-0.21455739187452644,-0.2441156786898335,0.59171816642592301,0.59171816642592301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017126632016944088,-0.031136706137522285,0.0099821364659615774,-0.010411624865717006],"integral":[-0.056999130835693447,0.0021226010919349254,0.31495795813055,-0.0099807236270970396],"effort":[-0.052813669495098567,-0.0069243441617346585,0.35013038847845629,0.0067787950870994637]}
{"step":5004,"t":25.02,"command":[0.083407549865700426,-0.21418911818995195,-0.24424789300650768,0.59150124034508378,0.59150124034508378],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.017020837032742042,-0.0310316496447125,0.0096997439806285612,-0.010199733482864737],"integral":[-0.057339547576348286,0.0015019680990406754,0.31515195301016258,-0.010184718296754334],"effort":[-0.052767005794553817,-0.0069568193745993033,0.34987371732977263,0.0068900274435646051]}
{"step":5008,"t":25.039999999999999,"command":[0.083598649296902319,-0.21381837504157106,-0.24437795027126386,0.59128472649730679,0.59128472649730679],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016915323545974692,-0.030926596562212083,0.0094184743527199188,-0.0099888493491492314],"integral":[-0.057677854047267781,0.00088343616779643379,0.315340322497217,-0.010384495283737319],"effort":[-0.052719440042101121,-0.0069887341642664667,0.34961762778899486,0.0070011425366831859]}
{"step":5012,"t":25.060000000000002,"command":[0.083785770661361905,-0.21344521108740541,-0.24450585670749289,0.59106864670016546,0.59106864670016546],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016810088066922413,-0.030821542761165999,0.0091383497005743664,-0.0097789748281790212],"integral":[-0.058014055808606226,0.00026700531257311383,0.31552308949122848,-0.010580074780300899],"effort":[-0.052670986050206051,-0.0070200553653183336,0.34936214511196506,0.0071121279140589876]}
{"step":5016,"t":25.080000000000002,"command":[0.08396875320909622,-0.21306967761138546,-0.244631618738925,0.59085302288056962,0.59085302288056962],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016705127342291348,-0.030716484141513511,0.0088593918748882672,-0.0095701122938338656],"integral":[-0.058348158355452054,-0.00034732437025715641,0.31570027732872624,-0.010771477026177576],"effort":[-0.052621658202123243,-0.0070507515154901073,0.34910729464710694,0.0072229706847035113]}
{"step":5020,"t":25.100000000000001,"command":[0.084147435727403755,-0.21269182205013049,-0.24475524422290187,0.59063787654364841,0.59063787654364841],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016600438350705016,-0.030611416632559063,0.0085816224576196198,-0.0093622641250867833],"integral":[-0.058680167122466154,-0.00095955270290833767,0.31587190977787866,-0.010958722308679312],"effort":[-0.052571470370808358,-0.0070807909394975457,0.34885310120799007,0.0073336592038039904]}
{"step":5024,"t":25.120000000000001,"command":[0.084321658021010576,-0.21231169626895161,-0.24487673882927302,0.5904232299670068,0.5904232299670068],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016496018300586446,-0.030506336192016592,0.0083050627642449193,-0.0091554327090557219],"integral":[-0.059010087488477886,-0.0015696794267486694,0.31603801103316354,-0.011141830962860427],"effort":[-0.052520436796129777,-0.0071101420114122564,0.34859959048467298,0.0074441804235302125]}
{"step":5028,"t":25.140000000000001,"command":[0.084491272477463131,-0.21192934825163728,-0.24499611088160059,0.59020910457452724,0.59020910457452724],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016391864623436003,-0.030401238809802278,0.0080297338426773557,-0.0089496204372063737],"integral":[-0.059337924780946606,-0.0021777042029447148,0.31619860571001707,-0.011320823371604555],"effort":[-0.052468571498736641,-0.0071387751248609193,0.3483467871226652,0.0075545228483728868]}
{"step":5032,"t":25.16,"command":[0.084656135049288636,-0.21154482537935398,-0.24511337018081394,0.5899955222481913,0.5899955222481913],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01628797496792056,-0.030296120511204228,0.0077556564734826416,-0.0087448296976588846],"integral":[-0.059663684280305017,-0.0027836266131687996,0.31635371883948671,-0.011495719965557732],"effort":[-0.052415888693089045,-0.0071666612014833963,0.34809471627291594,0.0076646755483076798]}
{"step":5036,"t":25.18,"command":[0.084816106254953644,-0.21115817755736888,-0.24522852271286466,0.58978250473618299,0.58978250473618299],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016184347194396764,-0.030190977357300364,0.0074828511706575007,-0.0085410628803167521],"integral":[-0.059987371224192954,-0.0033874461603148071,0.31650337586289984,-0.011666541223164068],"effort":[-0.052362402150641647,-0.0071937718802515876,0.34784340289288573,0.0077746262012923333]}
{"step":5040,"t":25.199999999999999,"command":[0.084971052830479857,-0.21076945180015941,-0.24534157890840447,0.58957007377672044,0.58957007377672044],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.016080979370047377,-0.030085805447800817,0.0072113381818237343,-0.0083383223719584176],"integral":[-0.060308990811593903,-0.0039891622692708236,0.3166476026265363,-0.011833307670603236],"effort":[-0.052308126076704285,-0.0072200798191201995,0.34759287189308752,0.0078843642645645695]}
{"step":5044,"t":25.219999999999999,"command":[0.08512084500858294,-0.21037869379976706,-0.24545254843675729,0.5893582506135856,0.5893582506135856],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015977869763559083,-0.029980600922221878,0.0069411374867702769,-0.0081366105499245389],"integral":[-0.060628548206865085,-0.0045887742877152617,0.31678642537627172,-0.011996039881601726],"effort":[-0.05225307416949742,-0.0072455582549751981,0.34734314756630602,0.0079938793646012682]}
{"step":5048,"t":25.240000000000002,"command":[0.085265360637525059,-0.20998595106903009,-0.24556144077672026,0.58914705714824112,0.58914705714824112],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015875016839248079,-0.029875359962481252,0.0066722687992903928,-0.0079359297833098141],"integral":[-0.060946048543650044,-0.0051862814869648869,0.31691987075225753,-0.012154758477267921],"effort":[-0.052197260421351893,-0.0072701817246472083,0.34709425494643292,0.0081031607749867951]}
{"step":5052,"t":25.260000000000002,"command":[0.085404480960340673,-0.20959127126822752,-0.24566826441763706,0.58893651487406717,0.58893651487406717],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015772419251726122,-0.029770078794814081,0.0064047515676364242,-0.0077362824349029857],"integral":[-0.061261496928684565,-0.0057816830628611687,0.31704796578361027,-0.012309484125965981],"effort":[-0.052140698566902885,-0.0072939253681051919,0.34684621855201231,0.0082121975750711548]}
{"step":5056,"t":25.280000000000001,"command":[0.08553809272290025,-0.20919469786006339,-0.24577303093731054,0.58872664466790281,0.58872664466790281],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015670075840256592,-0.029664753691141632,0.0061386049718152869,-0.0075376708530877634],"integral":[-0.061574898445489697,-0.0063749781366840017,0.31717073788304656,-0.012460237543027736],"effort":[-0.052083402174437708,-0.007316765306671481,0.34659906214192704,0.0083209805616745007]}
{"step":5060,"t":25.300000000000001,"command":[0.085666089378031635,-0.20879627594834313,-0.24587575259585542,0.58851746867124377,0.58851746867124377],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015567985623620162,-0.029559380972920213,0.0058738479276532196,-0.0073400973671736702],"integral":[-0.061886258157962101,-0.0069661657561424055,0.31728821484159964,-0.012607039490371209],"effort":[-0.052025385282237477,-0.0073386788693249041,0.3463528109312084,0.0084295004323408258]}
{"step":5064,"t":25.32,"command":[0.085788368785281677,-0.20839605035689976,-0.24597643899651972,0.58830900763601479,0.58830900763601479],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01546614779356914,-0.02945395701243414,0.005610499084910181,-0.0071435642903138197],"integral":[-0.062195581113833484,-0.0075552448963910881,0.31740042482329783,-0.012749910776177487],"effort":[-0.051966661172882039,-0.0073596442188394919,0.34610748846567252,0.0085377473685265444]}
{"step":5068,"t":25.34,"command":[0.085904834095007807,-0.20799406324945185,-0.24607510264163732,0.58810128308458176,0.58810128308458176],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015364561708675062,-0.029348478234188402,0.0053485768275751688,-0.0069480739143308323],"integral":[-0.062502872348006985,-0.0081422144610748554,0.31750739635984931,-0.012888872254464103],"effort":[-0.051907243243554661,-0.0073796405208908155,0.34586311916573143,0.0086457128965376807]}
{"step":5072,"t":25.359999999999999,"command":[0.086015393831036124,-0.20759035837054718,-0.24617175428535545,0.5878943157034372,0.5878943157034372],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015263226888788228,-0.029242941117458843,0.0050880992732014185,-0.0067536285091693848],"integral":[-0.062808136885782753,-0.0087270732834240326,0.31760915834531334,-0.013023944824647492],"effort":[-0.051847144748170815,-0.0073986479759082478,0.3456197264364127,0.0087533878597586112]}
{"step":5076,"t":25.379999999999999,"command":[0.086119967952847362,-0.20718497656099144,-0.24626640732692404,0.58768812641235002,0.58768812641235002],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01516214300710117,-0.029137342201129846,0.0048290842726608219,-0.0065602303183639465],"integral":[-0.063111379745924776,-0.0093098201274466295,0.31770574003076657,-0.01315514943101477],"effort":[-0.051786378945144519,-0.0074166488801994564,0.34537733392605835,0.0088607644325659381]}
{"step":5080,"t":25.400000000000002,"command":[0.0862184692051641,-0.20677795848998004,-0.24635907427823125,0.58748273592938249,0.58748273592938249],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.015061309887258734,-0.02903167808223861,0.0045715494105929011,-0.0063678815557002277],"integral":[-0.063412605943669945,-0.0098904536890914024,0.31779717101897842,-0.013282507062128775],"effort":[-0.051724958798255484,-0.0074336244320818293,0.34513596501507254,0.0089678346809715787]}
{"step":5084,"t":25.420000000000002,"command":[0.086310827651393626,-0.20636934558575679,-0.24644976775893748,0.58727816509096464,0.58727816509096464],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014960727496085902,-0.028925945420340771,0.0043155120062166041,-0.0061765844059974429],"integral":[-0.063711820493591656,-0.010468972597498218,0.31788348125910276,-0.013406038750248725],"effort":[-0.051662897412963871,-0.0074495589698685737,0.34489564319261029,0.0090745906154703539]}
{"step":5088,"t":25.440000000000001,"command":[0.086396970208903953,-0.20595917660127458,-0.24653850122210622,0.58707443424517147,0.58707443424517147],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014860395937856374,-0.02882014093907137,0.0040609891125429343,-0.0059863410212603885],"integral":[-0.06400902841234879,-0.011045375416279646,0.3179647010413536,-0.013525765570673932],"effort":[-0.051600207505558743,-0.0074644364612782375,0.34465639134428816,0.0091810250792837243]}
{"step":5092,"t":25.460000000000001,"command":[0.086476837007896393,-0.20554773807374854,-0.24662549378785015,0.58687166413920133,0.58687166413920133],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014760315710513616,-0.028714261696307863,0.0038079979276282039,-0.0057971535189536016],"integral":[-0.064304234726559065,-0.011619660650205803,0.31804086099990619,-0.013641708641053005],"effort":[-0.051537003406667628,-0.0074782433388902803,0.3444183501695155,0.0092871307794332864]}
{"step":5096,"t":25.48,"command":[0.086550377219604901,-0.20513580617682378,-0.24671137887716516,0.58667017323420689,0.58667017323420689],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014660488377212122,-0.028608305778874854,0.0035565568475588449,-0.0056090239707744516],"integral":[-0.064597444494103304,-0.012191826765783301,0.31811199213685737,-0.013753889120468495],"effort":[-0.051473601721643773,-0.0074909677968559027,0.34418189216265432,0.009392902745828359]}
{"step":5100,"t":25.5,"command":[0.086617544674877617,-0.20472341409468275,-0.24679616140239341,0.58646997631364195,0.58646997631364195],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014560916065666563,-0.028502271803831247,0.0033066846878777589,-0.005421954403829754],"integral":[-0.064888662815416637,-0.012761872201859925,0.31817812583061494,-0.013862328208545089],"effort":[-0.051410010780769587,-0.0075025990455044201,0.34394703311732372,0.0094983345021866367]}
{"step":5104,"t":25.52,"command":[0.086678298521648614,-0.20431063415000278,-0.24687988493172955,0.58627111681919286,0.58627111681919286],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014461601019983839,-0.028396158472035582,0.003058400038730813,-0.0052359467976198504],"integral":[-0.065177894835816319,-0.013329795371300636,0.31823929383138955,-0.013967047144497487],"effort":[-0.05134625640534015,-0.0075131274346080324,0.34371382241642368,0.0096034211785638694]}
{"step":5108,"t":25.539999999999999,"command":[0.086732604680701805,-0.20389751628942029,-0.24696257547006023,0.58607362336124846,0.58607362336124846],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014362545598287646,-0.02828996457522992,0.00281172127434548,-0.0050510030777978221],"integral":[-0.065465145747782075,-0.013895594662805235,0.31829552825687646,-0.014068067206053443],"effort":[-0.051282355415899802,-0.0075225447146988972,0.34348229199978247,0.0097081582669053881]}
{"step":5112,"t":25.560000000000002,"command":[0.08678043268115436,-0.20348408091092335,-0.24704423493046779,0.58587750515642412,0.58587750515642412],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014263752225641468,-0.02818368895605361,0.0025666664426036156,-0.0048671251147968109],"integral":[-0.0657504207922949,-0.014459268441926307,0.31834686158572856,-0.014165409708349379],"effort":[-0.051218312598271677,-0.0075308434963283636,0.34325245104831575,0.009812541414108476]}
{"step":5116,"t":25.580000000000002,"command":[0.086821755583165183,-0.20307034667846971,-0.24712486311817863,0.58568277034820915,0.58568277034820915],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014165223370395719,-0.028077330490333674,0.0023232532169581432,-0.0046843147245125838],"integral":[-0.066033725259702816,-0.015020815051732981,0.3183933266500677,-0.014259096002839632],"effort":[-0.051154131835646197,-0.007538017242542874,0.34302430748275309,0.0099165661355323197]}
{"step":5120,"t":25.600000000000001,"command":[0.08685655649008843,-0.20265632876262282,-0.24720445970607313,0.5854894254680868,0.5854894254680868],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.014066961534844324,-0.027970888088845625,0.0020814988901105558,-0.0045025736656316706],"integral":[-0.0663150644903997,-0.015580232813509893,0.31843495662786991,-0.014349147476152265],"effort":[-0.051089816243057903,-0.0075440614053159227,0.34279786733495038,0.010020228655513639]}
{"step":5124,"t":25.620000000000001,"command":[0.086884818182389495,-0.20224203868834165,-0.24728302504308378,0.58529747676202593,0.58529747676202593],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013968969248856489,-0.027864360697086532,0.0018414203715688693,-0.0043219036333523864],"integral":[-0.06659444387537683,-0.016137520027451623,0.31847178503530127,-0.014435585548819312],"effort":[-0.051025368343637537,-0.0075489716305868794,0.34257313630399422,0.010123526130820855]}
{"step":5128,"t":25.640000000000001,"command":[0.086906527125371211,-0.20182748748746726,-0.24736055676952609,0.58510692914269491,0.58510692914269491],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013871249064220992,-0.027757747294051338,0.0016030341843560336,-0.0041423062599170724],"integral":[-0.066871868856661243,-0.016692674973332652,0.31850384571898838,-0.014518431674017654],"effort":[-0.05096078987541685,-0.007552744456992882,0.34235011853079456,0.010226455169913093]}
{"step":5132,"t":25.66,"command":[0.086921677641914177,-0.20141268423924277,-0.2474370529581682,0.58491778725023424,0.58491778725023424],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013773803547441066,-0.027651046894480835,0.0013663564635431058,-0.0039637831142375068],"integral":[-0.06714734492761007,-0.01724569591122227,0.31853117284825921,-0.014597707336302404],"effort":[-0.050896082274540122,-0.0075553780440848432,0.34212881784171023,0.010329012902083212]}
{"step":5136,"t":25.68,"command":[0.086930269016379041,-0.20099763496426956,-0.24751251240131497,0.58473005460592564,0.58473005460592564],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013676635273204729,-0.02754425855144027,0.0011314029541780179,-0.0037863356968799167],"integral":[-0.067420877633074167,-0.017796581082251076,0.31855380090734275,-0.014673434050240002],"effort":[-0.050831246528220429,-0.0075568716712600299,0.34190923675944873,0.010431197266990671]}
{"step":5140,"t":25.699999999999999,"command":[0.086932301781549828,-0.20058234602355657,-0.24758693308572213,0.58454373483806399,0.58454373483806399],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013579746820428618,-0.027437381357239943,0.00089818901198457368,-0.0036099654395720382],"integral":[-0.067692472569482742,-0.018345328709395876,0.31857176468758247,-0.014745633359031443],"effort":[-0.050766283485553815,-0.007557225093038451,0.34169137793843285,0.010533005949240035]}
{"step":5144,"t":25.719999999999999,"command":[0.086927784901373428,-0.20016682051171489,-0.24766031409337783,0.58435883124365173,0.58435883124365173],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013483140766153978,-0.027330414445961182,0.00066672960514946311,-0.0034346737019378404],"integral":[-0.067962135384805819,-0.018891936998315099,0.31858509927968548,-0.014814326833070199],"effort":[-0.050701193605299823,-0.007556439787859446,0.34147524365244664,0.010634437571530746]}
{"step":5148,"t":25.740000000000002,"command":[0.08691672871097901,-0.19975106197866585,-0.24773265168794842,0.58417534637531943,0.58417534637531943],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013386819679679585,-0.027223356994037884,0.0004370393135295636,-0.0032604617733099639],"integral":[-0.068229871778399412,-0.019436404138195855,0.31859384006595609,-0.014879536068536398],"effort":[-0.050635976736973592,-0.0075545177298179242,0.34126083531272444,0.01073548997536879]}
{"step":5152,"t":25.760000000000002,"command":[0.086899152540035024,-0.19933507129820005,-0.24780394487762639,0.58399328264063277,0.58399328264063277],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01329078611715051,-0.027116208223828986,0.00020913232948238658,-0.0030873308696619528],"integral":[-0.068495687500742419,-0.019978728302672433,0.31859802271254573,-0.014941282685929636],"effort":[-0.050570632873186097,-0.0075514627121762755,0.34104815416938206,0.010836162223727599]}
{"step":5156,"t":25.780000000000001,"command":[0.086875071702412446,-0.19891884647792976,-0.24787419155339149,0.58381264178835857,0.58381264178835857],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013195042617922148,-0.027008967402423645,-1.69775420615359e-05,-0.0029152821291987818],"integral":[-0.068759588353100864,-0.020518907650720907,0.3185976831617045,-0.014999588328513612],"effort":[-0.050505161161178806,-0.0075472780832993034,0.34083720071190221,0.010936453677068613]}
{"step":5160,"t":25.800000000000001,"command":[0.08684451283175583,-0.19850238870771927,-0.24794338944807576,0.58363342652477346,0.58363342652477346],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013099591700156621,-0.026901633845407336,-0.00024127687837305345,-0.0027443166156174703],"integral":[-0.069021580187103998,-0.021056940327629056,0.31859285762413703,-0.015054474660825962],"effort":[-0.050439561346835318,-0.007541969408985002,0.34062797655704813,0.011036363024164841]}
{"step":5164,"t":25.82,"command":[0.08680750518722842,-0.19808569578323598,-0.24801153776973442,0.58345563846083537,0.58345563846083537],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.013004435856493357,-0.026794206920987218,-0.00046375263761921914,-0.0025744353156820221],"integral":[-0.069281668904233859,-0.0215928244660488,0.31858358257138464,-0.015105963367139602],"effort":[-0.050373832870418557,-0.0075355429568306894,0.34042048205174108,0.011135889996489845]}
{"step":5168,"t":25.84,"command":[0.086764081903058246,-0.19766876302555694,-0.2480786360236644,0.58327927945123625,0.58327927945123625],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012909577549389262,-0.026686686050638952,-0.00068439215745819126,-0.0024056391340858685],"integral":[-0.069539860455221647,-0.022126558187061579,0.31856989472823549,-0.015154076149821319],"effort":[-0.050307974763707769,-0.0075280059084806006,0.34021471783715329,0.011235034887653979]}
{"step":5172,"t":25.859999999999999,"command":[0.086714276448716085,-0.1972515855323077,-0.24814468183004063,0.58310435124676474,0.58310435124676474],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01281501920700423,-0.026579070708089292,-0.00090318315202431165,-0.002237928894769925],"integral":[-0.069796160839361729,-0.022658139601223364,0.31855183106519502,-0.015198834727716718],"effort":[-0.050241985557770701,-0.0075193657400243561,0.34001068444291044,0.0113337975627614]}
{"step":5176,"t":25.879999999999999,"command":[0.086658132831996484,-0.19683415985007624,-0.24820967437667479,0.5829308553757887,0.5829308553757887],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012720763219436604,-0.026471360424757062,-0.0011201137095397939,-0.0020713053425910344],"integral":[-0.070050576103750456,-0.023187566809718504,0.31852942879100421,-0.01524026083456854],"effort":[-0.050175864469030149,-0.0075096319859279479,0.33980838214914866,0.01143217798514478]}
{"step":5180,"t":25.900000000000002,"command":[0.086595695547163773,-0.19641647752397812,-0.24827361524436586,0.58275879369781658,0.58275879369781658],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012626811935349203,-0.026363554792447452,-0.0013351722883476747,-0.0019057691360013784],"integral":[-0.070303112342457438,-0.023714837905567453,0.31850272534523727,-0.015278376217288567],"effort":[-0.050109610334717412,-0.0074988144872970789,0.33960781163213433,0.01153017769179001]}
{"step":5184,"t":25.920000000000002,"command":[0.086527013500163924,-0.19599853076012894,-0.24833650371092456,0.58258816748191933,0.58258816748191933],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012533167657651445,-0.026255653463379547,-0.0015483477153894754,-0.0017413208468362029],"integral":[-0.070553775695610471,-0.024239950974835046,0.3184717583909295,-0.015313202634225292],"effort":[-0.050043221567747626,-0.0074869240652575509,0.33940897288994093,0.011627797507618415]}
{"step":5188,"t":25.940000000000001,"command":[0.086452135944341452,-0.19558031194374492,-0.24839833835151026,0.58241897829439337,0.58241897829439337],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01243983264059656,-0.02614765615023984,-0.0017596291833141819,-0.0015779609644985815],"integral":[-0.070802572348422396,-0.024762904097839843,0.31843656580726321,-0.015344761853515264],"effort":[-0.049976696457901974,-0.0074739718093388956,0.33921186627748501,0.011725038037889404]}
{"step":5192,"t":25.960000000000001,"command":[0.086371132034667092,-0.19516180802384153,-0.24845912298274903,0.5822512274028997,0.5822512274028997],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012346809082073529,-0.026039562634347035,-0.0019690062475441472,-0.0014156898857743405],"integral":[-0.071049508530063865,-0.025283695350526783,0.31839718568231234,-0.01537307565123075],"effort":[-0.04991003355224579,-0.0074599724489498951,0.33901649181218324,0.011821902241111008]}
{"step":5196,"t":25.98,"command":[0.086284160803977605,-0.19474297890857775,-0.24851888113754692,0.58208491646741911,0.58208491646741911],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012254099083853776,-0.02593137280345359,-0.0021764688223377959,-0.0012545078581092106],"integral":[-0.071294590511740946,-0.025802322806595855,0.3183536563058656,-0.015398165808392934],"effort":[-0.049843231058022464,-0.0074449564056466647,0.33882284997888235,0.011918403223835711]}
{"step":5200,"t":26,"command":[0.086191286986305002,-0.19432381271599178,-0.2485776121540425,0.58192004700903699,0.58192004700903699],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012161704665009765,-0.025823086633873116,-0.0023820071774514062,-0.0010944150086300564],"integral":[-0.071537824605041142,-0.026318784539273318,0.31830601616231657,-0.015420054108565536],"effort":[-0.049776286726342711,-0.0074289379523555903,0.33863094111099984,0.012014542537862872]}
{"step":5204,"t":26.02,"command":[0.086092573602629174,-0.19390429586435315,-0.24863531828542229,0.58175662074213741,0.58175662074213741],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.012069627784343284,-0.02571470416831545,-0.002585611934362575,-0.00093541137503705407],"integral":[-0.071779217160728007,-0.026833078622639627,0.3182543039236293,-0.015438762336066277],"effort":[-0.049709198726771923,-0.0074119312295241229,0.33844076577731114,0.012110322772121328]}
{"step":5208,"t":26.039999999999999,"command":[0.085988093205904517,-0.19348441279328515,-0.24869200138473413,0.58159463918515797,0.58159463918515797],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01197787033624742,-0.025606225518280068,-0.0027872740633649862,-0.00077749690220751955],"integral":[-0.072018774567452953,-0.027345203133005227,0.318198558442362,-0.015454312274110428],"effort":[-0.049641964773353489,-0.0073939521731873226,0.33825232432891411,0.012205746779391118]}
{"step":5212,"t":26.060000000000002,"command":[0.085877915734853524,-0.19306414876274719,-0.24874766185187996,0.5814341036326478,0.5814341036326478],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011886434148066449,-0.025497650863722576,-0.0029869848817005717,-0.00062067144520006057],"integral":[-0.072256503250414286,-0.02785515615027968,0.31813881874472799,-0.01546672570301443],"effort":[-0.049574582407130703,-0.0073750164109626032,0.33806561686710063,0.012300816869646524]}
{"step":5216,"t":26.080000000000002,"command":[0.085762115347656057,-0.19264348864998559,-0.24880230082695881,0.58127501585514474,0.58127501585514474],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011795320978889023,-0.025388980453713739,-0.0031847360490013799,-0.00046493477076059442],"integral":[-0.072492409669992069,-0.028362935759353954,0.31807512402374799,-0.015476024398429641],"effort":[-0.049507049308012821,-0.0073551404289046614,0.3378806440573987,0.012395535588775687]}
{"step":5220,"t":26.100000000000001,"command":[0.085640770947082875,-0.19222241331516554,-0.24885592221076794,0.58111737745376202,0.58111737745376202],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011704532516694677,-0.025280214608840668,-0.0033805195635472352,-0.00031028655048703779],"integral":[-0.07272650032032596,-0.028868540051530767,0.31800751363247703,-0.015482230129439382],"effort":[-0.049439363100039053,-0.0073343416484107143,0.33769740637873813,0.012489906919332727]}
{"step":5224,"t":26.120000000000001,"command":[0.08551396245516199,-0.1918009060660614,-0.24890852619649784,0.58096119001673574,0.58096119001673574],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011614070375536079,-0.025171353720933043,-0.0035743277595905454,-0.00015672636475394519],"integral":[-0.07295878172783668,-0.029371967125949427,0.31793602707728524,-0.015485364656734462],"effort":[-0.049371520990537383,-0.0073126377747828545,0.3375159043056617,0.012583933422775275]}
{"step":5228,"t":26.140000000000001,"command":[0.085381771947249552,-0.19137894723742582,-0.24896011591407916,0.58080645518449958,0.58080645518449958],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011523936094311571,-0.025062398253435703,-0.0037661533039115014,-4.2537017103105867e-06],"integral":[-0.073189260449722918,-0.029873215091018143,0.31786070401120703,-0.015485449730768668],"effort":[-0.049303520380828574,-0.0072900469808521301,0.33733613838398407,0.012677618935123154]}
{"step":5232,"t":26.16,"command":[0.085244281614295592,-0.1909565160554198,-0.2490106931636637,0.5806531745179061,0.5806531745179061],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011434131135155123,-0.024953348740291093,-0.0039559891928599988,0.00014713204467808882],"integral":[-0.073417943072426023,-0.030372282065823965,0.31778158422734981,-0.015482507089875107],"effort":[-0.049235358166936034,-0.0072665875479373324,0.33715810907772192,0.012770967142912234]}
{"step":5236,"t":26.18,"command":[0.085101581159983841,-0.19053359445031545,-0.24906026023287112,0.58050135004141756,0.58050135004141756],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011344656881650206,-0.024844205789177121,-0.0041438287473734015,0.00029743157089634487],"integral":[-0.073644836210059031,-0.030869166181607507,0.31769870765240232,-0.01547655845845718],"effort":[-0.049167031920711382,-0.0072422791159293164,0.3369818173999084,0.012863981306554095]}
{"step":5240,"t":26.199999999999999,"command":[0.084953756779166709,-0.19011015873210876,-0.24910882067734505,0.58035098348966596,0.58035098348966596],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.01125551463770913,-0.02473497008033787,-0.0043296656098741337,0.00044664566826391194],"integral":[-0.073869946502813214,-0.031363865583214266,0.31761211434020487,-0.015467625545091901],"effort":[-0.049098538496202618,-0.0072171407908938126,0.33680726403742256,0.01295666604305503]}
{"step":5244,"t":26.219999999999999,"command":[0.08480089966023005,-0.18968618596140496,-0.24915637744021815,0.58020207638291699,0.58020207638291699],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011166705625669016,-0.024625642365956102,-0.0045134937425492794,0.00059477522416973017],"integral":[-0.074093280615326593,-0.031856378430533391,0.31752184446535386,-0.015455730040608507],"effort":[-0.049029874781858579,-0.007191192583184406,0.33663444943904819,0.01304902563727387]}
{"step":5248,"t":26.240000000000002,"command":[0.084643103509318598,-0.18926165458979599,-0.24920293275611413,0.58005463075936137,0.58005463075936137],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.011078230984832738,-0.024516223471826804,-0.0046953074225739577,0.00074182121749000185],"integral":[-0.074314845235023241,-0.03234670289996993,0.31742793831690236,-0.015440893616258706],"effort":[-0.048961037796157798,-0.0071644549716892228,0.33646337466537901,0.013141063898090548]}
{"step":5252,"t":26.260000000000002,"command":[0.084480462251883562,-0.18883653929158875,-0.24924848965899704,0.57990864836807077,0.57990864836807077],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010990091770008092,-0.024406714296079102,-0.0048751012389223192,0.00088778472039896528],"integral":[-0.074534647070423399,-0.032834837185891509,0.31733043629212393,-0.015423137921850728],"effort":[-0.048892024084457447,-0.0071369485022919239,0.33629404045208278,0.01323278551283371]}
{"step":5256,"t":26.280000000000001,"command":[0.084313069466331519,-0.18841081602591975,-0.24929305166643503,0.57976413134981963,0.57976413134981963],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010902288952279404,-0.024297115808605607,-0.005052870088235295,0.0010326668990058296],"integral":[-0.074752692849468991,-0.033320779502063622,0.31722937889035924,-0.015402484583870611],"effort":[-0.048822830602358418,-0.0071086936828344436,0.33612644799981095,0.013324195006805435]}
{"step":5260,"t":26.300000000000001,"command":[0.084141024612427201,-0.18798445733984048,-0.24933662248672764,0.57962108137852741,0.57962108137852741],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010814823416523955,-0.024187429051524489,-0.005228609172512666,0.0011764690149214108],"integral":[-0.074968989317799467,-0.033804528083094108,0.31712480670690896,-0.015378955203572183],"effort":[-0.048753453757221621,-0.0070797120228290808,0.33596059797841349,0.013415297555867317]}
{"step":5264,"t":26.32,"command":[0.083964426922131977,-0.18755743848436399,-0.24937920402375996,0.57947950058990572,0.57947950058990572],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010727695959996897,-0.024077655138828868,-0.0054023139952779076,0.001319192420971893],"integral":[-0.075183543236999412,-0.034286081185870683,0.31701676042700339,-0.015352571355152745],"effort":[-0.048683890065170037,-0.00705002498836204,0.33579649160392655,0.013506097334354063]}
{"step":5268,"t":26.34,"command":[0.083783373837176531,-0.18712973101486144,-0.24942080114965992,0.57933939090193254,0.57933939090193254],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010640907294047208,-0.023967795255205537,-0.0055739803580068248,0.0014608385639665045],"integral":[-0.075396361382880361,-0.034765437090974793,0.31690528081984326,-0.015323354583873414],"effort":[-0.048614136137916292,-0.0070196537315400757,0.33563412985062224,0.013596599908221901]}
{"step":5272,"t":26.359999999999999,"command":[0.083597968537733727,-0.1867013078184917,-0.24946141635026378,0.57920075428646378,0.57920075428646378],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010554458042318027,-0.023857850656142432,-0.0057436043572440809,0.0016014089831909439],"integral":[-0.075607450543726723,-0.035242594104097642,0.31679040873269837,-0.015291326404209596],"effort":[-0.048544188294307421,-0.0069886203436359193,0.33547351376600865,0.013686809953172228]}
{"step":5276,"t":26.379999999999999,"command":[0.083408311445093739,-0.18627214041172488,-0.2495010532853571,0.57906359315469103,0.57906359315469103],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010468348740740874,-0.023747822666802643,-0.0059111823796871299,0.0017409053090405857],"integral":[-0.075816817518541538,-0.035717550557433697,0.31667218508510464,-0.015256508298028784],"effort":[-0.048474042942033974,-0.0069569464181217563,0.33531464491722152,0.013776732648468629]}
{"step":5280,"t":26.400000000000002,"command":[0.083214505827465951,-0.18584219870214466,-0.24953971546587569,0.57892790942176553,0.57892790942176553],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010382579837186823,-0.023637712680844691,-0.0060767110998791729,0.0018793292643952686],"integral":[-0.076024469115285279,-0.036190304811050594,0.31655065086310707,-0.015218921712740878],"effort":[-0.048403696206618808,-0.0069246539801093654,0.33515752430745599,0.013866373388171396]}
{"step":5284,"t":26.420000000000002,"command":[0.08301665673924559,-0.18541145198314687,-0.24957740815573842,0.57879370549394926,0.57879370549394926],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010297151691473161,-0.023527522161212122,-0.0062401874761630616,0.0020166826665293236],"integral":[-0.076230412149114746,-0.036660855254274836,0.31642584711358379,-0.015178588059410292],"effort":[-0.04833314459411741,-0.0068917652961617299,0.33500215351941642,0.013955738067618632]}
{"step":5288,"t":26.440000000000001,"command":[0.082814868515119253,-0.18497987148392256,-0.24961413304154076,0.57866098361683116,0.57866098361683116],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010212064575243929,-0.023417252638403996,-0.0064016087470832872,0.0021529674208532468],"integral":[-0.076434653440619629,-0.037129200307042913,0.31629781493864212,-0.015135528710993228],"effort":[-0.048262384134144257,-0.0068583024471764896,0.3348485339603986,0.014044831279935747]}
{"step":5292,"t":26.460000000000001,"command":[0.08260924779672793,-0.18454742406950861,-0.24964989526623027,0.57852974607067242,0.57852974607067242],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010127318671611318,-0.023306905709555403,-0.0065609724284647619,0.002288185523894648],"integral":[-0.076637199814051857,-0.037595338421234019,0.31616659549007281,-0.015089765000515336],"effort":[-0.048191410968565392,-0.006824287821541198,0.33469666708859674,0.014133659237874342]}
{"step":5296,"t":26.48,"command":[0.082399898764406024,-0.18411408057612044,-0.24968469640440119,0.57839999507220452,0.57839999507220452],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.010042914076325848,-0.023196483036825866,-0.0067182763103508236,0.002422339058538725],"integral":[-0.076838058095578379,-0.038059268081970535,0.31603222996386582,-0.015041318219344561],"effort":[-0.048120221142474079,-0.0067897433163843623,0.33454655429952623,0.014222226476083913]}
{"step":5300,"t":26.5,"command":[0.082186930656304141,-0.18367980602139838,-0.24971854275265185,0.57827173349603178,0.57827173349603178],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0099588507974914808,-0.023085986347667342,-0.0068735184515253955,0.0025554301987825712],"integral":[-0.077037235111528213,-0.038520987808923879,0.31589475959483532,-0.014990209615368909],"effort":[-0.04804881086728327,-0.0067546915707041456,0.33439819776050567,0.014310539727224732]}
{"step":5304,"t":26.52,"command":[0.081970448995213357,-0.18324456680251741,-0.24975143732782554,0.5781449633172584,0.5781449633172584],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0098751287557152789,-0.022975417432359979,-0.0070266971783148335,0.0026874612094234251],"integral":[-0.077234737686642518,-0.038980496157571078,0.31575422565126904,-0.014936460391180441],"effort":[-0.047977175854978515,-0.0067191545084768741,0.33425159860911402,0.014398604592336248]}
{"step":5308,"t":26.539999999999999,"command":[0.081750562657602208,-0.18280833067759147,-0.24978338391471994,0.57801968727354991,0.57801968727354991],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0097917477851927615,-0.022864778143732556,-0.0071778110804965323,0.0028184344408289652],"integral":[-0.077430572642346374,-0.039437791720445731,0.3156106694296591,-0.014880091702363861],"effort":[-0.047905312322507998,-0.0066831544948345442,0.33410675887581248,0.014486426557380368]}
{"step":5312,"t":26.560000000000002,"command":[0.081527381171952962,-0.18237106151878427,-0.24981438698423275,0.57789590819566217,0.57789590819566217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00970870763306797,-0.022754070396215464,-0.00732685900623542,0.0029483523315100291],"integral":[-0.077624746795007735,-0.039892873128370039,0.3154641322495344,-0.014821124655733662],"effort":[-0.047833216011898098,-0.0066467138807569095,0.33396368070928917,0.014574011932409901]}
{"step":5316,"t":26.580000000000002,"command":[0.081301012741866852,-0.181932726629814,-0.24984444893943045,0.57777362833722679,0.57777362833722679],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0096260079606329541,-0.022643296164070792,-0.0074738400608400646,0.0030772174033334432],"integral":[-0.077817266954220393,-0.040345739051651452,0.3153146554483176,-0.014759580307666992],"effort":[-0.047760882842403152,-0.0066098546728531951,0.33382236560196382,0.01466136582344452]}
{"step":5320,"t":26.600000000000001,"command":[0.081071566849223897,-0.18149328798193767,-0.2498735753784864,0.57765285057174665,0.57765285057174665],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0095436483441213582,-0.022532457480201495,-0.0076187536026228742,0.003205032265261476],"integral":[-0.078008139921102823,-0.04079638820125548,0.31516228037626515,-0.014695479662361762],"effort":[-0.047688308627461345,-0.006572598951388179,0.33368281577366471,0.014748495044966777]}
{"step":5324,"t":26.620000000000001,"command":[0.080839153323019247,-0.18105271048750599,-0.24990176874394798,0.57753357777816727,0.57753357777816727],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0094616282745543234,-0.022421556434421452,-0.0077615992385271504,0.0033317996102979475],"integral":[-0.078197372486593905,-0.041244819329943908,0.31500704839149463,-0.014628843670155803],"effort":[-0.047615488998113159,-0.006534968709982613,0.33354503346125036,0.014835405023240503]}
{"step":5328,"t":26.640000000000001,"command":[0.08060388127141091,-0.18061095611434255,-0.24992903490926577,0.57741581280934573,0.57741581280934573],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0093799471598623452,-0.022310595172788217,-0.0079023768209482981,0.0034575222167450015],"integral":[-0.078384971429791159,-0.041691031233399671,0.31484900085507567,-0.014559693225820904],"effort":[-0.047542419979606981,-0.0064969856760157072,0.33340902088227742,0.014922102511070014]}
{"step":5332,"t":26.66,"command":[0.080365861790572493,-0.18016798690846508,-0.24995537709151311,0.57729955862511062,0.57729955862511062],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0092986043244371874,-0.022199575895807788,-0.0080410864444613317,0.003582202947218005],"integral":[-0.078570943516279898,-0.04213502275131583,0.31468817912618646,-0.014488049166876543],"effort":[-0.047469097021804678,-0.0064586717413413989,0.33327478038874747,0.015008593515155835]}
{"step":5336,"t":26.68,"command":[0.080125203957292335,-0.17972376725854661,-0.2499807985039311,0.57718481833515056,0.57718481833515056],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0092175990109415462,-0.022088500857162296,-0.0081777284418889096,0.0037058447427341656],"integral":[-0.078755295496498734,-0.042576792768459076,0.3145246245573487,-0.014413932272021861],"effort":[-0.047395516069133614,-0.0064200483091976955,0.33314231451658072,0.015094883551529385]}
{"step":5340,"t":26.699999999999999,"command":[0.079882017533839847,-0.17927825569153483,-0.25000530331846993,0.57707159499200134,0.57707159499200134],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0091369303803501278,-0.021977372360869385,-0.0083123033813139457,0.00382845062620496],"integral":[-0.078938034104105742,-0.043016340215676463,0.31435837848972242,-0.014337363259497762],"effort":[-0.047321672325579753,-0.0063811367252766971,0.33301162574661236,0.015180979361780405]}
{"step":5344,"t":26.719999999999999,"command":[0.079636415267397426,-0.17883141448632922,-0.25002889549920171,0.57695989190128183,0.57695989190128183],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0090565975126306597,-0.021866192761800685,-0.0084448120621094525,0.003950023700908023],"integral":[-0.079119166054358356,-0.043453664070912473,0.31418948224848026,-0.014258362785479602],"effort":[-0.047247561695866004,-0.0063419586366413689,0.33288271686273879,0.015266886888684723]}
{"step":5348,"t":26.740000000000002,"command":[0.079388503313715539,-0.17838320067122126,-0.2500515787279563,0.5768497120172813,0.5768497120172813],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0089765994081953959,-0.021754964461186299,-0.0085752555128379981,0.0040705671508780572],"integral":[-0.079298698042522264,-0.043888763360136196,0.31401797713822349,-0.014176951442462041],"effort":[-0.047173179153026261,-0.0063025344583918239,0.33275559025442036,0.015352612871317072]}
{"step":5352,"t":26.760000000000002,"command":[0.079138392840950977,-0.17793357518022943,-0.25007335689527582,0.57674105912077867,0.57674105912077867],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0088969349893646132,-0.021643689906238217,-0.0087036349858804485,0.0041900842384777759],"integral":[-0.07947663674230955,-0.044321637158260957,0.31384390443850591,-0.014093149757692486],"effort":[-0.04709852050264518,-0.0062628852214486807,0.33263024927575757,0.015438163326226821]}
{"step":5356,"t":26.780000000000001,"command":[0.078886193318873379,-0.17748249662203411,-0.25009423260021607,0.57663393660872986,0.57663393660872986],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0088176031006421685,-0.021532371588748989,-0.0088299519540995242,0.004308578301131627],"integral":[-0.079652988804322394,-0.04475228459003594,0.31366730539942389,-0.014006978191669853],"effort":[-0.047023580893540667,-0.0062230314963426635,0.33250669684888062,0.015523544286350315]}
{"step":5360,"t":26.800000000000001,"command":[0.078632012210855889,-0.17702992224138295,-0.25011421033127201,0.57652834796058172,0.57652834796058172],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0087386025108182608,-0.021421012042468712,-0.0089542081084057479,0.0044260527534042415],"integral":[-0.079827760854538757,-0.045180704830885314,0.31348822123725578,-0.013918457136601768],"effort":[-0.046948355789212942,-0.0061829933443281904,0.33238493600215763,0.015608762420422851]}
{"step":5364,"t":26.82,"command":[0.078375957153342737,-0.1765758092848054,-0.25013329310783955,0.57642429696439523,0.57642429696439523],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0086599319141902331,-0.021309613841009378,-0.0090764053535314915,0.0045425110854825368],"integral":[-0.080000959492822557,-0.045606897107705505,0.31330669313018517,-0.013827606914892118],"effort":[-0.046872840372778175,-0.0061427906597026159,0.33226497013089729,0.01569382394819421]}
{"step":5368,"t":26.84,"command":[0.078118133600574347,-0.17612011499949715,-0.25015148348032223,0.57632178744880791,0.57632178744880791],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0085815899318724131,-0.021198179595133926,-0.0091965458043561377,0.0046579568596730736],"integral":[-0.08017259129146001,-0.046030860699608184,0.31312276221409802,-0.013734447777698656],"effort":[-0.046797029797421008,-0.0061024427972371821,0.33214680268818891,0.015778734889984904]}
{"step":5372,"t":26.859999999999999,"command":[0.077858649216059048,-0.17566279570400589,-0.25016878488376143,0.57622082334321278,0.57622082334321278],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0085035751130702053,-0.021086711952060133,-0.0093146317824537306,0.0047723937101800118],"integral":[-0.080342662793721417,-0.046452594938649387,0.31293646957844895,-0.013638999903495055],"effort":[-0.046720919362382513,-0.0060619692577493318,0.33203043725433001,0.015863501567835201]}
{"step":5376,"t":26.879999999999999,"command":[0.07759760985941587,-0.17520380645611788,-0.25018520042975118,0.57612140889127517,0.57612140889127517],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0084258859360235583,-0.020975213593479536,-0.0094306658118883391,0.0048858253431597332],"integral":[-0.080511180512441882,-0.046872099210518978,0.31274785626221119,-0.01354128339663186],"effort":[-0.046644504155393798,-0.0060213890558941142,0.33191587778286791,0.015948130358680982]}
{"step":5380,"t":26.900000000000002,"command":[0.07733511650011303,-0.17474310099574125,-0.25020073269510962,0.57602354817390533,0.57602354817390533],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0083485208101219399,-0.020863687231016836,-0.0095446506164087452,0.0049982555357885872],"integral":[-0.080678150928644318,-0.047289372955139311,0.31255696324988302,-0.013441318285916088],"effort":[-0.046567778993388757,-0.0059807202440860553,0.33180312805085549,0.016032627647780927]}
{"step":5384,"t":26.920000000000002,"command":[0.0770712717630571,-0.1742806355258128,-0.25021538400920218,0.57592724544289864,0.57592724544289864],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0082714780784303166,-0.020752135605357269,-0.0096565891161533024,0.0051096881322522103],"integral":[-0.080843580490212924,-0.047704415667246459,0.31236383146755997,-0.013339124523271044],"effort":[-0.046490739157076862,-0.0059399809311750026,0.33169219204344486,0.016116999237795658]}
{"step":5388,"t":26.940000000000001,"command":[0.076806178037193612,-0.17381636184578725,-0.25022915714411942,0.57583250521189711,0.57583250521189711],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0081947560177155765,-0.020640561484295272,-0.0097664844236122761,0.0052201270448516413],"integral":[-0.081007475610567231,-0.048117226896932368,0.31216850177908773,-0.013234721982374012],"effort":[-0.046413379365181029,-0.0058991889846810829,0.33158307405860948,0.016201251719875381]}
{"step":5392,"t":26.960000000000001,"command":[0.076539935336530515,-0.17335023687917245,-0.25024205275103278,0.57573933218659479,0.57573933218659479],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0081183528407806627,-0.020528967660858211,-0.0098743398394844917,0.0053295762477011399],"integral":[-0.081169842667382849,-0.048527806250149533,0.31197101498229801,-0.013128130457419989],"effort":[-0.046335694795557936,-0.0058583617013202721,0.33147577862666616,0.016285390169492736]}
{"step":5396,"t":26.98,"command":[0.076272514765752086,-0.17288233061280184,-0.25025399052556357,0.57564773116998069,0.57564773116998069],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0080422667400228409,-0.020417356907099782,-0.0099801588492427484,0.0054380395718380825],"integral":[-0.081330688002183307,-0.048936153388291527,0.31177141180531315,-0.013019369665983228],"effort":[-0.046257680006041496,-0.0058174965086918709,0.3313703104011464,0.016369379767927378]}
{"step":5400,"t":27,"command":[0.07600397212906955,-0.17241263297607257,-0.25026494413045863,0.57555770693589525,0.57555770693589525],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0079664958829273047,-0.02030573197397656,-0.010083945120602067,0.0055455207240443505],"integral":[-0.081490017919841853,-0.049342268027771058,0.31156973290290113,-0.01290845925150234],"effort":[-0.046179329135181746,-0.0057766037793963807,0.33126667401330584,0.01645321312543984]}
{"step":5404,"t":27.02,"command":[0.075734402165766782,-0.17194109412188593,-0.25027491469569985,0.57546926463017922,0.57546926463017922],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0078910383819186247,-0.020194095620569952,-0.010185702499559302,0.0056520234387563706],"integral":[-0.081647838687480226,-0.049746149940182456,0.31136601885290993,-0.012795418782727212],"effort":[-0.046100636386885538,-0.0057356996714061003,0.33116487453399923,0.0165368965390543]}
{"step":5408,"t":27.039999999999999,"command":[0.07546389412292516,-0.17146766104953223,-0.25028390359643127,0.57538240951457709,0.57538240951457709],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0078158922883793114,-0.020082450618077008,-0.010285435006574417,0.0057575515210273043],"integral":[-0.08180415653324781,-0.050147798952543995,0.31116031015277845,-0.012680267752306667],"effort":[-0.046021595592632483,-0.0056947993161960576,0.33106491717880049,0.016620436806835212]}
{"step":5412,"t":27.060000000000002,"command":[0.075192541983733624,-0.17099227977230763,-0.25029191416227797,0.57529714711357371,0.57529714711357371],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0077410555938763892,-0.01997079974973115,-0.010383146832543932,0.0058621088496558782],"integral":[-0.081958977645125344,-0.050547214947538617,0.31095264721612759,-0.012563025575313549],"effort":[-0.045942201018374124,-0.0056539183699755441,0.33096680747701684,0.016703841276643001]}
{"step":5416,"t":27.080000000000002,"command":[0.07492043263167518,-0.17051489776749654,-0.25029894775914679,0.57521348300982145,0.57521348300982145],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0076665262330619655,-0.019859145808647005,-0.010478842335252647,0.005965699373406852],"integral":[-0.082112308169786583,-0.050944397863711556,0.31074307036942256,-0.012443711587845411],"effort":[-0.045862446804997951,-0.0056130712257173787,0.33087055103629009,0.016787116444338154]}
{"step":5420,"t":27.100000000000001,"command":[0.074647657355433661,-0.17003546049346865,-0.25030500697170083,0.57513142319203858,0.57513142319203858],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.007592302084652891,-0.019747491596695532,-0.01057252603511305,0.0060683271100284708],"integral":[-0.082264154211479645,-0.051339347695645465,0.3105316198487203,-0.012322345045644842],"effort":[-0.045782327170164568,-0.0055722727486542294,0.33077615394289978,0.016870269344938627]}
{"step":5424,"t":27.120000000000001,"command":[0.074374300869218105,-0.16955391424024219,-0.25031009376172914,0.57505097356610391,0.57505097356610391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0075183809742402907,-0.01963583992256579,-0.010664202611864848,0.0061699961446989304],"integral":[-0.082414521830964454,-0.051732064494096779,0.31031833579648299,-0.012198945122750864],"effort":[-0.045701836436596519,-0.0055315366297849769,0.3306836221993239,0.016953306602409117]}
{"step":5428,"t":27.140000000000001,"command":[0.074100447321201107,-0.16907019462054132,-0.25031421107462259,0.57497214051992118,0.57497214051992118],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0074447606727139348,-0.019524193595177319,-0.010753876901052895,0.006270710637378385],"integral":[-0.082563417044418733,-0.052122548366000325,0.31010325825846191,-0.012073530910003297],"effort":[-0.045620967487469216,-0.0054908762932021011,0.33059296237406005,0.017036236778441499]}
{"step":5432,"t":27.16,"command":[0.07382617821152361,-0.16858423965867567,-0.25031735969773472,0.5748949308214315,0.5748949308214315],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0073714388956491739,-0.019412555419131117,-0.010841553889436639,0.0063704748220294594],"integral":[-0.082710845822331722,-0.052510799474382946,0.30988642718067316,-0.011946121413562709],"effort":[-0.045539713213669446,-0.0054503045893196439,0.33050418148417848,0.017119067352375648]}
{"step":5436,"t":27.18,"command":[0.073551575909242287,-0.16809599303583825,-0.25031954227992059,0.57481935070268897,0.57481935070268897],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0072984133093165759,-0.019300928198215939,-0.010927238712747922,0.0064692929990908254],"integral":[-0.082856814088518055,-0.052896818038347268,0.30966788240641818,-0.011816735553580893],"effort":[-0.045458068060966771,-0.0054098343187330301,0.33041728594226094,0.017201805186262194]}
{"step":5440,"t":27.199999999999999,"command":[0.073276716786813675,-0.16760539735111005,-0.25032076158132921,0.57474540733627122,0.57474540733627122],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.007225681535965478,-0.019189314735180485,-0.011010936650497793,0.0065671695329508895],"integral":[-0.083001327719237364,-0.053280604333050881,0.3094476636734082,-0.011685392162921875],"effort":[-0.045376026449940078,-0.0053694772230549019,0.33033228325413638,0.01728445722871659]}
{"step":5444,"t":27.219999999999999,"command":[0.073001677473676918,-0.16711239618975227,-0.25032102168717679,0.57467310813971872,0.57467310813971872],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0071532411574313226,-0.01907771783131329,-0.011092653120304163,0.006664108851345274],"integral":[-0.083144392542385995,-0.053662158689677143,0.30922581061100213,-0.011552109985894969],"effort":[-0.045293583429396378,-0.0053292449139707484,0.3302491812189649,0.017367030469115655]}
{"step":5448,"t":27.240000000000002,"command":[0.072726532063696031,-0.16661693103721203,-0.25032032696161211,0.57460246044722763,0.57460246044722763],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0070810897174762299,-0.018966140285456401,-0.011172393675099368,0.0067601154458740709],"integral":[-0.08328601433673552,-0.054041481495386269,0.30900236273750015,-0.011416907676977488],"effort":[-0.045210733899213727,-0.0052891484660118069,0.33016798755200782,0.017449532190954659]}
{"step":5452,"t":27.260000000000002,"command":[0.072451353377490424,-0.16611894559475418,-0.25031868039214306,0.57453347200397631,0.57453347200397631],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0070092247236799299,-0.018854584892368242,-0.011250163999378948,0.0068551938675925905],"integral":[-0.083426198831209122,-0.054418573193233635,0.30877735945751256,-0.011279803799625636],"effort":[-0.045127472919388387,-0.0052491986062299925,0.33008871045294386,0.017531968833875491]}
{"step":5456,"t":27.280000000000001,"command":[0.072176208930030905,-0.16561838380459598,-0.25031608599569705,0.5744661507689458,0.5744661507689458],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0069376436516359608,-0.018743054441362261,-0.011325969904912192,0.0069493487239004059],"integral":[-0.083564951704241844,-0.054793434282060884,0.3085508400594143,-0.011140816825147629],"effort":[-0.045043795981125831,-0.0052094051355114721,0.33001135837928913,0.017614346927079375]}
{"step":5460,"t":27.300000000000001,"command":[0.071901168310847155,-0.16511518773229114,-0.2503125485781843,0.57440050499965067,0.57440050499965067],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0068663439468092946,-0.018631551715867056,-0.011399817326731565,0.0070425846797048663],"integral":[-0.083702278583178025,-0.055166065316378222,0.30832284371287966,-0.010999965131553531],"effort":[-0.044959698597787812,-0.0051697780044647704,0.32993594014385375,0.017696673377918068]}
{"step":5464,"t":27.32,"command":[0.071626294445325464,-0.16460930313968228,-0.25030807110285391,0.57433654328320838,0.57433654328320838],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0067953230277446597,-0.018520079491667785,-0.011471712318856575,0.0071349064515305871],"integral":[-0.083838185043732916,-0.055536466906211578,0.30809340946650254,-0.01085726700252292],"effort":[-0.044875176569681596,-0.0051303260559684609,0.32986246495050475,0.017778953889549781]}
{"step":5468,"t":27.34,"command":[0.071351649681245716,-0.1641006733925448,-0.25030265841990795,0.574274274311105,0.574274274311105],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0067245782892646488,-0.018408640535762189,-0.011541661050753049,0.007226318806645482],"integral":[-0.08397267660951821,-0.055904639716926822,0.30786257624548746,-0.010712740626390009],"effort":[-0.044790225909979893,-0.0050910579122352122,0.32979094213554627,0.01786119490209323]}
{"step":5472,"t":27.359999999999999,"command":[0.0710772911373065,-0.16358924346479475,-0.25029631526734802,0.57421370729754584,0.57421370729754584],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0066541071061767543,-0.018297237605204186,-0.011609669802760791,0.007316826562213552],"integral":[-0.084105758751641752,-0.056270584469030903,0.30763038284943223,-0.010566404095145738],"effort":[-0.044704843006897782,-0.0050519813154174288,0.3297213816483916,0.01794340242951389]}
{"step":5476,"t":27.379999999999999,"command":[0.070803275637760066,-0.16307495880821646,-0.25028904682474951,0.57415485154958112,0.57415485154958112],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0065839068364479392,-0.018185873446847411,-0.011675744962181156,0.0074064345825818334],"integral":[-0.084237436888370709,-0.056634301937967854,0.30739686795018861,-0.010418275403494102],"effort":[-0.04461902457537157,-0.005013103841036628,0.32965379355792157,0.018025582385070078]}
{"step":5480,"t":27.400000000000002,"command":[0.070529654579270837,-0.16255776825883236,-0.25028085685549251,0.57409771669818133,0.57409771669818133],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0065139748249356533,-0.018074550796387312,-0.011739893019508951,0.0074951477728976146],"integral":[-0.084367716384869423,-0.056995792953895598,0.30716207008979846,-0.010268372448036149],"effort":[-0.044532767664805892,-0.0049744321750712604,0.3295881883180653,0.018107739643513643]}
{"step":5484,"t":27.420000000000002,"command":[0.070256472954342605,-0.1620376194109143,-0.25027174975171579,0.57404231273599648,0.57404231273599648],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0064443084075367363,-0.017963272375435935,-0.011802120564186502,0.0075829710763241076],"integral":[-0.084496602553020161,-0.05735505840140432,0.30692602767851473,-0.010116713026509667],"effort":[-0.04444606941407088,-0.0049359719919842733,0.3295245768112916,0.018189879309714573]}
{"step":5488,"t":27.440000000000001,"command":[0.069983777136244305,-0.16151446461031241,-0.25026172993056434,0.57398864994917309,0.57398864994917309],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0063749049150305659,-0.017852040892869514,-0.011862434280244027,0.0076699094694748782],"integral":[-0.084624100651320769,-0.057712099219261709,0.30668877899290986,-0.0099633148371201692],"effort":[-0.044358927873097295,-0.0048977290622555106,0.32946297027047439,0.018272005594741434]}
{"step":5492,"t":27.460000000000001,"command":[0.069711603549466553,-0.16098825404664657,-0.25025080172076186,0.57393673878922935,0.57393673878922935],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0063057616770050284,-0.017740859042278512,-0.011920840942899691,0.0077559679600028852],"integral":[-0.084750215884860869,-0.058066916400107277,0.30645036217405186,-0.0098081954779201119],"effort":[-0.044271340851435838,-0.0048597076694379977,0.32940338013201603,0.018354122910448221]}
{"step":5496,"t":27.48,"command":[0.069439986533328432,-0.1604589448979602,-0.25023896722232347,0.57388659015862953,0.57388659015862953],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0062368760260365086,-0.017629729500469704,-0.011977347414329209,0.0078411515774572393],"integral":[-0.084874953405381592,-0.05841951099011667,0.30621081522576526,-0.0096513724463709663],"effort":[-0.044183306857130858,-0.0048219117297488342,0.32934581836389881,0.018436233859364229]}
{"step":5500,"t":27.5,"command":[0.069168868520831137,-0.15992661921438317,-0.25022620810881907,0.57383821892453113,0.57383821892453113],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0061682453697731177,-0.017518654941697465,-0.012031960619427906,0.0079254652413845994],"integral":[-0.084998318312777058,-0.058769884088950619,0.30597017601337673,-0.0094928631415432743],"effort":[-0.044094839378930162,-0.0047843323724520246,0.32929030149847816,0.018518315845587854]}
{"step":5504,"t":27.52,"command":[0.068897182822972164,-0.15939224984878247,-0.25021189517029174,0.57379163792886145,0.57379163792886145],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0060998675032042371,-0.017407637706927659,-0.012084687543694628,0.0080089122146443925],"integral":[-0.085120315662841145,-0.059118036843089174,0.30572848226250282,-0.0093326848972503859],"effort":[-0.044005940898282879,-0.0047468218009420506,0.32923684375708562,0.018600051586426185]}
{"step":5508,"t":27.539999999999999,"command":[0.068624940453228742,-0.15885579642690439,-0.25019604019569697,0.57374686040197265,0.57374686040197265],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0060317404320993084,-0.017296679928432646,-0.012135535238950723,0.0080914948550530053],"integral":[-0.085240950471483126,-0.059463970441657826,0.30548577155772383,-0.0091708550001493253],"effort":[-0.043916611294016458,-0.0047093824522091909,0.32918545982112074,0.018681447235590364]}
{"step":5512,"t":27.560000000000002,"command":[0.06835215435680915,-0.15831719987260445,-0.25017864728180728,0.57370389849596581,0.57370389849596581],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0059638621554629623,-0.017185783713689506,-0.012184510827692119,0.0081732156011660173],"integral":[-0.085360227714592382,-0.059807686115931617,0.30524208134116998,-0.0090073906881260046],"effort":[-0.043826845665628555,-0.0046720170052170634,0.32913616314946942,0.018762509890126372]}
{"step":5516,"t":27.580000000000002,"command":[0.068078836601324633,-0.15777639067486363,-0.2501597167944411,0.57366276378284264,0.57366276378284264],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0058962306504313222,-0.017074951130474192,-0.012231621508077772,0.0082540769768354449],"integral":[-0.085478152327601004,-0.060149185138541103,0.30499744891100844,-0.008842309148589295],"effort":[-0.043736636680531092,-0.0046347279929898578,0.32908896655096948,0.018843247226143903]}
{"step":5520,"t":27.600000000000001,"command":[0.067804998042854947,-0.15723329371427516,-0.25013925285880811,0.57362346814169596,0.57362346814169596],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0058288438695279776,-0.016964184202926669,-0.012276874552699546,0.0083340816000515572],"integral":[-0.08559472920499156,-0.060488468822599638,0.30475191141995445,-0.0086756275165882635],"effort":[-0.043645977236501134,-0.0045975177595915639,0.32904388320290734,0.018923668584261616]}
{"step":5524,"t":27.620000000000001,"command":[0.067530650967792885,-0.1566878340221354,-0.25011726232968068,0.5735860238001419,0.5735860238001419],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0057616997436857886,-0.016853484914751915,-0.012320277304247895,0.0084132321890384443],"integral":[-0.085709963199865277,-0.060825538520894673,0.30450550587386949,-0.0085073628728074939],"effort":[-0.043554861122921285,-0.0045603888201338656,0.329000926698857,0.019003783792373032]}
{"step":5528,"t":27.640000000000001,"command":[0.06725580377420913,-0.15613991268360219,-0.25009372394992047,0.57355044338330019,0.57355044338330019],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.005694796153866033,-0.016742855179357585,-0.012361837176186441,0.0084915315450881934],"integral":[-0.085823859122942603,-0.061160395624481827,0.30425826913034576,-0.0083375322419057298],"effort":[-0.043463271545990972,-0.0045233431413149224,0.32896011110518025,0.019083599213148054]}
{"step":5532,"t":27.66,"command":[0.066980461512570214,-0.15558943627404015,-0.25006863008210933,0.57351673975764639,0.57351673975764639],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0056281309278563008,-0.016632296833261284,-0.012401561649908466,0.0085689825526088503],"integral":[-0.085936421741499736,-0.061493041561147051,0.3040102378973476,-0.008166152590853553],"effort":[-0.04337119621560822,-0.0044863822244368993,0.32892145078223983,0.019163123535534621]}
{"step":5536,"t":27.68,"command":[0.066704628598095589,-0.15503632925453897,-0.25004199353660828,0.57348492586720101,0.57348492586720101],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0055617018733808976,-0.01652181166705935,-0.012439458266858772,0.0086455881954472513],"integral":[-0.08604765577896735,-0.061823477794488241,0.30376144873201044,-0.0079932408269446087],"effort":[-0.043278630960241538,-0.0044495074764098726,0.32888496019690899,0.019242367571519724]}
{"step":5540,"t":27.699999999999999,"command":[0.066428305017271636,-0.15448051940064059,-0.250013826178346,0.57345501481317918,0.57345501481317918],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0054955067953623704,-0.016411401439600626,-0.012475534623474616,0.0087213515571706868],"integral":[-0.086157565914874598,-0.062151705823280251,0.30351193803954096,-0.0078188137958011949],"effort":[-0.043185572077313952,-0.0044127197074676754,0.32885065401438357,0.019321341203022261]}
{"step":5544,"t":27.719999999999999,"command":[0.06615148769824844,-0.1539219376367339,-0.249984141185529,0.57342701985096478,0.57342701985096478],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0054295435013096416,-0.01630106788003105,-0.012509798367981162,0.0087962758152122511],"integral":[-0.086266156784900794,-0.06247772718088087,0.30326174207218132,-0.0076428882794969495],"effort":[-0.043092016865056551,-0.0043760193246915151,0.32881854709515879,0.01940005397920995]}
{"step":5548,"t":27.740000000000002,"command":[0.065874169273897332,-0.15336051430285536,-0.24995295341769483,0.57340095443187178,0.57340095443187178],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0053638098062220863,-0.016190812689231615,-0.012542257197157625,0.008870364240215034],"integral":[-0.086373432981025233,-0.062801543434665499,0.30301089692823818,-0.0074654809946926486],"effort":[-0.042997963134732309,-0.0043394061775260794,0.32878865454338146,0.019478515787496008]}
{"step":5552,"t":27.760000000000002,"command":[0.065596337374872596,-0.152796185693091,-0.2499202768272169,0.57337683215031676,0.57337683215031676],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0052983035380040899,-0.016080637541037168,-0.012572918853217985,0.0089436201891620604],"integral":[-0.086479399051785311,-0.063123156185486237,0.30275943855117382,-0.0072866085909094073],"effort":[-0.042903409565875142,-0.0043028794769981076,0.3287609916467325,0.01955673520351759]}
{"step":5556,"t":27.780000000000001,"command":[0.065317984077988653,-0.15222861138760424,-0.24988618850526981,0.57335466739262886,0.57335466739262886],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0052330224614620668,-0.0159705440087059,-0.012601791131144235,0.0090160473888315495],"integral":[-0.086584059501014554,-0.063442567065660357,0.30250740272855092,-0.0071062876431327764],"effort":[-0.04280832866534473,-0.00426643904401238,0.32873557462091207,0.019634778540346502]}
{"step":5560,"t":27.800000000000001,"command":[0.065039076918135291,-0.15165739256577493,-0.24985077802889905,0.57333447485207933,0.57333447485207933],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0051679642245976432,-0.015860533500061225,-0.012628881883685938,0.0090876501602810134],"integral":[-0.086687418785506509,-0.063759777735661577,0.3022548250908772,-0.006924534639927156],"effort":[-0.042712688000747873,-0.0042300815263631181,0.3287124200539096,0.019712723280898306]}
{"step":5564,"t":27.82,"command":[0.064759561665455725,-0.15108247692348567,-0.24981405946283028,0.57331626882322217,0.57331626882322217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0051031264625749362,-0.015750607339622968,-0.012654199005163402,0.0091584330841122386],"integral":[-0.086789481314758013,-0.064074789882454034,0.30200174111077394,-0.0067413659782449113],"effort":[-0.042616489569317045,-0.0041938008271019626,0.32869154409738111,0.019790574735981462]}
{"step":5568,"t":27.84,"command":[0.064479197526455354,-0.15050442553610302,-0.24977639337116356,0.57330005942958617,0.57330005942958617],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0050385074399659224,-0.01564076728828212,-0.01267775035137797,0.0092284007508306454],"integral":[-0.086890251463557333,-0.06438760522821968,0.30174818610374637,-0.0065567979632282988],"effort":[-0.042519914395729309,-0.0041575669136556456,0.32867295814196706,0.019868332289776934]}
{"step":5572,"t":27.859999999999999,"command":[0.064197912367748147,-0.14992382464833567,-0.24973791297866824,0.57328585093506446,0.57328585093506446],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0049741061839938538,-0.015531015709578044,-0.012699543744790542,0.009297557446306115],"integral":[-0.086989733587237217,-0.064698225542411239,0.30149419522885057,-0.0063708468143021764],"effort":[-0.042423089188062889,-0.0041213719523770708,0.32865666688234091,0.019945935990877982]}
{"step":5576,"t":27.879999999999999,"command":[0.06391565726725433,-0.14934082831320761,-0.24969851153876821,0.57327364598639396,0.57327364598639396],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.004909921976282039,-0.01542135514345655,-0.012719587068078742,0.0093659070068814465],"integral":[-0.087087932026762863,-0.065006652645280369,0.30123980348748902,-0.0061835286741645477],"effort":[-0.042326014832975656,-0.004085211243905121,0.32864267318253332,0.020023331831700707]}
{"step":5580,"t":27.900000000000002,"command":[0.063632462002111242,-0.14875566894652545,-0.24965836275452072,0.57326344715981958,0.57326344715981958],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0048459543407695094,-0.015311788347131428,-0.012737888263796737,0.0094334531356755624],"integral":[-0.087184851113578252,-0.065312888412222991,0.30098504572221307,-0.0059948596114510365],"effort":[-0.042228773568498065,-0.0040490902204501312,0.3286309798495593,0.020100524524769788]}
{"step":5584,"t":27.920000000000002,"command":[0.063349093328050013,-0.14817071698474399,-0.24961917697951422,0.57325524956036344,0.57325524956036344],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0047822050205379441,-0.01520232066701066,-0.012754455007947918,0.0095001999164744388],"integral":[-0.087280495213989007,-0.065616934825563203,0.3007299566220541,-0.0058048556131215477],"effort":[-0.042132147443851575,-0.0040131076254859904,0.32862158114851459,0.020177586072078472]}
{"step":5588,"t":27.940000000000001,"command":[0.063065563647637018,-0.14758576293328557,-0.24958121680498721,0.57324904207865146,0.57324904207865146],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0047186770799936273,-0.015092958974543658,-0.012769294909375173,0.0095661521339883704],"integral":[-0.087374868755588878,-0.065918794005054071,0.30047457072386657,-0.0056135325704417807],"effort":[-0.042036170601228995,-0.0039772653181941566,0.32861446424409146,0.02025461318062903]}
{"step":5592,"t":27.960000000000001,"command":[0.062781891259641634,-0.1470010843074859,-0.24954465266115775,0.57324481131518634,0.57324481131518634],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.004655373841935484,-0.014983710370094716,-0.012782415721902751,0.0096313148638914603],"integral":[-0.087467976232427594,-0.066218468212455972,0.30021892240942855,-0.0054209062731639512],"effort":[-0.041940926229677218,-0.0039415658701374666,0.32860961369978359,0.020331607442100642]}
{"step":5596,"t":27.98,"command":[0.062498565687854474,-0.14641760648701851,-0.24951007147991303,0.57324254272619268,0.57324254272619268],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0045922994227538538,-0.014874582965684668,-0.012793825244215018,0.0096956932320749756],"integral":[-0.087559822220882669,-0.06651595987176967,0.29996304590454426,-0.0052269924085224517],"effort":[-0.041846695629649357,-0.0039060707130390603,0.32860701279119087,0.02040858014026195]}
{"step":5600,"t":28,"command":[0.062216780353342382,-0.1458373820214531,-0.24947877547476482,0.57324221027561539,0.57324221027561539],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0045294598073259973,-0.014765587465979335,-0.012803531147780323,0.0097592925235941985],"integral":[-0.087650411417029186,-0.066811271621089255,0.29970697528158863,-0.0050318065580505673],"effort":[-0.041754100703629685,-0.003870927757536051,0.32860663164167281,0.020485558708758435]}
{"step":5604,"t":28.02,"command":[0.061936541703512676,-0.14526048549293069,-0.24945077437773708,0.5732437836352603,0.5732437836352603],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0044668618371239699,-0.014656735741811699,-0.012811541214370337,0.009822118076364128],"integral":[-0.087739748653771668,-0.067104406335925487,0.29945074445730124,-0.0048353641965232846],"effort":[-0.04166314874164731,-0.0038361351981909646,0.32860843547646906,0.020562540096005381]}
{"step":5608,"t":28.039999999999999,"command":[0.061657844857411097,-0.1446869799874991,-0.24942606638830905,0.57324723277355516,0.57324723277355516],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0044045123020046706,-0.014548039538690993,-0.012817863519307693,0.0098841751834464198],"integral":[-0.087827838899811758,-0.067395367126699302,0.2991943871869151,-0.0046376806928543563],"effort":[-0.041573842385924056,-0.0038016898324605758,0.32861238988253849,0.020639520208021091]}
{"step":5612,"t":28.060000000000002,"command":[0.061381845643722226,-0.14411889279523177,-0.24940589321478734,0.57325252325090037,0.57325252325090037],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0043424193644523434,-0.014439512489737849,-0.012822506164801517,0.0099454692262151978],"integral":[-0.087914687287100807,-0.067684157376494053,0.2989379370636191,-0.0044387713083300527],"effort":[-0.041486777415394707,-0.003767730974629741,0.32861845541352408,0.020716522154871204]}
{"step":5616,"t":28.080000000000002,"command":[0.06110905005319292,-0.14355717404822388,-0.24939078875820547,0.57325960489230887,0.57325960489230887],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0042805925976834303,-0.014331170162416695,-0.012825477337658597,0.010006005667567153],"integral":[-0.08800029913905448,-0.06797078077974239,0.29868142751686594,-0.0042386511949787098],"effort":[-0.041402213869075957,-0.0037343159984036377,0.32862657460128608,0.020793551648363912]}
{"step":5620,"t":28.100000000000001,"command":[0.060839470191164667,-0.14300188836224476,-0.24938072463900468,0.57326842700145941,0.57326842700145941],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0042190418294463239,-0.014223028438982599,-0.012826785566717902,0.010065789940707726],"integral":[-0.088084679975643412,-0.068255241348522039,0.29842489180553156,-0.0040373353961645556],"effort":[-0.041320142948321495,-0.0037014411331416138,0.32863668939672758,0.020870602873153579]}
{"step":5624,"t":28.120000000000001,"command":[0.060573726020783522,-0.14245360019507733,-0.24937586367615244,0.57327893850705713,0.57327893850705713],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0041577769331713199,-0.014115103471565416,-0.01282643974071318,0.010124827297402161],"integral":[-0.088167835514306833,-0.068537543417953345,0.29816836301071731,-0.0038348388502165123],"effort":[-0.041240674796382951,-0.0036691762840409467,0.32864874133577815,0.020947646587844013]}
{"step":5628,"t":28.140000000000001,"command":[0.06031276326483212,-0.14191316869556009,-0.24937644751359667,0.57329108128946527,0.57329108128946527],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0040968080361265535,-0.014007412241442418,-0.012824449067228905,0.010183122634516817],"integral":[-0.08824977167502937,-0.068817691662782191,0.29791187402937275,-0.0036311763975261759],"effort":[-0.041163980011858066,-0.0036376294126396827,0.32866266388604432,0.021024632562643569]}
{"step":5632,"t":28.16,"command":[0.060056597449341456,-0.14138064113975896,-0.24938242914939271,0.57330479688889591,0.57330479688889591],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0040361452669297471,-0.013899971910982023,-0.012820823156205918,0.010240680657808476],"integral":[-0.088330494580367971,-0.069095691101001833,0.29765545756624862,-0.0034263627843700065],"effort":[-0.041090040828770588,-0.0036067948971922467,0.32867839013581823,0.021101555139681288]}
{"step":5636,"t":28.18,"command":[0.059805305912381986,-0.14085613048738485,-0.24939374123188002,0.57332002781967151,0.57332002781967151],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0039757985670683116,-0.013792799373164577,-0.012815572062207181,0.010297505946177954],"integral":[-0.088410010551709342,-0.06937154708846513,0.29739914612500445,-0.0032204126654464473],"effort":[-0.04101884383075656,-0.0035766746152735918,0.32869585429914888,0.021178394334877372]}
{"step":5640,"t":28.199999999999999,"command":[0.059559034194874523,-0.14033981556125188,-0.24941029554916339,0.57333671743953452,0.57333671743953452],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0039157776842135839,-0.013685911300683085,-0.012808706269114012,0.010353602838376164],"integral":[-0.088488326105393617,-0.069645265314478788,0.2971429719996222,-0.0030133406086789239],"effort":[-0.040950379678843615,-0.0035472785542262327,0.32871499156434064,0.02125511584707742]}
{"step":5644,"t":28.219999999999999,"command":[0.059317883619610386,-0.13983180438526774,-0.24943199549502817,0.57335481011852296,0.57335481011852296],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0038560921461576747,-0.013579324118440761,-0.012800236682334099,0.010408975432912637],"integral":[-0.088565447948316764,-0.069916851796847604,0.29688696726597552,-0.002805161100020671],"effort":[-0.040884626947135766,-0.003518611317109642,0.32873573828604757,0.021331693429495986]}
{"step":5648,"t":28.240000000000002,"command":[0.059081828782359028,-0.13933208915278852,-0.2494587610317312,0.57337425173213585,0.57337425173213585],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0037967512454004648,-0.013473053909428101,-0.012790174623314332,0.010463627716605806],"integral":[-0.088641382973224769,-0.070186312875036169,0.29663116377350923,-0.0025958885456885549],"effort":[-0.040821552261583488,-0.0034906624922679879,0.32875803254938668,0.021408121193902882]}
{"step":5652,"t":28.260000000000002,"command":[0.058850833318461762,-0.13884068898710747,-0.24949046734337624,0.57339498968275215,0.57339498968275215],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0037377640206046614,-0.013367116353766972,-0.01277853182055555,0.010517563551588838],"integral":[-0.088716138253636861,-0.070453655202111512,0.2963755931370981,-0.0023855372746567783],"effort":[-0.040761115106815494,-0.0034634205822773687,0.32878181419328345,0.021484378188400786]}
{"step":5656,"t":28.280000000000001,"command":[0.058625434880402852,-0.13835852713795826,-0.24952661765736869,0.57341697252593415,0.57341697252593415],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0036791391959349884,-0.013261526961673598,-0.012765320382142953,0.010570785542459715],"integral":[-0.088789721037555558,-0.070718885741344981,0.29612028672945523,-0.0021741215638075842],"effort":[-0.040703307475655898,-0.0034369416149163555,0.32880702438080789,0.021560225443870765]}
{"step":5660,"t":28.300000000000001,"command":[0.058406064652407719,-0.13788602115341478,-0.24956701465085301,0.57344014856926773,0.57344014856926773],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0036208851918249074,-0.013156301201469933,-0.012750552776895852,0.010623295126376608],"integral":[-0.088862138741392052,-0.070982011765374373,0.29586527567391729,-0.0019616556612800521],"effort":[-0.040648124815629516,-0.0034112683881812305,0.32883360399114381,0.021635569986109569]}
{"step":5664,"t":28.32,"command":[0.058192667013659896,-0.13742309682912035,-0.24961157169313486,0.57346446789519934,0.57346446789519934],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0035630101560162331,-0.013051454244339844,-0.012734241840183902,0.010675093503313748],"integral":[-0.088933398944512382,-0.071243040850261175,0.29561059083711361,-0.0017481537912137771],"effort":[-0.040595522132611396,-0.0033863864941627003,0.32886149593832409,0.021710414590505607]}
{"step":5668,"t":28.34,"command":[0.057985180016370735,-0.13696966454393292,-0.24966020237023437,0.57348988224759578,0.57348988224759578],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0035055219649977598,-0.012947000814935716,-0.012716400769694047,0.010726181935102663],"integral":[-0.089003509383812338,-0.071501980866559886,0.29535626282171973,-0.001533630152511724],"effort":[-0.040545452826411948,-0.0033622811015309199,0.32889064504036125,0.021784763821134433]}
{"step":5672,"t":28.359999999999999,"command":[0.057784084167822269,-0.1365262597167331,-0.24971269808877322,0.5735163444367255,0.5735163444367255],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0034484282493807417,-0.012842955490733443,-0.012697043086098425,0.010776561169105858],"integral":[-0.089072477948799952,-0.071758839976374555,0.29510232195999775,-0.0013180989291296068],"effort":[-0.040497925589507829,-0.0033390003831139685,0.32892099733606472,0.021858505997266967]}
{"step":5676,"t":28.379999999999999,"command":[0.057589934346455776,-0.13609357460291172,-0.24976885453358377,0.57354379941330447,0.57354379941330447],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0033917364597690902,-0.012739332964811334,-0.012676182627051613,0.010826230997606268],"integral":[-0.08914031267799534,-0.072013626635670777,0.29484879830745669,-0.0011015743091774815],"effort":[-0.040452970871608415,-0.0033166005380290868,0.32895248984544889,0.021931509823410116]}
{"step":5680,"t":28.400000000000002,"command":[0.057402649494411533,-0.13567152941863389,-0.24982860424372566,0.57357218972421864,0.57357218972421864],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0033354538479000162,-0.012636147725572311,-0.012653833593952779,0.010875190909102161],"integral":[-0.089207021754953333,-0.07226634959018223,0.29459572163557762,-0.00088407049099543825],"effort":[-0.040410547696579674,-0.0032950641689782649,0.32898505682503509,0.02200378380178843]}
{"step":5684,"t":28.420000000000002,"command":[0.057222136842738851,-0.13525996607239119,-0.24989184811391105,0.57360147086747004,0.57360147086747004],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0032795873843123324,-0.012533413780248193,-0.012630010533047908,0.010923440522665695],"integral":[-0.089272613502639583,-0.072517017865787195,0.29434312142491664,-0.00066560168054212432],"effort":[-0.040370597087845198,-0.0032743729448491306,0.32901864738132508,0.022075338665940785]}
{"step":5688,"t":28.440000000000001,"command":[0.057048294974131358,-0.13485872392474829,-0.24995849477530574,0.57363160004562241,0.57363160004562241],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0032241437358933034,-0.01243114463004269,-0.012604728299142387,0.010970979601500841],"integral":[-0.089337096377357456,-0.072765640758388053,0.29409102685893379,-0.00044618208851210752],"effort":[-0.040333062264474015,-0.0032545079594555014,0.32905321257090087,0.022146186845862535]}
{"step":5692,"t":28.460000000000001,"command":[0.056880962400368426,-0.1344675521788824,-0.25002840992206643,0.57366253686313118,0.57366253686313118],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0031691292215303424,-0.01232935319941153,-0.012578002046811587,0.011017808060655665],"integral":[-0.089400478961788057,-0.073012227822376277,0.29383946681799755,-0.00022582592729899421],"effort":[-0.040297864178568676,-0.0032354438835921267,0.32908870620024328,0.022216341589588219]}
{"step":5696,"t":28.48,"command":[0.05671996000725614,-0.13408622592622305,-0.25010150097413064,0.57369424230676369,0.57369424230676369],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0031145498307105779,-0.012228051833240272,-0.012549847213287002,0.01106392599888395],"integral":[-0.089462769958402272,-0.073256788859041078,0.29358846987373183,-4.547407321315195e-06],"effort":[-0.040264938386325597,-0.003217153863224736,0.32912508365593174,0.02228582240318747]}
{"step":5700,"t":28.5,"command":[0.056565016888886481,-0.13371438383790216,-0.25017777614730313,0.57372667894894502,0.57372667894894502],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0030604112983372289,-0.012127252325546234,-0.01252027949590806,0.011109333928876364],"integral":[-0.08952397818436901,-0.073499333905552008,0.29333806428381365,0.00021763927125621209],"effort":[-0.040234228061579974,-0.0031996011356400129,0.3291623021377858,0.022354691616430146]}
{"step":5704,"t":28.52,"command":[0.056415912163170545,-0.13335180082781697,-0.25025717785761992,0.5737598111455301,0.5737598111455301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0030067191273173144,-0.012026965945673318,-0.012489314833178167,0.0111540327236892],"integral":[-0.089584112566915355,-0.073739873224465471,0.29308827798715009,0.00044071992572999614],"effort":[-0.040205678926641085,-0.0031827551452025746,0.32920032088575435,0.02242297614261932]}
{"step":5708,"t":28.539999999999999,"command":[0.056272448553158813,-0.13299829077670841,-0.25033964710026479,0.57379360477037045,0.57379360477037045],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0029534785961091714,-0.01192720347840126,-0.012456969386713812,0.011198023475482821],"integral":[-0.08964318213883754,-0.073978417294033497,0.29283913859941579,0.0006646803952396526],"effort":[-0.040179242129905493,-0.0031665884661679052,0.32923910087537606,0.022490696780379613]}
{"step":5712,"t":28.560000000000002,"command":[0.056134688641723676,-0.13265392500721526,-0.25042500560941983,0.573828027402975,0.573828027402975],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0029006947159171403,-0.011827975321476725,-0.01242325952291079,0.011241307152090485],"integral":[-0.089701196033155878,-0.074214976800463031,0.29259067340895756,0.00088950653828146235],"effort":[-0.040154873627148917,-0.0031511032689032614,0.32927860503318945,0.022557809807329028]}
{"step":5716,"t":28.580000000000002,"command":[0.056002918647752739,-0.13231872705220263,-0.25051303666458064,0.57386304868836469,0.57386304868836469],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0028483721015142294,-0.011729291547121212,-0.012388201803065435,0.011283884387668808],"integral":[-0.089758163475186156,-0.074449562631405453,0.29234290937289625,0.0011151842260348386],"effort":[-0.040132513533812413,-0.0031363268970668115,0.32931879864990438,0.02262426800509711]}
{"step":5720,"t":28.600000000000001,"command":[0.055876158468894571,-0.13199207742139937,-0.2506038395264551,0.57389863987228718,0.57389863987228718],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0027965152053446296,-0.011631161580898608,-0.01235181297482324,0.01132575629455479],"integral":[-0.089814093779293044,-0.074682185863023429,0.2920958731133998,0.0013416993519259344],"effort":[-0.040112096443708979,-0.0031221450852410189,0.32935964884726115,0.022690187941692291]}
{"step":5724,"t":28.620000000000001,"command":[0.055754399997312659,-0.13167386133661849,-0.25069729357525838,0.57393477384068203,0.57393477384068203],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0027451282924833009,-0.011533594288752447,-0.012314109953602603,0.011366924336387196],"integral":[-0.089868996345142713,-0.074912857748798481,0.29184959091432772,0.0015690378386536783],"effort":[-0.040093569382627162,-0.003108553119060338,0.32940112462355486,0.022755563623332132]}
{"step":5728,"t":28.640000000000001,"command":[0.055637610365510792,-0.13136391923244486,-0.2507932576999391,0.5739714251905419,0.5739714251905419],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0026942152956979104,-0.01143659811341502,-0.012275109809860574,0.011407389958034364],"integral":[-0.089922880651056677,-0.075141589711066784,0.29160408871813048,0.0017971856378143655],"effort":[-0.040076868691928183,-0.0030955436871843937,0.32944319693526181,0.022820389415819882]}
{"step":5732,"t":28.66,"command":[0.055525655801318949,-0.13106203899479146,-0.25089161238774571,0.57400857017672657,0.57400857017672657],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0026437798238527765,-0.011340181029010576,-0.012234829758299703,0.011447154646213265],"integral":[-0.089975756247533734,-0.075368393331646993,0.29135939212296447,0.0020261287307386309],"effort":[-0.040061929615997541,-0.0030830984521665449,0.32948583863633002,0.022884671550525301]}
{"step":5736,"t":28.68,"command":[0.055418363463981025,-0.13076799161142807,-0.25099224979572171,0.57404618648670513,0.57404618648670513],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0025938251897374975,-0.011244350523435864,-0.012193287144315779,0.011486219987763779],"integral":[-0.090027632751328482,-0.07559328034211571,0.29111552638007815,0.0022558531304939064],"effort":[-0.040048688543802245,-0.0030711950090259073,0.32952902421992908,0.022948420913715725]}
{"step":5740,"t":28.699999999999999,"command":[0.055315540941866935,-0.13048154013126534,-0.25109506761648054,0.57408425343049052,0.57408425343049052],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.002544354426702089,-0.011149113597866522,-0.012150499429973927,0.011524587692009258],"integral":[-0.090078519839862523,-0.075816262614073038,0.29087251639147865,0.0024863448843340918],"effort":[-0.040037082648175973,-0.003059809069691357,0.32957273003684368,0.023011650333148965]}
{"step":5744,"t":28.719999999999999,"command":[0.055216990191646283,-0.13020244614978246,-0.25119996697252556,0.57412275163979209,0.57412275163979209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0024953702992562832,-0.01105447677292859,-0.012106484180782751,0.011562259597887481],"integral":[-0.090128427245847645,-0.076037352149531612,0.29063038670786301,0.0027175900762918415],"effort":[-0.040027050195192468,-0.0030489160058243614,0.32961693395044644,0.023074373211805464]}
{"step":5748,"t":28.740000000000002,"command":[0.055122506703898871,-0.12993047066305419,-0.25130685078653725,0.57416166311086081,0.57416166311086081],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0024468753114434971,-0.010960446096310195,-0.012061259053188333,0.011599237674363994],"integral":[-0.090177364752076508,-0.076256561071457812,0.29038916152679922,0.0029495748297791212],"effort":[-0.040018530229484844,-0.0030384907453213763,0.32966161538622957,0.023136603022762058]}
{"step":5752,"t":28.760000000000002,"command":[0.055031878882095965,-0.12966537367406811,-0.25141562313676763,0.57420097127503689,0.57420097127503689],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0023988717141780747,-0.010867027148754538,-0.012014841782084673,0.01163552401884449],"integral":[-0.090225342186360066,-0.076473901614432904,0.29014886469115753,0.0031822853101560111],"effort":[-0.040011462343642445,-0.00302850769329368,0.32970675541319577,0.023198353213606734]}
{"step":5756,"t":28.780000000000001,"command":[0.054944895966158168,-0.12940691734957963,-0.25152618920200287,0.57424066092666581,0.57424066092666581],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0023513615114616471,-0.010774225052506692,-0.011967250168473775,0.011671120853275041],"integral":[-0.090272369416589296,-0.076689386115483038,0.28990951968778805,0.0034157077272215118],"effort":[-0.040005787056201336,-0.0030189415927319441,0.32975233666149401,0.023259636798280404]}
{"step":5760,"t":28.800000000000001,"command":[0.05486134423754456,-0.12915486354543215,-0.25163845551839981,0.57428071809577441,0.57428071809577441],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0023043464662653168,-0.010682044479778385,-0.01191850206791667,0.011706030521064781],"integral":[-0.090318456345914608,-0.076903027005078603,0.2896711496464297,0.0036498283376428073],"effort":[-0.04000144553656243,-0.0030097670915503636,0.32979834317659829,0.023320466759123231]}
{"step":5764,"t":28.82,"command":[0.054781007851673988,-0.12890897720844691,-0.25175232847002982,0.57432113003709151,0.57432113003709151],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0022578281064189465,-0.010590489660403213,-0.011868615379492908,0.011740255481225814],"integral":[-0.090363612908042984,-0.077114836798286665,0.28943377733883985,0.0038846334472673236],"effort":[-0.039998379647504842,-0.0030009588212451671,0.32984476040708177,0.023380855242576958]}
{"step":5768,"t":28.84,"command":[0.054703672637921613,-0.12866902476888811,-0.25186771675718322,0.57436188504027053,0.57436188504027053],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0022118077307529127,-0.010499564391684535,-0.011817608035412874,0.011773798304391181],"integral":[-0.090407849062658044,-0.077324828086120359,0.28919742517813157,0.0041201094133551473],"effort":[-0.039996532339726706,-0.0029924918000768935,0.32989157498701294,0.023440814404749967]}
{"step":5772,"t":28.859999999999999,"command":[0.05462912385485523,-0.12843477384519605,-0.25198452920645542,0.57440297282853969,0.57440297282853969],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0021662864140554738,-0.010409272046968399,-0.011765497989932872,0.011806661668916973],"integral":[-0.090451174790939157,-0.077533013527059727,0.28896211521833293,0.0043562426467334868],"effort":[-0.039995847046032817,-0.0029843411731491128,0.32993877519426412,0.023500355913366165]}
{"step":5776,"t":28.879999999999999,"command":[0.054557146450872986,-0.12820599571351024,-0.25210267583787932,0.57444438391289665,0.57444438391289665],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0021212650130038035,-0.010319615584531983,-0.01171230320975436,0.011838848355361531],"integral":[-0.090493600091199236,-0.077739405838750372,0.28872786915413784,0.0045930196138407172],"effort":[-0.03999626825075573,-0.002976482228862003,0.32998635020906736,0.023559490913863123]}
{"step":5780,"t":28.900000000000002,"command":[0.054487522621977175,-0.12798246452764639,-0.25222206683867149,0.57448611007397454,0.57448611007397454],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0020767441724929281,-0.010230597555665799,-0.011658041664247332,0.011870361240214122],"integral":[-0.090535134974649101,-0.077944017789863693,0.28849470832085289,0.0048304268386449994],"effort":[-0.039997741113470778,-0.0029688901214804742,0.33003429066792678,0.023618229886900509]}
{"step":5784,"t":28.920000000000002,"command":[0.054420042124192068,-0.12776395880092292,-0.25234261436681199,0.57452814396761853,0.57452814396761853],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0020327243310536147,-0.010142220115966216,-0.011602731315988102,0.011901203290655027],"integral":[-0.090575789461270179,-0.078146862192183017,0.28826265369453313,0.0050684509044580999],"effort":[-0.040000212096980757,-0.0029615409847988392,0.3300825882108766,0.02367658292849683]}
{"step":5788,"t":28.940000000000001,"command":[0.054354490187771699,-0.12755025925675667,-0.25246423046674066,0.57457047921998428,0.57457047921998428],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0019892057263968255,-0.010054485033824223,-0.011546390112142646,0.011931377559046608],"integral":[-0.090615573575798108,-0.078347951892859508,0.28803172589229026,0.0053070784556390324],"effort":[-0.040003628150814687,-0.0029544106035725697,0.33013123559108237,0.023734559514348847]}
{"step":5792,"t":28.960000000000001,"command":[0.05429065740660477,-0.12734115046159786,-0.25258682926954334,0.57461311029022233,0.57461311029022233],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0019461884010996133,-0.0099673937002027202,-0.011489035976133266,0.011960887178567692],"integral":[-0.090654497343820098,-0.07854729976686356,0.28780194517276758,0.0055462961992103861],"effort":[-0.040007937460662377,-0.002947475481641329,0.3301802265174032,0.023792168859779073]}
{"step":5796,"t":28.98,"command":[0.054228334515285005,-0.12713642190371316,-0.25271032534949833,0.57465603253458108,0.57465603253458108],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0019036722085628011,-0.0098809471389096348,-0.011430686799418499,0.011989735357284093],"integral":[-0.090692570787991353,-0.078744918709641759,0.28757333143677921,0.0057860909063560681],"effort":[-0.040013089156364118,-0.0029407122643016507,0.33022955572838553,0.023849419381885166]}
{"step":5800,"t":29,"command":[0.054167317028947004,-0.12693586631992884,-0.25283463472687678,0.57469924209362933,0.57469924209362933],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0018616568181635262,-0.0097951460166938453,-0.011371360433733102,0.012017925373080884],"integral":[-0.090729803924354618,-0.078940821629975635,0.28734590422810458,0.0060264494138176855],"effort":[-0.040019033337932025,-0.0029340982341144522,0.330279218862992,0.023906319179541183]}
{"step":5804,"t":29.02,"command":[0.054107402292052131,-0.12673928267236007,-0.25295967350043902,0.5747427358536098,0.5747427358536098],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0018201417205512271,-0.009709990653295808,-0.011311074683801436,0.012045460566526334],"integral":[-0.09076620675876565,-0.079135021443041548,0.28711968273442856,0.0062673586251482125],"effort":[-0.040025721094876558,-0.0029276109827939684,0.33032921241649227,0.023962875322572172]}
{"step":5808,"t":29.039999999999999,"command":[0.054048388638338579,-0.12654647179735559,-0.2530853608832313,0.5747865113443128,0.5747865113443128],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0017791262341906311,-0.0096254810313964878,-0.011249847300506044,0.012072344338348584],"integral":[-0.090801789283449466,-0.079327531063669479,0.28689468578841842,0.0065088055119151842],"effort":[-0.040033104708877165,-0.0029212283144008869,0.33037953362336586,0.024019095184518252]}
{"step":5812,"t":29.060000000000002,"command":[0.053990079101642205,-0.12635724058570394,-0.25321161532769509,0.57483056692301859,0.57483056692301859],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0017386095100646592,-0.009541616806199249,-0.011187695973891465,0.012098580143446558],"integral":[-0.090836561473650754,-0.079518363399793471,0.2866709318689406,0.0067507771147841157],"effort":[-0.040041137192647056,-0.0029149286414015827,0.3304301806690389,0.024074984944213586]}
{"step":5816,"t":29.080000000000002,"command":[0.053932280817308512,-0.12617140128320536,-0.25333835769592461,0.57487490132650532,0.57487490132650532],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0016985905373112509,-0.0094583973166004753,-0.011124638327275171,0.012124171484990454],"integral":[-0.090870533284396982,-0.079707531346125474,0.28644843910239509,0.0069932605444839244],"effort":[-0.040049772990917942,-0.0029086909141570238,0.33048115217515917,0.024130550489150308]}
{"step":5820,"t":29.100000000000001,"command":[0.053874800274223818,-0.12598876888362071,-0.25346550970782705,0.5749195140739346,0.5749195140739346],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.001659068149045817,-0.0093758215940644707,-0.011060691911126685,0.012149121911033345],"integral":[-0.090903714647377898,-0.079895047778006767,0.28622722526417255,0.0072362429827045917],"effort":[-0.040058967248129483,-0.0029024941045875064,0.3305324476630091,0.024185797363319089]}
{"step":5824,"t":29.120000000000001,"command":[0.053817452173928755,-0.12580916582933457,-0.25359299419078646,0.57496440496648649,0.57496440496648649],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0016200410274149757,-0.0092938883734989819,-0.010995874197867739,0.012173435008414946],"integral":[-0.090936115467926196,-0.080080925545476744,0.28600730778021521,0.0074797116828728902],"effort":[-0.040068676454660633,-0.0028963181584931086,0.33058406697846593,0.024240730247987625]}
{"step":5828,"t":29.140000000000001,"command":[0.053760050879201569,-0.12563241720380308,-0.25372073580458648,0.57500957441500267,0.57500957441500267],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0015815077092165009,-0.0092125961030944392,-0.010930202576688863,0.012197114399167708],"integral":[-0.090967745622110532,-0.08026517746753864,0.28578870372868143,0.007723653970856244],"effort":[-0.040078858014845606,-0.0028901430705343418,0.33063601066892245,0.024295353762375172]}
{"step":5832,"t":29.16,"command":[0.053702414737152607,-0.12545835503508063,-0.25384866068730561,0.57505502322873037,0.57505502322873037],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0015434665921971735,-0.009131942954387684,-0.010863694348419273,0.012220163736269218],"integral":[-0.090998614953954476,-0.080447816326626398,0.28557142984171302,0.0079680572455816286],"effort":[-0.040089470690423568,-0.0028839493486011456,0.33068827974059561,0.024349671842315228]}
{"step":5836,"t":29.18,"command":[0.053644365117772388,-0.12528681443862957,-0.25397669589515359,0.57510075260134896,0.57510075260134896],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0015059159398567168,-0.0090519268315798485,-0.010796366721163242,0.012242586699331204],"integral":[-0.091028733272751614,-0.080628854863257993,0.28535550250728975,0.0082129089795682526],"effort":[-0.040100473964999467,-0.0028777179088888749,0.33074087564263804,0.02440368809281987]}
{"step":5840,"t":29.199999999999999,"command":[0.053585730163581459,-0.12511763635960405,-0.25410477089245986,0.57514676410505583,0.57514676410505583],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.001468853886446686,-0.0089725453824684998,-0.010728236805911617,0.012264386991621468],"integral":[-0.091058110350480545,-0.080808305770907363,0.2851409377711715,0.0084581967194006825],"effort":[-0.040111828759261822,-0.0028714304771641636,0.33079380026051675,0.024457405831047711]}
{"step":5844,"t":29.219999999999999,"command":[0.053526337664209403,-0.12495066714214359,-0.25423281610426823,0.57519305954615385,0.57519305954615385],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0014322784430869095,-0.0088937960081358902,-0.010659321612761286,0.012285568335716035],"integral":[-0.091086755919342288,-0.08098618169107008,0.28492775133891629,0.0087039080861150038],"effort":[-0.040123497001786718,-0.002865068823742962,0.33084705575006523,0.024510827782519957]}
{"step":5848,"t":29.240000000000002,"command":[0.05346601941543163,-0.12478575640930854,-0.25436076398117274,0.5752396410421603,0.5752396410421603],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0013961875030346071,-0.0088156758718092032,-0.010589638047365568,0.012306134471014918],"integral":[-0.091114679669402981,-0.081162495208506269,0.284715958577969,0.0089500307755353021],"effort":[-0.040135441627864574,-0.0028586152321313117,0.33090064462631341,0.024563956625221286]}
{"step":5852,"t":29.260000000000002,"command":[0.053404613314117291,-0.12462276124275279,-0.25448854847851343,0.57528651102696549,0.57528651102696549],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0013605788469017721,-0.0087381819098322211,-0.010519202907094627,0.01232608914969302],"integral":[-0.09114189124634102,-0.081337258846702912,0.28450557451982711,0.0091965525585291624],"effort":[-0.040147626963234428,-0.0028520527232303939,0.33095456976957893,0.024616794343466263]}
{"step":5856,"t":29.280000000000001,"command":[0.053341955012283386,-0.12446153909231232,-0.25461610592036504,0.57533367191345175,0.57533367191345175],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0013254501482526937,-0.0086613108396629279,-0.010448032878668911,0.01234543613630612],"integral":[-0.091168400249306072,-0.081510485063496174,0.28429661386225374,0.0094434612812552849],"effort":[-0.040160018053638863,-0.0028453641645324644,0.33100883403741532,0.024669343340411674]}
{"step":5860,"t":29.300000000000001,"command":[0.053277889288381619,-0.12430195632944027,-0.25474337376836842,0.57538112638568062,0.57538112638568062],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.001290798978646146,-0.0085850591702647527,-0.010376144535365395,0.012364179203893877],"integral":[-0.091194216228878994,-0.081682186246901475,0.28408909097154644,0.0096907448653331622],"effort":[-0.040172581413108359,-0.0028385334870250486,0.33106344060085452,0.024721605065782283]}
{"step":5864,"t":29.32,"command":[0.053212262890283066,-0.12414388339653668,-0.25487029062472344,0.57542887733061754,0.57542887733061754],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0012566228121819734,-0.0085094232118161361,-0.010303554333990661,0.012382322129065759],"integral":[-0.091219348685122631,-0.081852374711137793,0.28388301988486664,0.0099383913079144782],"effort":[-0.040185284413951937,-0.0028315449219045961,0.33111839286597489,0.024773580629179042]}
{"step":5868,"t":29.34,"command":[0.053144925679058617,-0.1239871932331381,-0.25499679887553556,0.57547692764220171,0.57547692764220171],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0012229190310981686,-0.0084343990849455874,-0.010230278612708865,0.012399868693362071],"integral":[-0.0912438070657446,-0.08202106269283671,0.28367841431261248,0.010186388681781719],"effort":[-0.040198095761300928,-0.002824383125432664,0.3311736942485079,0.024825271675469402]}
{"step":5872,"t":29.359999999999999,"command":[0.053075732827688182,-0.12383176679507042,-0.2551228413895773,0.57552528029438244,0.57552528029438244],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0011896849310066848,-0.0083599827309257524,-0.0101563335890269,0.012416822679628514],"integral":[-0.091267600764364729,-0.082188262347455229,0.28347528764083196,0.010434725135374289],"effort":[-0.040210985333140062,-0.0028170334151961371,0.33122934825792744,0.024876678865551356]}
{"step":5876,"t":29.379999999999999,"command":[0.053004542082207326,-0.12367748709224838,-0.25524836363438702,0.57557393824311209,0.57557393824311209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0011569177255106311,-0.008286169920572517,-0.010081735358169031,0.012433187870305895],"integral":[-0.091290739118874947,-0.082353985745866679,0.28327365293366857,0.010683388892780407],"effort":[-0.040223923975742759,-0.0028094814813444877,0.33128535838468587,0.024927803162289496]}
{"step":5880,"t":29.400000000000002,"command":[0.05293121542955137,-0.12352424218497453,-0.25537331232672678,0.57562290444532138,0.57562290444532138],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0011246145504710814,-0.0082129562627888397,-0.010006499891690446,0.012448968046046782],"integral":[-0.091313231409884371,-0.082518244871122456,0.28307352293583476,0.010932368253701343],"effort":[-0.040236883528048092,-0.0028017135668495768,0.33134172812206764,0.024978645120675852]}
{"step":5884,"t":29.420000000000002,"command":[0.052855618171354389,-0.12337192591447677,-0.25549763586529667,0.57567218199196868,0.57567218199196868],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0010927724687683771,-0.0081403372136041874,-0.0099306430355241559,0.012464166982358749],"integral":[-0.091335086859259743,-0.082681051615394546,0.28287491007512428,0.011181651593348517],"effort":[-0.040249837018301447,-0.0027937163722760085,0.33139846111939425,0.025029204914454303]}
{"step":5888,"t":29.440000000000001,"command":[0.052777490004317244,-0.12322038319754638,-0.25562131183553266,0.57572177367316568,0.57572177367316568],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0010613885059163053,-0.0080683080559911247,-0.0098541805091105772,0.012478788515169148],"integral":[-0.091356314629378071,-0.082842417776514368,0.28267782646494205,0.011431227363651901],"effort":[-0.040262758949934405,-0.0027854634511558065,0.33145556068137583,0.025079496114584234]}
{"step":5892,"t":29.460000000000001,"command":[0.05269669010482704,-0.1230695116857794,-0.25574429496126483,0.57577168246293942,0.57577168246293942],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0010304596450116943,-0.0079968639176708489,-0.0097771279041025672,0.012492836517871586],"integral":[-0.0913769238222783,-0.083002355054867791,0.28248228390685998,0.011681084094009333],"effort":[-0.040275624555905311,-0.0027769411480041764,0.33151303032620399,0.02512951984932912]}
{"step":5896,"t":29.48,"command":[0.052613104044534939,-0.12291921996606506,-0.25586654017115634,0.57582191111704939,0.57582191111704939],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00099998281019453295,-0.0079259998021528055,-0.009699500683403528,0.012506314856412071],"integral":[-0.091396923478482189,-0.08316087505091084,0.28228829389319193,0.011931210391137575],"effort":[-0.040288410508111924,-0.0027681387172010588,0.33157087332249108,0.025179275871046038]}
{"step":5900,"t":29.5,"command":[0.05252661882450145,-0.12276942172924321,-0.25598800280346606,0.57587246234213807,0.57587246234213807],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00096995486813322707,-0.0078557105997112409,-0.0096213141805985281,0.012519227382002063],"integral":[-0.091416322575844852,-0.083317989262905068,0.28209586760957994,0.012181594938777617],"effort":[-0.040301094245520058,-0.0027590456851344699,0.33162909288399717,0.025228763333787284]}
{"step":5904,"t":29.52,"command":[0.05243712617928363,-0.12262003471014801,-0.25610864052991283,0.57592333853371236,0.57592333853371236],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00094037263206803168,-0.0077859910954192202,-0.0095425836000089248,0.012531577929384974],"integral":[-0.091435130028486217,-0.083473709084813455,0.28190501593757977,0.012432226497365317],"effort":[-0.040313654333199007,-0.0027496522019421123,0.33168769186781705,0.025277981420881106]}
{"step":5908,"t":29.539999999999999,"command":[0.052344524706995306,-0.1224709818002537,-0.25622841196843232,0.57597454205160881,0.57597454205160881],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00091123286480487842,-0.0077168359780050988,-0.0094633240163557453,0.012543370314574087],"integral":[-0.09145335468578232,-0.083628045804373552,0.28171574945725264,0.012683093903656798],"effort":[-0.040326070241491367,-0.0027399492668012419,0.33174667309156042,0.025326928858373295]}
{"step":5912,"t":29.560000000000002,"command":[0.052248714674978575,-0.1223221869481249,-0.25634727863116658,0.5760260751488161,0.5760260751488161],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00088253228211487844,-0.0076482398472814683,-0.0093835503741876991,0.012554608336186934],"integral":[-0.091471005331424618,-0.083781010601319178,0.2815280784497689,0.012934186070380537],"effort":[-0.040338322340688487,-0.0027299281851873216,0.33180603925134955,0.025375604920916471]}
{"step":5916,"t":29.580000000000002,"command":[0.052149601728963636,-0.12217358022952771,-0.25646520284841146,0.57607793986088807,0.57607793986088807],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.000854267556241739,-0.0075801972219160518,-0.0093032774878536451,0.012565295774039642],"integral":[-0.091488090682549456,-0.083932614545757497,0.28134201290001182,0.013185491985861329],"effort":[-0.040350391989088838,-0.0027195809604895274,0.33186579279436501,0.025424008282987996]}
{"step":5920,"t":29.600000000000001,"command":[0.052047098090093925,-0.12202509498303934,-0.25658214894260489,0.57613013806194679,0.57613013806194679],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008264353185807316,-0.0075127025479178045,-0.0092225200415332331,0.012575436387592287],"integral":[-0.091504619388921071,-0.084082868596715848,0.28115756249918117,0.013437000713613175],"effort":[-0.040362261480812428,-0.0027089004195998585,0.33192593598327785,0.025472137675192654]}
{"step":5924,"t":29.620000000000001,"command":[0.051941118090548286,-0.12187666853040732,-0.25669808245814169,0.57618267129565037,0.57618267129565037],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079903216278420786,-0.0074457502057869718,-0.009141292589846195,0.012585033914978783],"integral":[-0.091520600032176755,-0.084231783600831583,0.28097473664738426,0.01368870139191275],"effort":[-0.040373913934878845,-0.0026978797484962826,0.33198647070139153,0.025519991602808066]}
{"step":5928,"t":29.640000000000001,"command":[0.051831581626907555,-0.12172824024160668,-0.256812971402958,0.5762355410073523,0.5762355410073523],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077205464764973364,-0.0073793345177692871,-0.0090596095580126601,0.012594092073994201],"integral":[-0.091536041125129752,-0.084379370291186973,0.28079354445622401,0.013940583233392635],"effort":[-0.040385333376567412,-0.0026865128539467808,0.33204739872003597,0.025567568904249098]}
{"step":5932,"t":29.66,"command":[0.051718413307595433,-0.12157975510448263,-0.2569267850499839,0.57628874822041487,0.57628874822041487],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074549930025358258,-0.0073134497558635658,-0.0089774852426085516,0.012602614561051273],"integral":[-0.091550951111134829,-0.084525639286304244,0.28061399475137183,0.01419263552461366],"effort":[-0.040396504863693297,-0.0026747942750552645,0.33210872132545272,0.025614868012427329]}
{"step":5936,"t":29.68,"command":[0.051601542115146844,-0.12143115996697582,-0.25703949373224605,0.57634229389786029,0.57634229389786029],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071936261789806721,-0.0072480901482385729,-0.0088949338119483912,0.012610605049989232],"integral":[-0.091565338363492788,-0.084670601089269021,0.28043609607513287,0.014444847625613445],"effort":[-0.040407413974527309,-0.0026627191486612734,0.33217043973544752,0.025661887363602039]}
{"step":5940,"t":29.699999999999999,"command":[0.051480898147720271,-0.12128240389198941,-0.25715107019868022,0.57639617873433946,0.57639617873433946],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069364107104719075,-0.007183249885020393,-0.0088119693064205862,0.012618067193653326],"integral":[-0.091579211184913731,-0.084814266086969431,0.28025985668900444,0.014697208969486512],"effort":[-0.040418047199073104,-0.0026502828740959487,0.33223255485954861,0.025708625705253455]}
{"step":5944,"t":29.719999999999999,"command":[0.051356417350874373,-0.12113343804861294,-0.25726148878215788,0.57645040294360983,0.57645040294360983],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00066833110571340448,-0.0071189231247661411,-0.0087286056400346368,0.012625004625398617],"integral":[-0.091592577807027994,-0.084956644549464749,0.28008528457620374,0.014949709061994484],"effort":[-0.040428391711944754,-0.0026374816031171904,0.33229506705385009,0.025755081898467605]}
{"step":5948,"t":29.740000000000002,"command":[0.051228045367261242,-0.12098422508885896,-0.25737072426730767,0.57650496713649468,0.57650496713649468],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0006434291461809849,-0.0070551040042015067,-0.0086448565989845072,0.012631420952861405],"integral":[-0.09160544638995162,-0.085097746629548776,0.27991238744422403,0.015202337481051712],"effort":[-0.040438436215115101,-0.0026243126321501761,0.33235797713305076,0.02580125349476341]}
{"step":5952,"t":29.760000000000002,"command":[0.051095723177548416,-0.12083471888038003,-0.25747875313027552,0.57655987074281911,0.57655987074281911],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00061893159588111146,-0.0069917866406985496,-0.0085607358447501447,0.01263731976143867],"integral":[-0.091617825021869242,-0.085237582362362743,0.27974117272732901,0.015455083876280485],"effort":[-0.040448168800210925,-0.0026107729270366583,0.33242128455097625,0.025847139513310455]}
{"step":5956,"t":29.780000000000001,"command":[0.050959401285776328,-0.1206848829532282,-0.25758555438856173,0.57661511355313111,0.57661511355313111],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00059483484028333145,-0.0069289651391795104,-0.0084762569145238054,0.012642704615976941],"integral":[-0.091629721718674909,-0.085376161665146333,0.27957164758903852,0.015707937968600025],"effort":[-0.040457579401548538,-0.0025968605794047823,0.33248498917789032,0.025892738428114147]}
{"step":5960,"t":29.800000000000001,"command":[0.050819030938968432,-0.12053468128634633,-0.25769110783266536,0.57667069479915278,0.57667069479915278],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00057113524950547223,-0.0068666335985909654,-0.0083914332216825649,0.01264757905973557],"integral":[-0.091641144423665014,-0.085513494337118148,0.27940381892460486,0.015960889549794736],"effort":[-0.040466658224413726,-0.0025825739055758308,0.33254909024013757,0.025938048831612638]}
{"step":5964,"t":29.82,"command":[0.050674568923331886,-0.12038408081021428,-0.25779539468817358,0.57672661371274414,0.57672661371274414],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00054782917961615496,-0.0068047861168258894,-0.0083062780564744365,0.012651946614696929],"integral":[-0.091652101007257333,-0.085649590059454661,0.27923769336347537,0.016213928482088674],"effort":[-0.040475396217475701,-0.0025679119355655139,0.33261358696456877,0.025983069304955499]}
{"step":5968,"t":29.84,"command":[0.050525975527521805,-0.12023305162259681,-0.2578983974241999,0.57678286909752108,0.57678286909752108],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00052491297451751073,-0.0067434167965436664,-0.0082208045869291979,0.012655810781130428],"integral":[-0.091662599266747677,-0.085784458395385538,0.27907327727173681,0.016467044697711281],"effort":[-0.040483785048226299,-0.0025528742030077323,0.33267847808436818,0.026027798345744268]}
{"step":5972,"t":29.859999999999999,"command":[0.050373213627041447,-0.12008156534278051,-0.25800010048676397,0.57683945925480462,0.57683945925480462],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00050238296830351636,-0.0066825197504478684,-0.0081350258609682591,0.01265917503889713],"integral":[-0.091672646926113752,-0.085918108790394493,0.27891057675451747,0.016720228198489225],"effort":[-0.040491817093176383,-0.0025374606511155539,0.33274376175337544,0.026072234758003916]}
{"step":5976,"t":29.879999999999999,"command":[0.050216249497122521,-0.11992959601943656,-0.25810048887209291,0.57689638255081732,0.57689638255081732],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00048023548659448245,-0.0066220891056458786,-0.0080489548067776973,0.012662042847531252],"integral":[-0.091682251635845646,-0.086050550572507406,0.27874959765838192,0.016973469055439849],"effort":[-0.040499485178699307,-0.0025216717135572581,0.33280943620021891,0.026116377177314052]}
{"step":5980,"t":29.900000000000002,"command":[0.050055053129855254,-0.11977712112230193,-0.25819954861797445,0.5769536368044943,0.5769536368044943],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00045846684802497428,-0.0065621190084579339,-0.0079626042341218728,0.012664417644953185],"integral":[-0.091691420972806151,-0.08618179295267657,0.27859034557369949,0.017226757408338914],"effort":[-0.040506782825436169,-0.0025055083438326325,0.33287549902193236,0.026160224081089582]}
{"step":5984,"t":29.920000000000002,"command":[0.049889596088662599,-0.11962411887524539,-0.25829726782704426,0.57701121977336511,0.57701121977336511],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00043707336636744643,-0.0065026036289472788,-0.0078759868352000773,0.012666302849163924],"integral":[-0.091700162440133501,-0.086311845025255518,0.27843282583699547,0.017480083465322191],"effort":[-0.040513704191797346,-0.0024889717978898987,0.33294194774434671,0.026203774375118505]}
{"step":5988,"t":29.940000000000001,"command":[0.049719855880608239,-0.11947057047359642,-0.25839363554195821,0.57706912891466844,0.57706912891466844],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00041605135177835706,-0.0064435371658841945,-0.0077891151853539675,0.012667701858907865],"integral":[-0.091708483467169075,-0.086440715768573206,0.27827704353328842,0.017733437502500348],"effort":[-0.040520244048938447,-0.0024720640687884536,0.33300877954633423,0.026247026839651879]}
{"step":5992,"t":29.960000000000001,"command":[0.049545809682040233,-0.11931645922878799,-0.25848864199771376,0.57712736134498621,0.57712736134498621],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00039539711271774358,-0.0063849138507257042,-0.0077020017444668909,0.012668618053520486],"integral":[-0.091716391409423434,-0.086568414045587724,0.27812300349839908,0.017986809863570759],"effort":[-0.040526397742358625,-0.0024547872570489515,0.33307599121302622,0.026289980299463597]}
{"step":5996,"t":29.98,"command":[0.049367438573651654,-0.11916177017631201,-0.25858227810709217,0.57718591390179641,0.57718591390179641],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0003751069571369392,-0.0063267279510452745,-0.0076146588583267949,0.01266905479286784],"integral":[-0.091723893548566179,-0.086694948604608635,0.27797071032123255,0.018240190959428117],"effort":[-0.040532161011302886,-0.0024371439913232693,0.33314357920665194,0.026332633539750686]}
{"step":6000,"t":30,"command":[0.049184726885397163,-0.11900649093811913,-0.25867453612526037,0.57724478337194063,0.57724478337194063],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00035517719365807388,-0.006268973774723241,-0.0075270987589721727,0.012669015417396401],"integral":[-0.091730997092439343,-0.086820328080103093,0.27782016834605311,0.018493571267776045],"effort":[-0.040537530262511633,-0.0024191373587911106,0.33321153993011871,0.026374985377107002]}
{"step":6004,"t":30.02,"command":[0.048997661670266889,-0.11885061044728368,-0.25876541009752213,0.57730396593325661,0.57730396593325661],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00033560413344568829,-0.0062116456743497306,-0.0074393335664910687,0.012668503249738894],"integral":[-0.091737709175108262,-0.086944560993590089,0.27767138167472327,0.018746941332770821],"effort":[-0.040542502533315393,-0.0024007708491539407,0.33327986908226676,0.026417034929623415]}
{"step":6008,"t":30.039999999999999,"command":[0.048806225550478137,-0.11869411943886794,-0.25885489371593801,0.57736345783719978,0.57736345783719978],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00031638409201129036,-0.0061547380483502057,-0.0073513752898262119,0.012667521594065589],"integral":[-0.091744036856948485,-0.087067655754557091,0.27752435416892673,0.019000291764652132],"effort":[-0.040547074995028902,-0.0023820476524841448,0.33334856244572802,0.026458781005660653]}
{"step":6012,"t":30.060000000000002,"command":[0.048610412423590439,-0.11853701118219682,-0.25894298293248003,0.5774232549387045,0.5774232549387045],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00029751338996475418,-0.0060982453459172969,-0.0072632358275828146,0.012666073736561145],"integral":[-0.091749987124747787,-0.087189620661475439,0.2773790894523751,0.019253613239383356],"effort":[-0.040551245714989442,-0.002362972195991556,0.3334176153440081,0.026500222694981188]}
{"step":6016,"t":30.080000000000002,"command":[0.048410213646099098,-0.11837927965961284,-0.25902967265786009,0.57748335297051445,0.57748335297051445],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00027898835288686641,-0.0060421620691548661,-0.0071749269691658846,0.012664162944500568],"integral":[-0.091755566891805529,-0.087310463902858543,0.27723559091299177,0.019506896498273366],"effort":[-0.040555012584983487,-0.0023435487852609595,0.33348702295806781,0.026541358732254661]}
{"step":6020,"t":30.100000000000001,"command":[0.048205625022349166,-0.11822091967868432,-0.25911496067220846,0.57754374726204116,0.57754374726204116],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00026080531265471052,-0.0059864827760178763,-0.0070864603961497963,0.012661792468414479],"integral":[-0.091760782998058621,-0.087430193558378902,0.27709386170506878,0.019760132347641655],"effort":[-0.040558374346917031,-0.0023237822837953361,0.33355678000148054,0.026582188497243101]}
{"step":6024,"t":30.120000000000001,"command":[0.047996640757101749,-0.11806192934734105,-0.25919884561181927,0.57760443298322039,0.57760443298322039],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00024296061025075311,-0.0059312020838988566,-0.0069978476832024405,0.012658965543173584],"integral":[-0.091765642210263634,-0.08754881760005688,0.27695390475140474,0.020013311658505128],"effort":[-0.040561330363858145,-0.0023036775239662806,0.33362688100186755,0.026622711202641595]}
{"step":6028,"t":30.140000000000001,"command":[0.0477832561148527,-0.1179023073727387,-0.25928132553175232,0.5776654052569552,0.5776654052569552],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0002254505962249187,-0.0058763146704965408,-0.0069091002984893457,0.012655685386378845],"integral":[-0.091770151222188137,-0.087666343893466808,0.27681572274543498,0.020266425366232705],"effort":[-0.040563879926659135,-0.0022832395649376083,0.33369732043068234,0.026662925842843382]}
{"step":6032,"t":30.16,"command":[0.047565468282483793,-0.11774205589385418,-0.25936240030655167,0.57772665873919837,0.57772665873919837],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00020827163232484125,-0.00582181527683856,-0.006820229605079664,0.012651955198050291],"integral":[-0.09177431665483464,-0.087782780199003582,0.27667931815333341,0.020519464470193712],"effort":[-0.040566023209443719,-0.002262473772931972,0.33376809221795817,0.026702831483332235]}
{"step":6036,"t":30.18,"command":[0.047343277995420534,-0.11758117982393197,-0.25944207128526281,0.57778818811213728,0.57778818811213728],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00019142009379091718,-0.0057676987117967204,-0.0067312468613187626,0.012647778161154921],"integral":[-0.091778145056710461,-0.087898134173239523,0.27654469321610703,0.020772420033416811],"effort":[-0.040567761100787601,-0.0022413859713516704,0.33383919032190656,0.026742427251999774]}
{"step":6040,"t":30.199999999999999,"command":[0.04711668813804306,-0.11741968557927011,-0.25952034007737601,0.5778499874700922,0.5778499874700922],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00017489237014878256,-0.0057139598548925363,-0.0066421632226068006,0.012643157441287745],"integral":[-0.091781642904113434,-0.08801241337033737,0.27641184995165491,0.021025283182242567],"effort":[-0.040569094737705778,-0.0022199823010976075,0.33391060801918571,0.026781712176171125]}
{"step":6044,"t":30.219999999999999,"command":[0.046885698847533366,-0.11725758095711067,-0.25959720915979373,0.57791205133577672,0.57791205133577672],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00015868486657977243,-0.0056605936572726723,-0.006552989740929327,0.01263809618673517],"integral":[-0.091784816601445024,-0.088125625243482816,0.27628079015683632,0.021278045105977271],"effort":[-0.040570025647733529,-0.0021982687564215918,0.33398233907912539,0.026820685355820165]}
{"step":6048,"t":30.240000000000002,"command":[0.046650313734274071,-0.1170948757998799,-0.25967268197467164,0.57797437341027136,0.57797437341027136],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00014279400534289444,-0.0056075951440681671,-0.0064637373666034392,0.012632597528805523],"integral":[-0.091787672481551882,-0.088237777146364174,0.27615151540950428,0.021530697056553381],"effort":[-0.040570555851254131,-0.0021762517715061998,0.33405437631899582,0.026859345912664832]}
{"step":6052,"t":30.260000000000002,"command":[0.046410538486922157,-0.11693158573475579,-0.25974676153528331,0.57803694773718006,0.57803694773718006],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00012721622698874668,-0.0055549594174684191,-0.0063744169484811763,0.012626664578023306],"integral":[-0.09179021680609166,-0.088348876334713541,0.27602402707053464,0.021783230348113847],"effort":[-0.040570687935255943,-0.0021539380826460829,0.3341267129493154,0.0268976921928114]}
{"step":6056,"t":30.280000000000001,"command":[0.046166377541239402,-0.11676772436704981,-0.25981945270378248,0.57809976808820918,0.57809976808820918],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00011194799155633817,-0.0055026816580456828,-0.0062850392339961481,0.012620300425510655],"integral":[-0.091792455765922792,-0.088458929967874453,0.2758983262858547,0.022035636356624061],"effort":[-0.040570424728576193,-0.0021313344152802541,0.33419934186364125,0.026935723274716876]}
{"step":6060,"t":30.300000000000001,"command":[0.045917840978724055,-0.1166033060808277,-0.25989076065895367,0.57816282764893212,0.57816282764893212],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-9.6985778210045837e-05,-0.0054507571264914567,-0.006195614871787658,0.012613508145253749],"integral":[-0.09179439548148699,-0.088567945110404278,0.27577441398841895,0.022287906519529135],"effort":[-0.040569769232434369,-0.00210844812014739,0.33427225527500881,0.026973438243455179]}
{"step":6064,"t":30.32,"command":[0.045664936622796824,-0.11643835103169646,-0.25996069113145759,0.57822611992841255,0.57822611992841255],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-8.2326087190276453e-05,-0.0053991811660534239,-0.0061061544114484612,0.012606290791567942],"integral":[-0.091796042003230799,-0.088675928733725345,0.27565229090019,0.022540032335360494],"effort":[-0.040568725262262822,-0.0020852864367640507,0.33434544576746694,0.027010835671282256]}
{"step":6068,"t":30.34,"command":[0.04540767401808668,-0.11627287992397384,-0.26002924992396809,0.57828963808366773,0.57828963808366773],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-6.7965440909478758e-05,-0.0053479492038017717,-0.0060166683039253321,0.0125986513974784],"integral":[-0.091797401312048985,-0.088782887717801379,0.27553195753411147,0.022792005363310063],"effort":[-0.040567296710918153,-0.0020618568597328239,0.33441890551493947,0.027047914105103314]}
{"step":6072,"t":30.359999999999999,"command":[0.045146065633153848,-0.1161069160941821,-0.260096443672512,0.57835337530279496,0.57835337530279496],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-5.390038432673272e-05,-0.005297056752590068,-0.0059271669020066753,0.012590592974360382],"integral":[-0.091798479319735518,-0.08888882885285318,0.27541341419607135,0.023043817222797271],"effort":[-0.040565487987994829,-0.0020381672421530351,0.33449262672413554,0.027084672023093389]}
{"step":6076,"t":30.379999999999999,"command":[0.044880123246046753,-0.11594048363830495,-0.26016227945918841,0.57841732447582961,0.57841732447582961],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-4.0127485762209147e-05,-0.0052464994122534137,-0.0058376604612018212,0.01258211851205604],"integral":[-0.091799281869450758,-0.088993758841098253,0.2752966609868473,0.023295459593038394],"effort":[-0.04056330369984245,-0.0020142254625803461,0.33456660125377713,0.027121107953558394]}
{"step":6080,"t":30.400000000000002,"command":[0.0446098641738829,-0.1157736100046899,-0.26022676498879938,0.57848147862558486,0.57848147862558486],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-2.6643337310838788e-05,-0.0051962728719538998,-0.0057481591397152698,0.012573230978082162],"integral":[-0.091799814736196972,-0.08909768429853733,0.27518169780405299,0.023546924212600039],"effort":[-0.040560748995026916,-0.0019900399816122809,0.33464082111284293,0.027157220221508883]}
{"step":6084,"t":30.420000000000002,"command":[0.04433530694077531,-0.11560632375788721,-0.26028990831875121,0.57854583022039796,0.57854583022039796],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-1.3444555148067749e-05,-0.0051463729121115076,-0.0056586730000294239,0.012563933317034981],"integral":[-0.091800083627299939,-0.089200611756779555,0.27506852434405238,0.023798202878940737],"effort":[-0.040557829232698676,-0.0019656194415327592,0.33471527766540954,0.02719300713988524]}
{"step":6088,"t":30.440000000000001,"command":[0.044056471861372348,-0.11543865584712741,-0.26035171807514729,0.5786103721531034,0.5786103721531034],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-5.2778008674536636e-07,-0.0050967954057259401,-0.0055692120084582797,0.012554228450146754],"integral":[-0.091800094182901679,-0.08930254766489408,0.27495714010388322,0.024049287447943671],"effort":[-0.040554550184236246,-0.0019409727128718935,0.33478996276315287,0.027228466920444724]}
{"step":6092,"t":30.460000000000001,"command":[0.043773379206793563,-0.11527063796772773,-0.26041220311313151,0.57867509679399365,0.57867509679399365],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.2110321933267443e-05,-0.005047536319014112,-0.0054797860360702444,0.012544119275083698],"integral":[-0.091799851976463009,-0.089403498391274358,0.27484754438316183,0.024300169833445344],"effort":[-0.040550917753860896,-0.0019161087271817468,0.33486486764953793,0.027263597776373945]}
{"step":6096,"t":30.48,"command":[0.043486057121999808,-0.11510230469427339,-0.26047137268106813,0.57873999650680952,0.57873999650680952],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[2.447306026809315e-05,-0.0049985917136998737,-0.0053904048597543941,0.012533608665051932],"integral":[-0.091799362515257651,-0.089503470225548359,0.27473973628596676,0.024550842006746381],"effort":[-0.040546938266146616,-0.0018910371640178305,0.3349399835567019,0.027298397720213266]}
{"step":6100,"t":30.5,"command":[0.043194534387129925,-0.11493369175885093,-0.26052923660619537,0.578805063908023,0.578805063908023],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[3.6563719586935051e-05,-0.004949957748641598,-0.0053010781612417013,0.01252269946855411],"integral":[-0.091798631240865916,-0.089602469380521188,0.27463371472274195,0.024801295996117464],"effort":[-0.040542618313962747,-0.0018657678009209493,0.33501530200557061,0.02733286481264419]}
{"step":6104,"t":30.52,"command":[0.042898843411440686,-0.11476483542641878,-0.26058580528190278,0.57887029120017386,0.57887029120017386],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[4.8385559933805666e-05,-0.0049016306807969645,-0.0052118155280527212,0.012511394510240859],"integral":[-0.091797663529667242,-0.089700501994137122,0.27452947841218089,0.025051523886322282],"effort":[-0.040537964682435368,-0.0018403107660393079,0.33509081403417412,0.027366997231982378]}
{"step":6108,"t":30.539999999999999,"command":[0.042599336404503758,-0.11459579823703488,-0.26064110364246157,0.57893567047305505,0.57893567047305505],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[5.9941856214607014e-05,-0.0048536069451550201,-0.0051226264518202669,0.012499696595343557],"integral":[-0.091796464692542948,-0.089797574133040223,0.27442702588314449,0.025301517818229154],"effort":[-0.040532990940771799,-0.0018147034621040789,0.33516651054608582,0.027400793967188593]}
{"step":6112,"t":30.560000000000002,"command":[0.042297203122653435,-0.1144266880394933,-0.26069519655104068,0.57900119332704292,0.57900119332704292],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[7.1236027712417993e-05,-0.0048058834014550467,-0.0050335203216103075,0.012487608538299222],"integral":[-0.091795039971988693,-0.08989369180106932,0.2743263554767123,0.025551269988995137],"effort":[-0.040527726220236628,-0.0017890533919990032,0.33524238187413968,0.027434259284549109]}
{"step":6116,"t":30.580000000000002,"command":[0.041992544888520805,-0.11425751816878416,-0.26074809894216811,0.57906685186554774,0.57906685186554774],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[8.2271566611780145e-05,-0.0047584571718506385,-0.0049445064303261788,0.012475133167882513],"integral":[-0.091793394540656451,-0.089988860944506338,0.27422746534810577,0.025800772652352786],"effort":[-0.04052217578002236,-0.0017633738262144349,0.33531841892947623,0.02746739532193232]}
{"step":6120,"t":30.600000000000001,"command":[0.041685462169692981,-0.11408830524797556,-0.26079982476943914,0.57913263803809012,0.57913263803809012],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[9.3051955972311973e-05,-0.0047113254709123531,-0.0048555939809831195,0.012462273317579986],"integral":[-0.091791533501537001,-0.090083087453924585,0.27413035346848613,0.026050018118704384],"effort":[-0.040516344997062706,-0.0017376777563009047,0.33539461244095747,0.027500203602707458]}
{"step":6124,"t":30.620000000000001,"command":[0.041376058066459269,-0.11391906560572317,-0.26085038853530684,0.57919854373706281,0.57919854373706281],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00010358066892135476,-0.0046644856048270178,-0.0047667920873042391,0.012449031824494972],"integral":[-0.091789461888158577,-0.090176377166021129,0.27403501762674004,0.026298998755194283],"effort":[-0.040510239353750796,-0.001711978181119009,0.33547095306713431,0.027532685845269737]}
{"step":6128,"t":30.640000000000001,"command":[0.041064435817478984,-0.11374981609461392,-0.26089980478941233,0.57926456096343781,0.57926456096343781],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00011386116795408796,-0.0046179349703074912,-0.0046781097735486554,0.012435411529561957],"integral":[-0.091787184664799501,-0.090268735865427274,0.27394145543126908,0.026547706985785523],"effort":[-0.040503864400355971,-0.0016862878890078507,0.33554743158816441,0.027564843738797484]}
{"step":6132,"t":30.66,"command":[0.040750701618350725,-0.11358057485602688,-0.26094808815007592,0.57933068157855749,0.57933068157855749],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00012389690419567501,-0.0045716710539609462,-0.0045895559748445613,0.01242141527669216],"integral":[-0.091784706726715584,-0.090360169286506489,0.27384966431177221,0.026796135291319367],"effort":[-0.040497225846902657,-0.0016606196823878523,0.33562403861827594,0.027596678862277131]}
{"step":6136,"t":30.68,"command":[0.040434962028852571,-0.11341135954701953,-0.26099525346726998,0.57939689742977718,0.57939689742977718],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00013369131678397927,-0.0045256914311673224,-0.0045011395376679531,0.012407045912904979],"integral":[-0.091782032900379909,-0.09045068311512984,0.27375964152101884,0.027044276209577466],"effort":[-0.040490329403373923,-0.001634986154274749,0.33570076475125177,0.027628192929070584]}
{"step":6140,"t":30.699999999999999,"command":[0.040117328477883379,-0.11324219056896567,-0.26104131532091718,0.5794632002222676,0.5794632002222676],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00014324783231289828,-0.0044799937658743794,-0.00441286922043993,0.012392306286704069],"integral":[-0.091779167943733655,-0.090540282990447321,0.27367138413661002,0.027292122335311548],"effort":[-0.040483181014666227,-0.001609400044202393,0.33577760041183174,0.027659387289808289]}
{"step":6144,"t":30.719999999999999,"command":[0.039797913771835669,-0.11307308757745195,-0.26108628873243606,0.57952958178304603,0.57952958178304603],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00015256986436718023,-0.0044345758099502142,-0.0043247536935062669,0.012377199247899706],"integral":[-0.09177611654644631,-0.090628974506646323,0.27358488906273987,0.027539666320269541],"effort":[-0.040475786649187537,-0.001583873940590467,0.3358545361616323,0.027690263514889419]}
{"step":6148,"t":30.740000000000002,"command":[0.039476834768786551,-0.1129040709599312,-0.26113018902278856,0.57959603395665793,0.57959603395665793],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00016166081311652647,-0.0043894354025864057,-0.0042368015389215863,0.012361727648147025],"integral":[-0.091772883330183977,-0.090716763214698057,0.27350015303196146,0.027786900873232483],"effort":[-0.04046815242920123,-0.0015584204833620748,0.33593156257828738,0.027720823189876051]}
{"step":6152,"t":30.760000000000002,"command":[0.039154206056428283,-0.11273516239845284,-0.2611730303001436,0.57966254844480791,0.57966254844480791],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00017052406475337456,-0.0043445704681712716,-0.0041490212511643421,0.012345894338589458],"integral":[-0.091769472848888908,-0.090803654624061481,0.27341717260693815,0.028033818760004273],"effort":[-0.040460284298582637,-0.0015330518519092451,0.33600867006952922,0.027751067457577102]}
{"step":6156,"t":30.780000000000001,"command":[0.038830150399554599,-0.11256638298094333,-0.26121482840999388,0.57972911711397568,0.57972911711397568],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00017916299104681066,-0.0042999790162794316,-0.0040614212369298741,0.012329702171063994],"integral":[-0.091765889589067978,-0.090889654204387063,0.27333594418219953,0.028280412803425553],"effort":[-0.040452188579337481,-0.0015077805800520301,0.33608584922974977,0.027780998001925072]}
{"step":6160,"t":30.800000000000001,"command":[0.038504791864519938,-0.11239775493733177,-0.26125559880016097,0.57979573161161391,0.57979573161161391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00018758094877280307,-0.0042556591414752987,-0.0039740098156682002,0.012313153998479209],"integral":[-0.091762137970092528,-0.090974767387216562,0.27325646398588616,0.028526675883395136],"effort":[-0.040443871609691581,-0.0014826189965300007,0.33616309039504666,0.027810616294739094]}
{"step":6164,"t":30.82,"command":[0.038178254878341769,-0.11222930202899691,-0.26129535590245712,0.57986238360995268,0.57986238360995268],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00019578127924768651,-0.0042116090212247492,-0.0038867952202226164,0.012296252671910701],"integral":[-0.091758222344507576,-0.091058999567641061,0.27317872808148169,0.028772600936833349],"effort":[-0.040435339625053773,-0.0014575791455556271,0.3362403839258159,0.027839923391137965]}
{"step":6168,"t":30.84,"command":[0.037850668001226932,-0.11206104647016757,-0.26133411544271096,0.57992906484661011,0.57992906484661011],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00020376730787963204,-0.0041678269148281988,-0.0037997855967248917,0.012279001041862192],"integral":[-0.091754146998349981,-0.091142356105937627,0.27310273236954719,0.029018180957670593],"effort":[-0.040426599015106611,-0.0014326730681391044,0.33631772025386375,0.027868920879117555]}
{"step":6172,"t":30.859999999999999,"command":[0.03752216294182522,-0.11189301200028999,-0.2613718928800714,0.57999576723046664,0.57999576723046664],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0002115423436637176,-0.0041243111627629059,-0.0037129890039886426,0.012261401958593265],"integral":[-0.091749916151476707,-0.091224842329192882,0.27302847258946739,0.029263408996842457],"effort":[-0.04041765626110428,-0.0014079127118328816,0.33639509000525769,0.027897610126607242]}
{"step":6176,"t":30.879999999999999,"command":[0.037192873623028928,-0.11172522277623032,-0.26140870332740485,0.58006248251839576,0.58006248251839576],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00021910967885196975,-0.0040810601852723227,-0.0036264134139356585,0.012243458270709162],"integral":[-0.091745533957899666,-0.091306463532898327,0.27295594432118869,0.029508278162256641],"effort":[-0.040408517789856727,-0.0013833098483386009,0.33647248362540416,0.027925992385458433]}
{"step":6180,"t":30.900000000000002,"command":[0.036862936499882142,-0.11155770330614045,-0.26144456239504693,0.58012920253093303,0.58012920253093303],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00022647258818819793,-0.004038072481245214,-0.0035400667118885565,0.012225172825215402],"integral":[-0.091741004506135898,-0.091387224982523232,0.27288514298695093,0.029752781618760948],"effort":[-0.040399190186439234,-0.0013588760873943428,0.33654989162917631,0.027954069019498373]}
{"step":6184,"t":30.920000000000002,"command":[0.036532489471423603,-0.11139047762184508,-0.26147948530148235,0.58019591902209999,0.58019591902209999],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00023363432855272315,-0.0039953466263555892,-0.0034539566969651325,0.012206548467553313],"integral":[-0.091736331819564837,-0.091467131915050348,0.27281606385301166,0.029996912588112015],"effort":[-0.040389679869175452,-0.0013346227869796765,0.33662730444989925,0.027981841364352684]}
{"step":6188,"t":30.940000000000001,"command":[0.03620167223486264,-0.11122357133069984,-0.26151348718415662,0.58026262379650217,0.58026262379650217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00024059813821275533,-0.0039528812714644257,-0.0033680910822839749,0.01218758804048603],"integral":[-0.091731519856800586,-0.091546189540479633,0.27274870203136597,0.030240664348921736],"effort":[-0.040379993399386659,-0.0013105610726004248,0.33670471257520096,0.028009310579831383]}
{"step":6192,"t":30.960000000000001,"command":[0.03587062575438757,-0.11105700834648605,-0.26154658383604718,0.58032930882746747,0.58032930882746747],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00024736723601814781,-0.0039106751409476725,-0.0032824774944963941,0.012168294385324185],"integral":[-0.091726572512080218,-0.09162440304329858,0.27268305248147606,0.030484030236628219],"effort":[-0.040370137309588959,-0.0012867017920113327,0.33678210668416614,0.028036478206717487]}
{"step":6196,"t":30.98,"command":[0.035539496266813582,-0.110890815385424,-0.26157879034217346,0.58039596601205168,0.58039596601205168],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00025394482098595184,-0.0038687270317678824,-0.0031971234739365251,0.012148670340534684],"integral":[-0.091721493615660496,-0.091701777583933941,0.27261911001199735,0.030727003643438913],"effort":[-0.040360118246859457,-0.0012630557948988567,0.33685947736306271,0.028063345310015267]}
{"step":6200,"t":31,"command":[0.03520842742048675,-0.11072501664947935,-0.26161012182379123,0.58046258728171174,0.58046258728171174],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00026033407191383695,-0.0038270358107774793,-0.0031120364750538698,0.012128718741719169],"integral":[-0.091716286934222221,-0.091778318300149486,0.27255686928249628,0.030969578018273297],"effort":[-0.040349942576343188,-0.0012396333614236831,0.33693681523377877,0.028089913264315709]}
{"step":6204,"t":31.02,"command":[0.034877567140173024,-0.11055963836933444,-0.26164059369830256,0.58052916451847292,0.58052916451847292],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00026653814632315864,-0.0037856004133365317,-0.0030272238667539142,0.012108442421761567],"integral":[-0.091710956171295752,-0.091854030308416212,0.27249632480516123,0.03121174686670853],"effort":[-0.040339616953579127,-0.001216444689617277,0.33701411085651617,0.02811618331722112]}
{"step":6208,"t":31.039999999999999,"command":[0.034547061808274104,-0.11039470684128549,-0.26167022086528929,0.58059568995938227,0.58059568995938227],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00027256017950683109,-0.0037444198413156826,-0.0029426929315201633,0.012087844209695997],"integral":[-0.091705504967705617,-0.091928918705242529,0.27243747094653081,0.031453503750902452],"effort":[-0.040329147893131322,-0.0011934994795847111,0.33709135519941108,0.028142156594557956]}
{"step":6212,"t":31.060000000000002,"command":[0.034217060798608714,-0.1102302483510481,-0.26169901824733222,0.58066215550208133,0.58066215550208133],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00027840328396910863,-0.003703493161036242,-0.0028584508662259367,0.01206692693035083],"integral":[-0.091699936902026241,-0.092002988568463256,0.27238030192920631,0.031694842289509466],"effort":[-0.040318541901575626,-0.0011708072496956854,0.33716853883232334,0.028167834250041886]}
{"step":6216,"t":31.080000000000002,"command":[0.033887713995854489,-0.1100662898151219,-0.2617270008355434,0.58072855335865881,0.58072855335865881],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00028407054849233226,-0.0036628195016601417,-0.0027745047820255664,0.012045693404145741],"integral":[-0.091694255491056392,-0.092076244958496464,0.27232481183356583,0.031935756157592379],"effort":[-0.040307805560017479,-0.0011483771598648322,0.33724565268604062,0.028193217406351074]}
{"step":6220,"t":31.100000000000001,"command":[0.033559170841320707,-0.10990285800913903,-0.26175418316685489,0.5807948757481759,0.5807948757481759],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00028956503737398442,-0.0036223980526981503,-0.0026908617040315441,0.012024146446463546],"integral":[-0.091688464190308919,-0.092148692919550426,0.27227099459948517,0.032176239086521653],"effort":[-0.040296945301962199,-0.0011262179475569501,0.33732268769533913,0.028218307103385225]}
{"step":6224,"t":31.120000000000001,"command":[0.033231664633333803,-0.10973998961678362,-0.26178058483778838,0.58086111477526292,0.58086111477526292],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00029488979457004127,-0.0035822280809241214,-0.0026075285709774576,0.012002288868534272],"integral":[-0.09168256639441752,-0.09222033748116891,0.27221884402806562,0.032416284863892336],"effort":[-0.040285969959553143,-0.0011043435343023687,0.33739963465796113,0.028243104638461365]}
{"step":6228,"t":31.140000000000001,"command":[0.032905533946578441,-0.10957772170411352,-0.26180622754212657,0.58092726075839973,0.58092726075839973],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030004785794579547,-0.0035423089567390154,-0.0025245122413206644,0.011980123480726301],"integral":[-0.091676565437258606,-0.092291183660303686,0.27216835378323923,0.032655887333506863],"effort":[-0.040274888936851945,-0.0010827741643094262,0.33747648229225774,0.028267611842987792]}
{"step":6232,"t":31.16,"command":[0.032580929840467614,-0.10941595959325558,-0.26183107656240651,0.58099328277464102,0.58099328277464102],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030504231744066246,-0.0035026400558655357,-0.0024418195869611026,0.01195765309280139],"integral":[-0.091670464590909786,-0.092361236461420998,0.27211951739149998,0.032895040395362889],"effort":[-0.040263682433770862,-0.001061516989269473,0.33755319462925404,0.028291830220057924]}
{"step":6236,"t":31.18,"command":[0.032259221697676178,-0.10925452173630694,-0.26185521546577684,0.58105916932246637,0.58105916932246637],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030987645717228673,-0.003463220925285837,-0.0023594574667047397,0.01193488071449389],"integral":[-0.091664267061766336,-0.092430500879926714,0.27207232824216587,0.033133738009652768],"effort":[-0.040252352193228792,-0.0010406573845398214,0.33762975825371461,0.028315801673399626]}
{"step":6240,"t":31.199999999999999,"command":[0.031941223630889089,-0.10909331308405311,-0.26187869810792547,0.58112491126214139,0.58112491126214139],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00031455373158584266,-0.0034240513374441672,-0.0022774326685581769,0.011911809587337174],"integral":[-0.091657975987134613,-0.092498981906675604,0.27202677958879473,0.033371974201399514],"effort":[-0.040240901741178607,-0.0010202417670384673,0.33770616248943169,0.028339550781523375]}
{"step":6244,"t":31.220000000000002,"command":[0.031627049490835203,-0.10893234744724956,-0.26190153493741858,0.58119049963720959,0.58119049963720959],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00031907760822602604,-0.0033851311372521398,-0.0021957519031872152,0.011888443013362004],"integral":[-0.091651594434970091,-0.092566684529420643,0.27198286455073101,0.033609743061666753],"effort":[-0.040229335161472091,-0.0010002702594957393,0.33778239686854927,0.028363078841103794]}
{"step":6248,"t":31.240000000000002,"command":[0.031316802677335456,-0.10877164741044139,-0.26192373950856523,0.58125592708433682,0.58125592708433682],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00032345149979851051,-0.0033464601831756369,-0.0021144217969868428,0.011864784283638685],"integral":[-0.091645125404974118,-0.092633613733084152,0.27194057611479128,0.033847038747339526],"effort":[-0.04021765829926606,-0.00098074212993116538,0.33785845277067195,0.028386387018884678]}
{"step":6252,"t":31.260000000000002,"command":[0.031010580685924004,-0.10861124077339815,-0.26194532399942294,0.58132118645309816,0.58132118645309816],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00032767875912975697,-0.0033080383479624498,-0.0020334488876523338,0.011840836673239763],"integral":[-0.091638571829791529,-0.092699774500043408,0.27189990713703821,0.034083855480804323],"effort":[-0.040205877193749864,-0.00096165611447820293,0.33793432181923766,0.028409475571412799]}
{"step":6256,"t":31.280000000000001,"command":[0.030708473326725872,-0.10845115672011432,-0.26196630055379971,0.58138627071663784,0.58138627071663784],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00033176267711398921,-0.0032698655169740576,-0.001952839623572622,0.011816603437791673],"integral":[-0.091631936576249254,-0.092765171810382893,0.27186085034456675,0.034320187549560156],"effort":[-0.040193998009887259,-0.0009430103340582344,0.33800999577779967,0.028432344615956461]}
{"step":6260,"t":31.300000000000001,"command":[0.030410564440395048,-0.10829142684211074,-0.26198668090670074,0.581451172932959,0.581451172932959],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00033570648092950961,-0.0032319415866630674,-0.0018726003635958222,0.011792087811345442],"integral":[-0.091625222446630669,-0.092829810642116151,0.27182339833729485,0.034556029305787064],"effort":[-0.040182027050004822,-0.00092480242958341979,0.33808546650511384,0.028454993922504598]}
{"step":6264,"t":31.32,"command":[0.030116918408687913,-0.10813208126487586,-0.26200647813362737,0.5815158863761819,0.5815158863761819],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.000339513330643193,-0.0031942664615969285,-0.0017927373763884091,0.011767293008032587],"integral":[-0.091618432180017806,-0.092893695971348084,0.27178754358976709,0.034791375165947713],"effort":[-0.040169970791330341,-0.00090702877443556498,0.33816072610787645,0.028477423792656623]}
{"step":6268,"t":31.34,"command":[0.029827615265409162,-0.10797316156362619,-0.2620257000805572,0.58158040433648939,0.58158040433648939],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0003431863203608998,-0.0031568400544177422,-0.0017132568403974702,0.011742222210772479],"integral":[-0.091611568453610584,-0.092956832772436437,0.27175327845295916,0.03502621961016316],"effort":[-0.04015783556037552,-0.00088968663242126964,0.33823576670819444,0.028499631942330596]}
{"step":6272,"t":31.359999999999999,"command":[0.029542725877692976,-0.10781470980635437,-0.26204435503741985,0.58164472001180223,0.58164472001180223],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00034672847855032884,-0.0031196622856977108,-0.0016341648445989954,0.011716878564140276],"integral":[-0.091604633884039582,-0.093019226018150394,0.27172059515606717,0.035260557181445967],"effort":[-0.040145627828802877,-0.00087277265228451022,0.33831058031760775,0.028521616178174471]}
{"step":6276,"t":31.379999999999999,"command":[0.029262283887010101,-0.10765670153722058,-0.26206243483919878,0.58170881432804566,0.58170881432804566],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035014279295775275,-0.0030827330487901428,-0.0015554674385072076,0.011691265189460287],"integral":[-0.091597631028180429,-0.093080880679126191,0.27168948580729702,0.035494382485235176],"effort":[-0.040133342569861744,-0.000856281258283971,0.3383851446669407,0.028543377183987553]}
{"step":6280,"t":31.400000000000002,"command":[0.028986331168105454,-0.10749914917592562,-0.26207993825540221,0.58177267406248034,0.58177267406248034],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035343221199335417,-0.0030460522055506534,-0.0014771706379339555,0.011665385182737853],"integral":[-0.09159056238394056,-0.093141801723237203,0.27165994239453833,0.035727690188889931],"effort":[-0.040120980554751669,-0.00084020739458708169,0.33845944428580893,0.028564913481203758]}
{"step":6284,"t":31.420000000000002,"command":[0.028714898408881712,-0.10734209172055881,-0.26209687596130993,0.58183629310701912,0.58183629310701912],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035659961982870136,-0.0030096196100592998,-0.0013992803821789579,0.011639241609477269],"integral":[-0.091583430391543985,-0.093201994115438391,0.27163195678689478,0.035960475021079477],"effort":[-0.040108548521811567,-0.0008245453906323974,0.33853347197651706,0.028586223866866708]}
{"step":6288,"t":31.440000000000001,"command":[0.028448009450122731,-0.10718557091462014,-0.26211325788793344,0.58189966559619977,0.58189966559619977],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035964782612052382,-0.0029734351163011041,-0.001321802516440318,0.011612837503280793],"integral":[-0.091576237435021579,-0.093261462817764415,0.27160552073656596,0.036192731771145091],"effort":[-0.040096053286459675,-0.0008092892416742721,0.33860722082096917,0.028607306674166614]}
{"step":6292,"t":31.460000000000001,"command":[0.028185676644549757,-0.10702962873885666,-0.26212909416794133,0.58196278583713634,0.58196278583713634],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036257956489693655,-0.0029374985765828754,-0.0012447427911816966,0.011586175864910064],"integral":[-0.091568985843723638,-0.093320212789296073,0.27158062588074233,0.036424455288443292],"effort":[-0.040083501718641473,-0.00079443236791111767,0.33868068409932067,0.028628160290663982]}
{"step":6296,"t":31.48,"command":[0.027927903705220431,-0.10687430831688179,-0.26214439458466066,0.58202564836540793,0.58202564836540793],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036539749374542296,-0.0029018098398922998,-0.0011681068614981527,0.011559259661708454],"integral":[-0.091561677893848725,-0.093378248986093912,0.27155726374351236,0.036655640481677458],"effort":[-0.040070900695185083,-0.00077996780536806511,0.33875385535517344,0.028648782916973176]}
{"step":6300,"t":31.5,"command":[0.027674689332511611,-0.10671965431957499,-0.26215916862952254,0.58208824770337575,0.58208824770337575],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036810419359012414,-0.0028663687511703007,-0.0010919002872289418,0.011532091826168767],"integral":[-0.091554315809976916,-0.093435576361117323,0.27153542573776779,0.036886282318200833],"effort":[-0.040058257157306001,-0.00076588842965103193,0.33882672811438658,0.028669172539216421]}
{"step":6304,"t":31.52,"command":[0.027426018939341698,-0.10656571121288974,-0.26217342565028057,0.58215057870057507,0.58215057870057507],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037070216820533908,-0.002831175149527132,-0.0010161285324352676,0.011504675255570307],"integral":[-0.091546901766612815,-0.093492199864107867,0.27151510316711908,0.037116375823312238],"effort":[-0.040045577961756104,-0.0007521865148611296,0.33889929628141446,0.02868932715544709]}
{"step":6308,"t":31.539999999999999,"command":[0.027181871595161482,-0.10641252586609212,-0.26218717437827099,0.58221263614062246,0.58221263614062246],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037319384380052334,-0.0027962288670420055,-0.00094079696553794889,0.011477012810293563],"integral":[-0.091539437889736799,-0.093548124441448707,0.27149628722780833,0.037345916079518107],"effort":[-0.040032870034831795,-0.00073885414341584663,0.33897155368181286,0.02870924437363007]}
{"step":6312,"t":31.560000000000002,"command":[0.026942215826116219,-0.10626014513057559,-0.26220042349319367,0.58227441513393574,0.58227441513393574],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037558156878025883,-0.0027615297275558337,-0.00086591085891507547,0.011449107312983209],"integral":[-0.091531926258361193,-0.093603355035999827,0.27147896901063001,0.037574898225777774],"effort":[-0.04002014026159055,-0.00072588299362102721,0.33904349451956695,0.028728921818419562]}
{"step":6316,"t":31.580000000000002,"command":[0.026707012299274659,-0.10610861639742773,-0.26221318137654803,0.58233591089938819,0.58233591089938819],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037786761381020106,-0.0027270775453551721,-0.00079147538847657017,0.011420961548319841],"integral":[-0.091524368906084994,-0.09365789658690693,0.2714631395028605,0.037803317456744173],"effort":[-0.040007395480693479,-0.00071326450595360791,0.33911511312302012,0.028748357006917011]}
{"step":6320,"t":31.600000000000001,"command":[0.026476211013014658,-0.10595798825051365,-0.26222545595148039,0.58239711878387779,0.58239711878387779],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038005417170361433,-0.0026928721238959064,-0.00071749563364997826,0.01139257826187523],"integral":[-0.091516767822650918,-0.09371175402938485,0.27144878959018748,0.038031169021981677],"effort":[-0.039994642511528893,-0.0007009897496056787,0.33918640396776223,0.028767547237432904]}
{"step":6324,"t":31.620000000000001,"command":[0.026249751555500814,-0.1058083094831382,-0.26223725480466914,0.58245803411721464,0.58245803411721464],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038214335733188776,-0.0026589132543228811,-0.00064397657787607088,0.011363960159329611],"integral":[-0.091509124955504284,-0.093764932294471304,0.27143591005862994,0.038258448225168266],"effort":[-0.03998188808158426,-0.00068904945672551739,0.33925736150769037,0.028786489725904706]}
{"step":6328,"t":31.640000000000001,"command":[0.026027563256698357,-0.10565962885099807,-0.26224858544231056,0.58251865265191083,0.58251865265191083],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038413720775354321,-0.0026252007140010747,-0.00057092310784767619,0.011335109906569274],"integral":[-0.091501442211349218,-0.09381743630875132,0.27142449159647297,0.038485150423299655],"effort":[-0.039969138867711758,-0.00067743404908143443,0.33932798068739756,0.028805181698781095]}
{"step":6332,"t":31.66,"command":[0.025809567078081175,-0.10551198432892235,-0.26225944944209839,0.58257896603918335,0.58257896603918335],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038603768911249503,-0.0025917342589893977,-0.00049834002929749488,0.01130603012812248],"integral":[-0.091493721457566971,-0.093869270993931109,0.27141452479588701,0.038711271025862103],"effort":[-0.039956398829349656,-0.00066613375275797158,0.33939825167128401,0.028823619992322899]}
{"step":6336,"t":31.68,"command":[0.025595671582787301,-0.10536541083538378,-0.26226984791218544,0.58263896541738835,0.58263896541738835],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038784670152458567,-0.0025585136179491208,-0.00042623207915637451,0.011276723407448341],"integral":[-0.091485964523536481,-0.093920441266290094,0.27140600015430388,0.038936805494011066],"effort":[-0.039943671462195046,-0.00065513840377390536,0.33946816402264468,0.028841801661685835]}
{"step":6340,"t":31.699999999999999,"command":[0.025385772353530428,-0.10521995836225508,-0.26227978726291856,0.58269864678477146,0.58269864678477146],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038956607184825742,-0.0025255384974045558,-0.0003546039082777952,0.011247192286958363],"integral":[-0.091478173202099514,-0.093970952036238189,0.27139890807613831,0.039161749339750231],"effort":[-0.039930963222218258,-0.00064443743798526989,0.33953771296480378,0.028859723584463565]}
{"step":6344,"t":31.720000000000002,"command":[0.025179754706694583,-0.10507567778034151,-0.26228927346520903,0.58275800639924302,0.58275800639924302],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039119754925054373,-0.002492808584935835,-0.00028346006978896554,0.011217439266865248],"integral":[-0.091470349251114497,-0.094020808207936901,0.27139323887474254,0.039386098125087539],"effort":[-0.039918280517952688,-0.00063402004708930804,0.33960689402242011,0.028877382456954533]}
{"step":6348,"t":31.740000000000002,"command":[0.024977495940108334,-0.10493262066099172,-0.26229831205084297,0.58281704048648064,0.58281704048648064],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039274280574352893,-0.0024603235484634833,-0.00021280501941900454,0.011187466804162605],"integral":[-0.091462494394999622,-0.094070014678906175,0.27138898277435414,0.039609847461170793],"effort":[-0.039905629691752487,-0.00062387530343812822,0.33967570268142006,0.028894774812968899]}
{"step":6352,"t":31.760000000000002,"command":[0.024778860229395374,-0.10479083830156043,-0.26230690837964693,0.58287574538533615,0.58287574538533615],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039420343645879541,-0.0024280830350440485,-0.00014264311596612345,0.011157277312537905],"integral":[-0.091454610326270447,-0.09411857633960706,0.27138612991203481,0.039832993007421554],"effort":[-0.039893016987816131,-0.00061399191426791174,0.33974413455851127,0.028911897195872348]}
{"step":6356,"t":31.780000000000001,"command":[0.024583702171723197,-0.10465038295125154,-0.26231506704810797,0.5829341178715558,0.5829341178715558],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039558096026937051,-0.0023960866695333927,-7.2978620306862751e-05,0.011126873161389716],"integral":[-0.091446698707065066,-0.094166498072997734,0.27138467033962865,0.040055530470649345],"effort":[-0.039880448526148492,-0.00060435841246798787,0.33981218577868888,0.028928745874304895]}
{"step":6360,"t":31.800000000000001,"command":[0.024391868460730437,-0.10451130737145238,-0.26232279245751722,0.58299215452518527,0.58299215452518527],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039687682046074535,-0.0023643340540995261,-3.8156959694113368e-06,0.011096256674974048],"integral":[-0.091438761170655858,-0.094213784754079724,0.27138459402570925,0.040277455604148825],"effort":[-0.039867930405599925,-0.00059496324700557615,0.3398798522379175,0.028945317037109727]}
{"step":6364,"t":31.82,"command":[0.024203189897094829,-0.10437366345170287,-0.26233008841916461,0.58304985236614748,0.58304985236614748],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039809238530152946,-0.0023328247664089474,6.4841591133735221e-05,0.01106543013235739],"integral":[-0.091430799322949827,-0.094260441249407897,0.2713858908575319,0.040498764206795976],"effort":[-0.039855468456168032,-0.00058579440119483316,0.33994713034418639,0.028961606833838697]}
{"step":6368,"t":31.84,"command":[0.024017493303020877,-0.10423750567790341,-0.26233695810273427,0.58310720821939233,0.58310720821939233],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039922894873334336,-0.0023015583592917999,0.00013298927213378775,0.011034395765610827],"integral":[-0.091422814743975164,-0.094306472416593734,0.27138855064297457,0.040719452122108195],"effort":[-0.039843068588273349,-0.00057683998456065262,0.34001401627741379,0.028977610998322405]}
{"step":6372,"t":31.859999999999999,"command":[0.023834589557782053,-0.10410288867733063,-0.26234340337124679,0.58316421935566731,0.58316421935566731],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040028773130318385,-0.0022705343592177574,0.00020062347546856429,0.011003155757313254],"integral":[-0.091414808989349103,-0.094351883103778095,0.27139256311248394,0.040939515237254462],"effort":[-0.039830736361686693,-0.00056808765938793325,0.34008050673670487,0.028993324930722]}
{"step":6376,"t":31.879999999999999,"command":[0.023654281134051405,-0.10396986689275967,-0.26234942641581516,0.58322088293283225,0.58322088293283225],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040126988069766334,-0.0022397522653074819,0.00026774042656851904,0.010971712240641529],"integral":[-0.091406783591735152,-0.094396678149084243,0.27139791792101531,0.041158949482067289],"effort":[-0.039818477381202692,-0.00055952501596874017,0.34014659828895244,0.029008744159504531]}
{"step":6380,"t":31.900000000000002,"command":[0.023476361154497374,-0.10383849442312364,-0.26235502864144811,0.58327719637043207,0.58327719637043207],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040217647289253478,-0.002209211548552803,0.00033433644764224724,0.010940067299460843],"integral":[-0.091398740062277301,-0.094440862380055293,0.27140460464996813,0.041377750828056503],"effort":[-0.039806296988758066,-0.00055113953305639327,0.34021228780575163,0.029023864064696987]}
{"step":6384,"t":31.920000000000002,"command":[0.023300613734028103,-0.10370882555139652,-0.26236021129554682,0.58333315713258471,0.58333315713258471],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040300851318031405,-0.0021789116511505835,0.00040040795750639901,0.010908222968145087],"integral":[-0.091390679892013688,-0.094484440613078299,0.27141261280911827,0.041595915287419405],"effort":[-0.039794200484146981,-0.0005429186003823791,0.34027757221026883,0.029038679986896986]}
{"step":6388,"t":31.940000000000001,"command":[0.023126811156778934,-0.10358091729031317,-0.26236497382969537,0.58338876290342656,0.58338876290342656],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040376693705623801,-0.0021488519854935273,0.00046595147154970817,0.010876181228245851],"integral":[-0.091382604553272559,-0.094527417652788173,0.27142193183854929,0.041813438911984323],"effort":[-0.039782192959679719,-0.00053484939428131463,0.34034244868199048,0.029053186532977022]}
{"step":6392,"t":31.960000000000001,"command":[0.022954716015164391,-0.10345482560066804,-0.26236931556009879,0.58344401141036362,0.58344401141036362],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040445261131205612,-0.0021190319331152452,0.00053096360140703069,0.010843944007272843],"integral":[-0.091374515501046319,-0.094569798291450471,0.27143255111057746,0.042030317792129783],"effort":[-0.039770279343769671,-0.00052691898733684458,0.34040691445061655,0.029067378403705033]}
{"step":6396,"t":31.98,"command":[0.022784082195392293,-0.10333060832712324,-0.26237323473866236,0.58349890050999065,0.58349890050999065],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040506633510672962,-0.0020894508441691162,0.00059544105459918839,0.010811513177219623],"integral":[-0.091366414174344185,-0.094611587308333855,0.27144445993166944,0.042246548055674175],"effort":[-0.03975846446224128,-0.00051911440148639208,0.34047096689636791,0.02908124984498793]}
{"step":6400,"t":32,"command":[0.022614653066391405,-0.10320832324583439,-0.26237672868174394,0.5835534282392757,0.5835534282392757],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040560884135354414,-0.0020601080364182067,0.00065938063447124051,0.010778890552652243],"integral":[-0.091358301997517113,-0.094652789469062221,0.27145764754435886,0.042462125866727221],"effort":[-0.039746752870475056,-0.00051142253331324609,0.34053460360981147,0.029094794883258418]}
{"step":6404,"t":32.020000000000003,"command":[0.02245054472911294,-0.1030876257177524,-0.26237967665781231,0.58360759450780586,0.58360759450780586],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040608143801557084,-0.0020310030227943532,0.000722779211495439,0.010746077944492005],"integral":[-0.091350180368756806,-0.094693409529518102,0.27147210312858877,0.042677047425617058],"effort":[-0.039735076649590778,-0.00050402695863390086,0.34059782436718755,0.02910801807346737]}
{"step":6408,"t":32.039999999999999,"command":[0.022294173009829537,-0.10296829506098666,-0.26238203181755609,0.58366139805362283,0.58366139805362283],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040648611454274786,-0.0020021355599524338,0.00078563371763307188,0.010713077223942213],"integral":[-0.091342050646465944,-0.09473345224071715,0.27148781580294146,0.042891308970095902],"effort":[-0.039723400204237709,-0.00049703015019221183,0.3406606275779096,0.029120930416471298]}
{"step":6412,"t":32.060000000000002,"command":[0.022145439203460779,-0.10285033409797958,-0.26238382140836602,0.58371483644143096,0.58371483644143096],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040682499832667141,-0.0019735054636063065,0.0008479411694590766,0.010679890321626639],"integral":[-0.091333914146499412,-0.094772922349989283,0.27150477462633066,0.043104906776528437],"effort":[-0.039711730480461671,-0.0004904204775141776,0.34072301028184654,0.029133539256395648]}
{"step":6416,"t":32.079999999999998,"command":[0.022004217215128807,-0.1027337469220525,-0.26238507379119835,0.58376790728011441,0.58376790728011441],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040710012636813175,-0.0019451125292151428,0.00090969867768109225,0.01064651921610138],"integral":[-0.091325772143972056,-0.09481182460057358,0.27152296859988428,0.043317837160850463],"effort":[-0.039700074852528466,-0.00048418557525057096,0.34078496957020421,0.029145852095884134]}
{"step":6420,"t":32.100000000000001,"command":[0.021870347872797478,-0.10261853815443543,-0.26238581723564774,0.58382060832726379,0.58382060832726379],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040731344234590239,-0.0019169565298364777,0.00097090344702088771,0.010612965933205154],"integral":[-0.091317625875125139,-0.094850163731170306,0.27154238666882469,0.043530096479514564],"effort":[-0.039688440729686039,-0.00047831211607717722,0.34084650270761641,0.029157876356732719]}
{"step":6424,"t":32.119999999999997,"command":[0.0217436462326135,-0.10250471550569495,-0.26238608059605589,0.58387293746772584,0.58387293746772584],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040746679357406279,-0.0018890372150286439,0.0010315527763369303,0.010579232544284278],"integral":[-0.091309476539253656,-0.094887944475470873,0.27156301772435143,0.043741681130400251],"effort":[-0.039676835995731692,-0.00047278615148904721,0.34090760710719087,0.029169619294828232]}
{"step":6428,"t":32.140000000000001,"command":[0.021623896579786018,-0.10239228611010869,-0.2623858924709272,0.58392489289121263,0.58392489289121263],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040756192901092447,-0.0018613543087475648,0.0010916440591572929,0.010545321164953103],"integral":[-0.091301325300673433,-0.09492517156164583,0.27158485060553456,0.04395258755369931],"effort":[-0.039665268411309663,-0.0004675929032932815,0.34096828053801409,0.029181088156455308]}
{"step":6432,"t":32.160000000000004,"command":[0.021510859351498168,-0.10228125807305723,-0.26238528197325667,0.58397647260645602,0.58397647260645602],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040760049756682903,-0.0018339075077860034,0.0011511747828412133,0.010511233954550447],"integral":[-0.091293173290722091,-0.094961849711801549,0.27160787410119136,0.044162812232790317],"effort":[-0.039653745974596366,-0.00046271707003993617,0.34102852055787886,0.029192290221589031]}
{"step":6436,"t":32.18,"command":[0.021404266451507104,-0.10217164093427591,-0.26238427770507416,0.58402767507633002,0.58402767507633002],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040758404649965385,-0.0018066964800649288,0.0012101425289672285,0.010476973114157406],"integral":[-0.0912850216097921,-0.094997983641402842,0.27163207695177072,0.044372351695073468],"effort":[-0.039642276699008036,-0.00045814262232711251,0.34108832525506333,0.029203232487805431]}
{"step":6440,"t":32.200000000000003,"command":[0.021303827704463155,-0.10206344582337547,-0.26238290816447712,0.58407849875197548,0.58407849875197548],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040751402016359073,-0.0017797208632710504,0.001268544973395791,0.010442540884142759],"integral":[-0.091276871329388831,-0.095033578058668258,0.27165744785123863,0.044581202512756324],"effort":[-0.039630868735094762,-0.00045385307486145183,0.34114769270436146,0.029213921761753664]}
{"step":6444,"t":32.219999999999999,"command":[0.021209224978450184,-0.10195668483933605,-0.26238120119565395,0.58412894227269874,0.58412894227269874],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040739175892601232,-0.0017529802629223656,0.0013263798859695086,0.010407939541614786],"integral":[-0.091268723494210308,-0.095068637663926703,0.271683975448958,0.044789361303588619],"effort":[-0.039619530162150959,-0.0004498312241865152,0.34120662120062184,0.029224364578723263]}
{"step":6448,"t":32.240000000000002,"command":[0.021120119460540137,-0.10185137050135767,-0.26237918493037687,0.58417900443244197,0.58417900443244197],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040721849823377454,-0.0017264742509313091,0.0013836451305535569,0.010373171399164383],"integral":[-0.091260579124245636,-0.095103167148945331,0.27171164835156908,0.044996824731571905],"effort":[-0.039608269178866867,-0.00044605944602748616,0.34126510921967912,0.029234567505862036]}
{"step":6452,"t":32.259999999999998,"command":[0.021036152641758957,-0.10174751170527198,-0.26237688378776697,0.58422868033275144,0.58422868033275144],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040699537092203641,-0.0017002023618717388,0.0014403386504970861,0.01033823880139273],"integral":[-0.0912524392168272,-0.095137171196182771,0.27174045512457901,0.045203589507599756],"effort":[-0.039597092642196907,-0.00044251971796738232,0.34132315092334831,0.029244536503982448]}
{"step":6456,"t":32.280000000000001,"command":[0.020956952171181754,-0.1016451051357911,-0.26237431705163833,0.58427795714155184,0.58427795714155184],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040672341428460435,-0.0016741640855892914,0.0014964584296954797,0.010303144122114749],"integral":[-0.091244304748541505,-0.095170654477894551,0.27177038429317291,0.045409652390042049],"effort":[-0.03958600482318983,-0.00043919384430519959,0.34138073120150514,0.029254277425123803]}
{"step":6460,"t":32.299999999999997,"command":[0.02088210834435061,-0.10154416836771329,-0.26237151068434139,0.5843268340954515,0.5843268340954515],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0004064035636257568,-0.0016483588693838591,0.0015520025196753551,0.010267889761566895],"integral":[-0.091236176677268993,-0.095203621655282233,0.27180142434356641,0.045615010185273384],"effort":[-0.039575013874136991,-0.00043606244890519738,0.34143784904401331,0.029263795744646486]}
{"step":6464,"t":32.32,"command":[0.020811189448201147,-0.10144472007105818,-0.26236849024326236,0.58437531069274107,0.58437531069274107],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040603664597704814,-0.0016227861201882909,0.001606969067065922,0.010232478143644919],"integral":[-0.091228055944349448,-0.095236077377685996,0.27183356372490775,0.04581965974814628],"effort":[-0.039564127951412106,-0.00043310560624891872,0.34149450374723767,0.029273096721116752]}
{"step":6468,"t":32.340000000000003,"command":[0.020743740392619007,-0.10134678067562634,-0.26236528032443318,0.58442338668722438,0.58442338668722438],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040562337946181692,-0.0015974452025355745,0.0016613563140333021,0.010196911712659462],"integral":[-0.091219943476760212,-0.095268026281736709,0.27186679085118842,0.046023597982399467],"effort":[-0.039553355136515964,-0.00043030276547637329,0.34155069490696499,0.029282185183202455]}
{"step":6472,"t":32.359999999999999,"command":[0.020679294855725394,-0.10125037213741793,-0.26236190497404854,0.58447106185184727,0.58447106185184727],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040516437344217948,-0.0015723354376964149,0.0017151625978506502,0.010161192930158269],"integral":[-0.091211840189291363,-0.095299472990490644,0.27190109410314545,0.04622682184100263],"effort":[-0.039542703519788648,-0.00042763323573003073,0.34160642214222592,0.029291065661823032]}
{"step":6476,"t":32.380000000000003,"command":[0.02061736182177052,-0.10115552144760152,-0.2623583862026449,0.58451833631607142,0.58451833631607142],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040466012805673302,-0.0015474561021855404,0.0017683863511730458,0.010125324268464575],"integral":[-0.091203746986730228,-0.095330422112534355,0.2719364618301689,0.046429328326371921],"effort":[-0.039532181165096172,-0.00042507560848980067,0.34166168548970793,0.029299741645760002]}
{"step":6480,"t":32.399999999999999,"command":[0.02055743152163823,-0.10106225720545105,-0.26235474474681603,0.58456521030444697,0.58456521030444697],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040411103399495829,-0.0015228064255623508,0.0018210261020117358,0.010089308204791148],"integral":[-0.09119566476605033,-0.095360878241045596,0.27197288235220912,0.046631114490467744],"effort":[-0.03952179596131386,-0.00042260799076684506,0.34171648509828229,0.029308216129853119]}
{"step":6484,"t":32.420000000000002,"command":[0.020498980019175873,-0.10097061119463718,-0.26235099962363673,0.5846116841278628,0.5846116841278628],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040351737305188706,-0.0014983855888743847,0.001873080473074662,0.010053147215695946],"integral":[-0.091187594418589299,-0.095390845952823086,0.27201034396167062,0.046832177434781665],"effort":[-0.039511555664270018,-0.00042020818182657163,0.34177082121881602,0.029316491339251426]}
{"step":6488,"t":32.439999999999998,"command":[0.020441472657544233,-0.10088062199717836,-0.26234716752067061,0.58465775828052069,0.58465775828052069],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040287931854421366,-0.0014741927242811759,0.0019245481815493015,0.010016843768173578],"integral":[-0.091179536832218411,-0.095420329807308704,0.27204883492530163,0.047032514310145136],"effort":[-0.039501468100328195,-0.00041785380440912843,0.34182469431760382,0.029324568205790609]}
{"step":6492,"t":32.460000000000001,"command":[0.020384352399795781,-0.10079230601407049,-0.26234325616991233,0.58470343352413379,0.58470343352413379],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040219694820264884,-0.0014502269007019564,0.0019754280372410449,0.0099804003152691445],"integral":[-0.091171492893254352,-0.095449334345322739,0.27208834348604644,0.04723212231645052],"effort":[-0.039491536504733138,-0.00041552182275905996,0.34187810517491107,0.029332447553099106]}
{"step":6496,"t":32.480000000000004,"command":[0.020327052830804972,-0.10070570668994544,-0.26233927720126538,0.58474871049522648,0.58474871049522648],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0004014702410701787,-0.0014264871262246182,0.0020257189421455379,0.0099438192872310927],"integral":[-0.091163463488432947,-0.095477864087847225,0.27212885786488933,0.047430998702195144],"effort":[-0.039481767861201833,-0.00041318907678633641,0.34193105442583022,0.02934012850128051]}
{"step":6500,"t":32.5,"command":[0.020268994460670139,-0.10062087522327101,-0.26233524056507324,0.58479359017039578,0.58479359017039578],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00040069907023077,-0.0014029723553721229,0.002075419891578445,0.0099071030804231963],"integral":[-0.091155449507028335,-0.09550592353495467,0.2721703662627209,0.047629140763803611],"effort":[-0.039472169486515961,-0.00041083213644667674,0.34198354310438084,0.029347608955818887]}
{"step":6504,"t":32.520000000000003,"command":[0.020209852509809459,-0.10053786467839233,-0.26233116048906946,0.58483804898723046,0.58483804898723046],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039988321482709033,-0.0013796815240674221,0.0021245298860690376,0.0098702540586109722],"integral":[-0.091147451842731791,-0.095533517165436024,0.27221285686044228,0.04782654584497583],"effort":[-0.039462749998816327,-0.00040843813846825174,0.34203554354319016,0.029354887764725598]}
{"step":6508,"t":32.539999999999999,"command":[0.020149284483164942,-0.1004567283503979,-0.26232704668104329,0.58488206628468242,0.58488206628468242],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039902237133260243,-0.0013566135648648281,0.0021730478884802729,0.0098332745500413488],"integral":[-0.091139471395305136,-0.095560649436733328,0.27225631781821186,0.048023211335976659],"effort":[-0.039453516845631947,-0.00040599366518351146,0.34208703146143965,0.029361962574766309]}
{"step":6512,"t":32.560000000000002,"command":[0.020086696962218931,-0.10037752209856318,-0.26232289949573306,0.58492564393544488,0.58492564393544488],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039811614809459606,-0.0013337673688538221,0.0022209729106528187,0.0097961668306392191],"integral":[-0.091131509072343242,-0.095587324784110403,0.2723007372764249,0.048219134672589446],"effort":[-0.039444475271248003,-0.00040347539485201516,0.34213800893329482,0.029368828328600462]}
{"step":6516,"t":32.579999999999998,"command":[0.020021499136988759,-0.10030031279457975,-0.26231871526454503,0.5849687843327217,0.5849687843327217],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039716406221512734,-0.0013111417661408886,0.0022683040629192242,0.0097589331056544548],"integral":[-0.09112356579109894,-0.09561354761943322,0.27234610335768328,0.048414313334702537],"effort":[-0.039435630562365986,-0.00040086042769244164,0.34218847864370233,0.029375477815675448]}
{"step":6520,"t":32.600000000000001,"command":[0.019953095055672384,-0.10022516923551934,-0.26231448739818797,0.58501149006347408,0.58501149006347408],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039616554307486673,-0.0012887355256898658,0.0023150405545213637,0.0097215754991869519],"integral":[-0.091115642480237444,-0.095639322329947013,0.27239240416877369,0.048608744844686275],"effort":[-0.039426987423631307,-0.00039812600230069778,0.34223844350628629,0.029381902875342814]}
{"step":6524,"t":32.619999999999997,"command":[0.019880890818420954,-0.10015216546978654,-0.26231020601858662,0.58505376390962616,0.58505376390962616],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039511993649710142,-0.001266547355171177,0.0023611816932556096,0.0096840960453051794],"integral":[-0.091107740081507502,-0.09566465327705044,0.27243962780263881,0.048802426765592377],"effort":[-0.039418550214900427,-0.00039524981973397457,0.34228790666482062,0.029388093966612922]}
{"step":6528,"t":32.640000000000001,"command":[0.01980429229764688,-0.10008137910770736,-0.26230585777116738,0.58509560887988454,0.58509560887988454],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039402650940956185,-0.0012445759009149793,0.0024067268851886148,0.009646496678582861],"integral":[-0.091099859551319315,-0.095689544795068734,0.27248776234034255,0.048995356699164036],"effort":[-0.039410322732584269,-0.00039220999341063557,0.34233687153052278,0.029394040288483626]}
{"step":6532,"t":32.660000000000004,"command":[0.019722717416134516,-0.10001288899206771,-0.26230142615342933,0.58513702795151989,0.58513702795151989],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039288445628971047,-0.0012228197482613279,0.0024516756333805567,0.0096087792267103289],"integral":[-0.091092001862193517,-0.095714001190033968,0.27253679585301016,0.049187532283698245],"effort":[-0.039402308063331296,-0.00038898558227669572,0.34238534147993771,0.029399730098791637]}
{"step":6536,"t":32.68,"command":[0.019635803469602385,-0.09994669270114806,-0.26229692454304704,0.58517802423977294,0.58517802423977294],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039169292305940573,-0.0012012774417187178,0.002496027536794454,0.0095709454886320211],"integral":[-0.091084168003732327,-0.095738026738868345,0.27258671640374604,0.049378951193470882],"effort":[-0.039394509003319318,-0.00038556477789684906,0.34243332005316429,0.029405167621421594]}
{"step":6540,"t":32.700000000000003,"command":[0.019543526701256433,-0.099882653956388831,-0.26229241644096202,0.58521860103112533,0.58521860103112533],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00039045105030766081,-0.001179947526767311,0.0025397822898183264,0.0095329974150781815],"integral":[-0.091076358982726174,-0.09576162568940369,0.2726375120495424,0.049569611141772447],"effort":[-0.039386928141905378,-0.00038194943592272318,0.3424808109928274,0.029410383580533661]}
{"step":6544,"t":32.719999999999999,"command":[0.01944532920004859,-0.099820861003118433,-0.26228787636220274,0.5852587617294982,0.5852587617294982],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038915794934468728,-0.0011588285195667236,0.0025829396814915917,0.0094949369573078535],"integral":[-0.091068575823739284,-0.095784802259795021,0.27268917084317223,0.049759509880918602],"effort":[-0.039379567188999015,-0.00037812082769826238,0.34252781818114553,0.029415362897595124]}
{"step":6548,"t":32.740000000000002,"command":[0.019340664067998874,-0.099761407524600956,-0.26228327529431023,0.58529850959116159,0.58529850959116159],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038781268052612283,-0.0011379188797524531,0.0026254995936931813,0.0094567659222976053],"integral":[-0.091060819570128765,-0.095807560637390071,0.27274168083504607,0.049948645199364552],"effort":[-0.039372427465200213,-0.00037406128659118283,0.3425743453296351,0.029420089033910704]}
{"step":6552,"t":32.759999999999998,"command":[0.019229012909290487,-0.099704382218793144,-0.26227858326148545,0.58533784710435599,0.58533784710435599],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038641426161434289,-0.0011172170139637227,0.0026674619964635049,0.0094184859712781455],"integral":[-0.091053091284896484,-0.095829904977669342,0.27279503007497535,0.050137014918790114],"effort":[-0.039365509535641587,-0.00036975493746566014,0.34262039525276244,0.029424545702010391]}
{"step":6556,"t":32.780000000000001,"command":[0.019109860824303031,-0.099649877481373772,-0.26227376855384416,0.58537677362681695,0.58537677362681695],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038496167288171179,-0.0010967212803514315,0.0027088269337123272,0.0093800986180651025],"integral":[-0.091045392051438856,-0.095851839403276365,0.27284920661364959,0.050324616891151419],"effort":[-0.039358813876744114,-0.00036518678072423177,0.34266596710174163,0.02942871579469131]}
{"step":6560,"t":32.799999999999997,"command":[0.018982806912220415,-0.099597976534604976,-0.26226880127458202,0.5854152889279356,0.5854152889279356],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038345387075056081,-0.0010764300007992667,0.0027495945167728131,0.009341605235248851],"integral":[-0.091037722974023849,-0.095873368003292353,0.27290419850398506,0.050511448995856398],"effort":[-0.039352340525896964,-0.00036034695826664322,0.34271106051057826,0.02943258359610924]}
{"step":6564,"t":32.82,"command":[0.018847780018546121,-0.09954875601372716,-0.2622636550794738,0.58545337906445405,0.58545337906445405],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038188981931885913,-0.001056341501463276,0.0027897648749459769,0.0093030070679045451],"integral":[-0.091030085177637471,-0.095894494833321617,0.272959993801484,0.050697509137214491],"effort":[-0.039346089799762896,-0.00035523881162750643,0.34275565905798727,0.029436134975882315]}
{"step":6568,"t":32.840000000000003,"command":[0.01870433821754415,-0.099502290576810884,-0.26225829770343673,0.58549104776390015,0.58549104776390015],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00038026848577898953,-0.0010364540934084676,0.0028293381885906577,0.0092643052330391162],"integral":[-0.091022479807921886,-0.095915223915189793,0.2730165805652558,0.050882795241875271],"effort":[-0.03934006027216827,-0.00034985226815628266,0.34279976701166959,0.029439354442136162]}
{"step":6572,"t":32.859999999999999,"command":[0.018552057297673882,-0.099458646252695238,-0.2622526978432454,0.58552829899489001,0.58552829899489001],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037858883429797707,-0.0010167660507112153,0.0028683147268875331,0.0092255007225100494],"integral":[-0.091014908031235922,-0.095935559236204018,0.27307394685979353,0.051067305256325475],"effort":[-0.039334249920239671,-0.0003441788299761747,0.3428433889238493,0.029442227605820902]}
{"step":6576,"t":32.880000000000003,"command":[0.018390523541629508,-0.099417887432128788,-0.26224682494432422,0.58556513656795262,0.58556513656795262],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037684983183572385,-0.00099727561525186914,0.002906694846546376,0.0091865944095358421],"integral":[-0.091007371034599202,-0.095955504748509057,0.27313208075672446,0.05125103714451619],"effort":[-0.039328656767423233,-0.0003382113561352291,0.34288652916384499,0.029444740425955802]}
{"step":6580,"t":32.899999999999999,"command":[0.018222505771291513,-0.099378542408599571,-0.26224123514380693,0.58560156431654209,0.58560156431654209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037505070048826639,-0.00097798126182535583,0.0029444789906265534,0.0091475885822555059],"integral":[-0.090999870020589443,-0.095975064373745561,0.273190970336537,0.0514339889161613],"effort":[-0.039323280050503624,-0.00033205971658475247,0.34292919212998124,0.0294471853592458]}
{"step":6584,"t":32.920000000000002,"command":[0.018049215771150012,-0.099339763057998562,-0.262236269194833,0.58563758575116498,0.58563758575116498],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037319091882981326,-0.00095888173786740083,0.0029816676893235083,0.0091084872529471061],"integral":[-0.090992406202212842,-0.095994242008502914,0.27325060369032345,0.051616158661220241],"effort":[-0.039318124702822102,-0.00032577418995353036,0.34297138184445314,0.029449736178402807]}
{"step":6588,"t":32.939999999999998,"command":[0.017869874594141653,-0.099301648405432263,-0.26223190964494569,0.58567320409230239,0.58567320409230239],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00037126997244207871,-0.00093997583111660177,0.0030182615591982653,0.009069294841025477],"integral":[-0.090984980802764001,-0.096013041525125242,0.27331096892150741,0.051797544558040753],"effort":[-0.039313195906035527,-0.00031933241801034929,0.34301310199174373,0.029452378529999438]}
{"step":6592,"t":32.960000000000001,"command":[0.017683706138748596,-0.099264302403920673,-0.262228133574408,0.58570842257453004,0.58570842257453004],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036928726435414561,-0.00092126227353594992,0.0030542613012061182,0.0090300155939899707],"integral":[-0.09097759505747692,-0.096031466770595958,0.27337205414753152,0.051978144869920556],"effort":[-0.039308497884827286,-0.00031271346280161479,0.34305435627474429,0.029455096153090273]}
{"step":6596,"t":32.980000000000004,"command":[0.0174899272860181,-0.099227835585714574,-0.26222491413771237,0.58574324425963364,0.58574324425963364],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0003672421230207501,-0.00090273974375887356,0.0030896676984939475,0.0089906535752322103],"integral":[-0.090970250215016507,-0.096049521565471141,0.2734338475015014,0.0521579579414252],"effort":[-0.039304034474778114,-0.0003058975564702005,0.34309514819580078,0.02945787111975251]}
{"step":6600,"t":33,"command":[0.017287760007896873,-0.099192357595151728,-0.26222222095537384,0.58577767227955291,0.58577767227955291],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036513381198366446,-0.00088440686949509129,0.003124481614553698,0.0089512126569303296],"integral":[-0.090962947538776831,-0.096067209702861048,0.27349633713379246,0.052336982194563807],"effort":[-0.039299808484026671,-0.00029886664609063852,0.34313548134125132,0.029460684678742216]}
{"step":6604,"t":33.020000000000003,"command":[0.017076414495221025,-0.099157980792668493,-0.2622200208885116,0.58581170959528117,0.58581170959528117],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036296153858228486,-0.00086626223016872395,0.0031587039911320502,0.0089116965147972849],"integral":[-0.090955688308005184,-0.096084534947464426,0.2735595112136151,0.052515216124859751],"effort":[-0.039295822254825336,-0.00029160393201259479,0.34317535909894609,0.029463517099946122]}
{"step":6608,"t":33.039999999999999,"command":[0.016855083164655907,-0.099124816232823515,-0.26221827919703422,0.58584535900778489,0.58584535900778489],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00036072446112855872,-0.00084830435957305994,0.0031923358458030293,0.0088721086259231363],"integral":[-0.090948473818782613,-0.096101501034655881,0.27362335793053116,0.052692658297378216],"effort":[-0.039292077569122411,-0.00028409382848746702,0.34321478467096034,0.02946634837593138]}
{"step":6612,"t":33.060000000000002,"command":[0.016622948531486593,-0.099092970892749779,-0.26221696054750154,0.58587862328128926,0.58587862328128926],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035842169717459349,-0.00083053174922786965,0.0032253782699980249,0.0088324522714505749],"integral":[-0.090941305384839119,-0.096118111669640433,0.2736878654959311,0.052869307342807224],"effort":[-0.039288575639560674,-0.00027632241788045232,0.34325376121797879,0.029469158759209319]}
{"step":6616,"t":33.079999999999998,"command":[0.016379165601506832,-0.099062549711595838,-0.26221602836309021,0.58591150498934974,0.58591150498934974],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035605233133551017,-0.00081294285156774393,0.0032578324267844572,0.0087927305389597921],"integral":[-0.090934184338212404,-0.096134370526671786,0.27375302214446678,0.053045161953586419],"effort":[-0.039285317142937669,-0.00026827706580158459,0.34329229167888475,0.029471928387575272]}
{"step":6620,"t":33.100000000000001,"command":[0.016122861131132885,-0.099033651830469263,-0.26221544660660218,0.58594400661148127,0.58594400661148127],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035361542269107815,-0.00079553608343263527,0.0032896995487341485,0.008752946327899469],"integral":[-0.090927112029758589,-0.096150281248340436,0.27381881613544146,0.053220220880144407],"effort":[-0.039282302316989225,-0.00025994665105379556,0.3433303788839156,0.029474638122110618]}
{"step":6624,"t":33.119999999999997,"command":[0.015853116664345111,-0.099006371774323684,-0.26221517928232957,0.58597613045278707,0.58597613045278707],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00035111001169640943,-0.00077830982940452209,0.0033209809357628295,0.0087131023562213583],"integral":[-0.090920089829524667,-0.096165847444928523,0.27388523575415669,0.053394482927268831],"effort":[-0.039279530948989914,-0.0002513213079733366,0.34336802546042167,0.029477269297074317]}
{"step":6628,"t":33.140000000000001,"command":[0.015568962178060123,-0.098980798127008912,-0.26221519141397442,0.5860078786891082,0.5860078786891082],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00034853512667387676,-0.00076126244546470545,0.0033516779530313734,0.008673201168121758],"integral":[-0.090913119126991196,-0.096181072693837813,0.27395226931321731,0.053567946950631266],"effort":[-0.039277002503063471,-0.00024239258330186657,0.34340523388570854,0.029479804105203782]}
{"step":6632,"t":33.160000000000004,"command":[0.015269352167046722,-0.098957013384585985,-0.26221544877235037,0.58603925335776275,0.58603925335776275],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00034588978976901608,-0.00074439226208777853,0.0033817920289340719,0.0086332451425549239],"integral":[-0.090906201331195813,-0.09619596053907957,0.27401990515379598,0.053740611853482362],"effort":[-0.039274716036441115,-0.00023315311560129443,0.34344200647612405,0.029482225538443985]}
{"step":6636,"t":33.18,"command":[0.014953155476611454,-0.098935094617298575,-0.26221591816716705,0.58607025632983845,0.58607025632983845],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00034317302262287797,-0.00072769758765600656,0.0034113246530282915,0.0085932365015140011],"integral":[-0.090899337870743349,-0.096210514490832691,0.27408813164685653,0.053912476583512642],"effort":[-0.03927267034359213,-0.00022359685870771513,0.34347834535452254,0.029484517396658309]}
{"step":6640,"t":33.200000000000003,"command":[0.014619125780635411,-0.098915112298633284,-0.26221656786235514,0.58610088932932447,0.58610088932932447],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00034038385151280437,-0.00071117671183018594,0.0034402773740369597,0.0085531773193670002],"integral":[-0.090892530193713086,-0.096224738025069298,0.27415693719433726,0.054083540129899979],"effort":[-0.039270863951282167,-0.00021371883859003888,0.34351425247262507,0.029486664510230933]}
{"step":6644,"t":33.219999999999999,"command":[0.014265873970299757,-0.098897131251170459,-0.26221736727428746,0.58613115396454274,0.58613115396454274],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00033752131210551539,-0.0006948279086074205,0.0034686517980286879,0.0085130695318712535],"integral":[-0.090885779767470976,-0.096238634583241445,0.27422631023029781,0.054253801520537402],"effort":[-0.039269295134984901,-0.00020351516013647616,0.3435497296478065,0.029488652565273665]}
{"step":6648,"t":33.240000000000002,"command":[0.013891830395894511,-0.098881209890451793,-0.26221828697812111,0.58616105176822864,0.58616105176822864],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00033458445424949801,-0.00067864943903783725,0.0034964495868012868,0.0084729149449487284],"integral":[-0.090879088078385989,-0.0962522075720222,0.27429623922203383,0.054423259819436375],"effort":[-0.039267961847569928,-0.00019298295174829862,0.343584778610036,0.029490468178170345]}
{"step":6652,"t":33.259999999999998,"command":[0.013495199163485624,-0.098867402976242261,-0.26221929935416022,0.58619058369629651,0.58619058369629651],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00033157234539937797,-0.00066263955521073115,0.0035236724547473841,0.0084327152430454522],"integral":[-0.090872456631477999,-0.096265460363126415,0.27436671267112878,0.054591914124297286],"effort":[-0.039266862162526686,-0.00018212040046214307,0.34361940041420486,0.02949209879126001]}
{"step":6656,"t":33.280000000000001,"command":[0.013073883945488134,-0.09885575530229547,-0.26222037844299467,0.5862197510835303,0.5862197510835303],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00032848407473573538,-0.00064679650222898566,0.0035503221679276109,0.0083924720000173592],"integral":[-0.090865886949983279,-0.09627839629317099,0.27443771911448733,0.054759763564297632],"effort":[-0.039265993613587333,-0.00017092644142009238,0.34365359656043626,0.029493533257200014]}
{"step":6660,"t":33.299999999999997,"command":[0.012625411672552697,-0.098846309761124282,-0.26222149916264331,0.5862485547944688,0.5862485547944688],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00032531875673735833,-0.00063111852098196586,0.003576400542256053,0.0083521866866264061],"integral":[-0.090859380574848533,-0.096291018663590633,0.27450924712533248,0.054926807298030157],"effort":[-0.039265353788248143,-0.00015940101990142988,0.34368736799860328,0.029494760834856009]}
{"step":6664,"t":33.32,"command":[0.012146801416592771,-0.098839102752328031,-0.26222263819511832,0.58627699564080493,0.58627699564080493],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00032207553396990107,-0.00061560385097370052,0.0036019094414290187,0.008311860678357319],"integral":[-0.090852939064169136,-0.096303330740610107,0.27458128531416104,0.055093044511597307],"effort":[-0.039264940107446598,-0.00014754478465414016,0.34372071561760842,0.029495771874561341]}
{"step":6668,"t":33.340000000000003,"command":[0.011634400119965178,-0.098834166099592141,-0.26222377333600533,0.58630507426738143,0.58630507426738143],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00031875358020205802,-0.00060025073274538876,0.0036268507753161039,0.0082714952634040939],"integral":[-0.090846563992565091,-0.096315335755265019,0.27465382232966734,0.055258474416865391],"effort":[-0.039264749845587241,-0.00013535926615144576,0.34375364011167969,0.029496557456985473]}
{"step":6672,"t":33.359999999999999,"command":[0.011083614321603567,-0.098831525493279615,-0.26222488451151488,0.58633279116724712,0.58633279116724712],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00031535210253252899,-0.00058505741006653622,0.0036512264982313525,0.0082310916515678789],"integral":[-0.090840256950514439,-0.096327036903466348,0.27472684685963195,0.055423096249896747],"effort":[-0.039264780244203039,-0.00012284650643005568,0.34378614199797464,0.029497109812874261]}
{"step":6676,"t":33.380000000000003,"command":[0.010488554253946512,-0.098831156122556135,-0.26222597443204754,0.58636014664012892,0.58636014664012892],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00031187034132518221,-0.00057002213635626298,0.0036750386076289665,0.0081906510332612203],"integral":[-0.09083401954368793,-0.096338437346193476,0.27480034763178451,0.055586909270561972],"effort":[-0.039265029543678956,-0.00011000977033797949,0.34381822156783343,0.029497432123157891]}
{"step":6680,"t":33.399999999999999,"command":[0.009841411497494585,-0.098832886165231684,-0.26222711683495209,0.58638714055169339,0.58638714055169339],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030830755970834289,-0.00055514319240956844,0.0036982891435917153,0.0081501747779859635],"integral":[-0.09082785339249376,-0.096349540210041662,0.27487431341465635,0.055749912766121693],"effort":[-0.039265500095660634,-9.6853380263018599e-05,0.34384987860439148,0.029497560707910989]}
{"step":6684,"t":33.420000000000002,"command":[0.0091312868500918343,-0.098836736752931365,-0.26222829195774855,0.58641377295719643,0.58641377295719643],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030466305057941234,-0.0005404188763045159,0.0037209801864137582,0.0081096643137177349],"integral":[-0.090821760131482174,-0.096360348587567757,0.27494873301838463,0.055912106052396049],"effort":[-0.03926618881752323,-8.3380399538660055e-05,0.3438811131138943,0.029497488285554978]}
{"step":6688,"t":33.439999999999998,"command":[0.0083423520461381948,-0.098842727477860978,-0.26222948084734055,0.58644004375884606,0.58644004375884606],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00030093614595472218,-0.00052584749461126457,0.0037431138542296516,0.0080691209971039957],"integral":[-0.090815741408563078,-0.096370865537459979,0.27502359529546921,0.056073488472338132],"effort":[-0.039267092700364215,-6.9594837661706137e-05,0.34391192492387723,0.029497207925101521]}
{"step":6692,"t":33.460000000000001,"command":[0.0074499593351589162,-0.098850876788044523,-0.2622306638462919,0.58646595266476154,0.58646595266476154],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0002971262209119363,-0.0005114273657480517,0.0037646923011869227,0.0080285461148583703],"integral":[-0.090809798884144838,-0.096381094084774938,0.27509888914149294,0.0562340593946353],"effort":[-0.039268208451516053,-5.5501894095521479e-05,0.34394231363498629,0.029496712609750893]}
{"step":6696,"t":33.480000000000004,"command":[0.0064114609725982596,-0.098861198448309165,-0.26223182286313407,0.58649149886682728,0.58649149886682728],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00029323269515679762,-0.00049715682131390437,0.0037857177144000609,0.0079879408885542569],"integral":[-0.090803934230241704,-0.096391037221201209,0.27517460349578093,0.056393818212406382],"effort":[-0.039269532740379046,-4.1106831803150619e-05,0.34397227824305765,0.029495996181743079]}
{"step":6700,"t":33.5,"command":[0.0051397184495953225,-0.098873704045294997,-0.26223294064259739,0.58651668207342889,0.58651668207342889],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00028925503649679385,-0.00048303421006212766,0.0038061923140646492,0.0079473064799995274],"integral":[-0.090798149129511771,-0.096400697905402455,0.27525072734206224,0.056552764342006373],"effort":[-0.039271062254850289,-2.6416705741110543e-05,0.3440018183504237,0.029495052903213706]}
{"step":6704,"t":33.520000000000003,"command":[0.0033822429608977955,-0.098888398285928228,-0.26223399981005818,0.58654150137785732,0.58654150137785732],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00028519276657612558,-0.00046905790047713225,0.0038261183513963459,0.0079066439962917068],"integral":[-0.090792445274180247,-0.096410079063411994,0.27532724970909017,0.056710897221932205],"effort":[-0.039272792985968981,-1.1439567446542686e-05,0.34403093283859099,0.029493877670412609]}
{"step":6708,"t":33.539999999999999,"command":[-0.0019526087592983187,-0.098905284224538398,-0.26223498504200815,0.58656595588090266,0.58656595588090266],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00028104546936869035,-0.00045522629009853155,0.0038454981066937677,0.0078659544956517502],"integral":[-0.090786824364792879,-0.096419183589213961,0.27540415967122406,0.056868216311845243],"effort":[-0.039274721313759489,3.8126809668885195e-06,0.344059620598477,0.029492466066222765]}
{"step":6712,"t":33.560000000000002,"command":[-0.004392062331317754,-0.09892434415069401,-0.26223588463955017,0.58659004466316023,0.58659004466316023],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00027681286957270679,-0.00044153788147616169,0.0038643338882335954,0.007825239003186546],"integral":[-0.090781288107401423,-0.096428014346843491,0.27548144634898875,0.057024721091908974],"effort":[-0.03927684252916621,1.9290211522180346e-05,0.34408788049792832,0.029490816663521262]}
{"step":6716,"t":33.579999999999998,"command":[-0.0059165250747435644,-0.098945585902606548,-0.26223668264919359,0.58661376651343611,0.58661376651343611],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00027249479845337099,-0.0004279912492766158,0.0038826280307779903,0.0077844985107750064],"integral":[-0.090775838211432355,-0.09643657417182902,0.27555909890960428,0.057180411062124473],"effort":[-0.039279153348231975,3.5005268960069339e-05,0.3441157110630802,0.029488924378621884]}
{"step":6720,"t":33.600000000000001,"command":[-0.0071429559054424696,-0.098969041848405548,-0.26223735826109035,0.58663712020313452,0.58663712020313452],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00026809092264934442,-0.00041458478181755076,0.0039003828959476294,0.0077437339365793445],"integral":[-0.090770476392979374,-0.096444865867465368,0.27563710656752322,0.057335285740856057],"effort":[-0.039281651656073453,5.102181906709545e-05,0.34414311080022691,0.029486780411682005]}
{"step":6724,"t":33.619999999999997,"command":[-0.0082097562730308483,-0.098994740562671366,-0.26223789114194929,0.58666010427757309,0.58666010427757309],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00026360069999076252,-0.00040131663857678745,0.0039176008709906895,0.0077029461195725624],"integral":[-0.090765204378979558,-0.096452892200236909,0.27571545858494301,0.05748934466324751],"effort":[-0.03928433510482373,6.7400098062569361e-05,0.34417007795097293,0.029484376445753118]}
{"step":6728,"t":33.640000000000001,"command":[-0.0091721884151590091,-0.099022675473588201,-0.26223826821653673,0.5866827171041421,0.5866827171041421],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00025902353843254566,-0.00038818490283287765,0.0039342843660796767,0.007662135847408269],"integral":[-0.090760023908210904,-0.096460655898293571,0.27579414427226462,0.057642587380195676],"effort":[-0.039287199787577907,8.412904032317715e-05,0.34419661054869882,0.029481709529630341]}
{"step":6732,"t":33.660000000000004,"command":[-0.010057625524930522,-0.099052820547562745,-0.26223847744173706,0.58670495673722955,0.58670495673722955],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00025435903605774968,-0.00037518780804690621,0.003950435810518016,0.0076213038917158915],"integral":[-0.090754936727489743,-0.096468159654454502,0.27587315298847498,0.057795013458029995],"effort":[-0.039290240154694053,0.00010115583119973395,0.34422270626003443,0.029478778896266385]}
{"step":6736,"t":33.68,"command":[-0.010882893913344753,-0.099085145102119299,-0.26223851263139447,0.58672682182126146,0.58672682182126146],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00024960698457943131,-0.00036232374419964408,0.0039660576538800285,0.0075804510202664988],"integral":[-0.090749944587798156,-0.096475406129338498,0.27595247414155261,0.057946622478435322],"effort":[-0.039293451743517033,0.00011843737992911626,0.34424836344447823,0.029475585763608998]}
{"step":6740,"t":33.700000000000003,"command":[-0.011659251887860572,-0.099119627526849302,-0.26223836159444319,0.58674831005570005,0.58674831005570005],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00024476733676648266,-0.00034959122569544476,0.0039811523634432078,0.0075395779903094651],"integral":[-0.090745049241062831,-0.096482397953852411,0.27603209718882149,0.058097414038241514],"effort":[-0.039296829426399636,0.00013593815458458032,0.34427357935321989,0.029472128865338294]}
{"step":6744,"t":33.719999999999999,"command":[-0.012394757161647752,-0.099156242799159605,-0.26223801594981488,0.58676941955895823,0.58676941955895823],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00023984017796085944,-0.00033698886474287093,0.0039957224233524435,0.0074986855478206271],"integral":[-0.09074025243750361,-0.09648913773114727,0.27611201163728855,0.058247387749197924],"effort":[-0.039300368747670636,0.00015363000509621824,0.34429835172955675,0.029468408261624744]}
{"step":6748,"t":33.740000000000002,"command":[-0.013095381903135705,-0.099194968162306996,-0.2622374639779082,0.58679014826339126,0.58679014826339126],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00023482570652122448,-0.00032451535066968518,0.0040097703343233704,0.0074577744260219125],"integral":[-0.090735555923373179,-0.096495628038160669,0.27619220704397501,0.058396543237718361],"effort":[-0.0393040646111429,0.00017148902718897409,0.34432267809897266,0.029464422902421801]}
{"step":6752,"t":33.759999999999998,"command":[-0.013765764366021355,-0.099235779497065579,-0.26223669634416291,0.58681049404904617,0.58681049404904617],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00022972421592104553,-0.00031216943313405743,0.0040232986126751413,0.0074168453459154682],"integral":[-0.090730961439054764,-0.096501871426823344,0.27627267301622854,0.058544880144636671],"effort":[-0.039307912420945459,0.00018949626858082332,0.34434655592608571,0.029460172488555238]}
{"step":6756,"t":33.780000000000001,"command":[-0.014409564292620865,-0.099278654628514373,-0.26223570354896475,0.58683045472426476,0.58683045472426476],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00022453607986849811,-0.00029994991036574881,0.0040363097897486711,0.0073758990174064287],"integral":[-0.090726470717457389,-0.096507870425030659,0.27635339921202351,0.0586923981249848],"effort":[-0.039311907740334176,0.00020763554310317426,0.34436998259188734,0.029455656475486338]}
{"step":6760,"t":33.799999999999997,"command":[-0.01502974289614771,-0.099323571349050913,-0.26223447478066447,0.58685002760650462,0.58685002760650462],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00021926174291553302,-0.0002878556190919479,0.0040488064094290621,0.0073349361369190458],"integral":[-0.09072208548259908,-0.096513627537412494,0.27643437534021209,0.058839096847723184],"effort":[-0.039316045794510479,0.00022589317152430259,0.3443929549017552,0.029450873968980471]}
{"step":6764,"t":33.82,"command":[-0.015628731817042624,-0.099370508314705619,-0.26223299937871641,0.58686921013110438,0.58686921013110438],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00021390171266522096,-0.00027588542689560569,0.0040607910270771264,0.0072939573861849905],"integral":[-0.090717807448345775,-0.0965191452459504,0.27651559116075364,0.058984975995446887],"effort":[-0.039320321942940432,0.00024425725820904041,0.34441546979990634,0.029445824020217455]}
{"step":6768,"t":33.840000000000003,"command":[-0.016208545219371841,-0.099419442277157793,-0.26223126698901028,0.58688799970896366,0.58688799970896366],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00020845655455725698,-0.0002640382273422226,0.0040722662092864681,0.007252963433525772],"integral":[-0.090713638317254625,-0.096524426010497238,0.27659703648493938,0.059130035264117399],"effort":[-0.039324731444681356,0.00026271693812842181,0.34443752420238855,0.029440505941980246]}
{"step":6772,"t":33.859999999999999,"command":[-0.016770881306831735,-0.099470191691499246,-0.26222934358276079,0.58690639361198993,0.58690639361198993],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00020292687503742357,-0.00025231294822125605,0.0040832345349266497,0.0072119551133098536],"integral":[-0.090709579779753871,-0.096529472269461666,0.27667870117563792,0.059274274366383599],"effort":[-0.039329273835494602,0.00028126245980783808,0.34445911486263203,0.029434954800350997]}
{"step":6776,"t":33.880000000000003,"command":[-0.017317197340125132,-0.099522726385840116,-0.26222722026133966,0.58692438881706366,0.58692438881706366],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00019731332271133439,-0.00024070854130298081,0.0040936985923791802,0.0071709333579629275],"integral":[-0.090705633513299647,-0.09653428644028772,0.27676057514748548,0.059417693033542857],"effort":[-0.039333944056629967,0.00029988532371683693,0.34448023818828377,0.029429170989359172]}
{"step":6780,"t":33.899999999999999,"command":[-0.017848742327673691,-0.099577024635368563,-0.26222488473550787,0.58694198225372796,0.58694198225372796],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00019161659308042367,-0.00022922397126912131,0.0041036609770088717,0.0071298990840870102],"integral":[-0.090701801181438044,-0.096538870919713096,0.27684264836702566,0.059560291015224594],"effort":[-0.0393387370048916,0.00031857760267969045,0.34450089053193556,0.029423153169658801]}
{"step":6784,"t":33.920000000000002,"command":[-0.018366595512515658,-0.099633068726068266,-0.26222232529553097,0.58695917012255161,0.58695917012255161],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00018583742444300277,-0.00021785821568420793,0.0041131242883305497,0.0070888531861298398],"integral":[-0.090698084432949189,-0.09654322808402678,0.27692491085279225,0.059702068078947193],"effort":[-0.039343648133584347,0.0003373318307203603,0.34452106739095451,0.029416899749810904]}
{"step":6788,"t":33.939999999999998,"command":[-0.018871706815207022,-0.099690838797702616,-0.26221952920117059,0.58697594900889105,0.58697594900889105],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0001799765954797472,-0.00020661026225887724,0.0041220911294317375,0.0070477965355346672],"integral":[-0.090694484901039596,-0.096547360289271952,0.2770073526753809,0.059843024009657887],"effort":[-0.039348672417336548,0.00035614131811913122,0.34454076471488831,0.02941040907714702]}
{"step":6792,"t":33.960000000000001,"command":[-0.019364922061597664,-0.099750311742547698,-0.26221648217367427,0.58699231578465982,0.58699231578465982],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00017403492502876539,-0.00019547910293660209,0.0041305641080584543,0.0070067299803726613],"integral":[-0.090691004202539019,-0.096551269871330683,0.2770899639575421,0.059983158609265341],"effort":[-0.039353804108136145,0.00037500020645175186,0.34455997879023775,0.029403679415400695]}
{"step":6796,"t":33.980000000000004,"command":[-0.019847010326239516,-0.099811461249070602,-0.26221316933542621,0.58700826650396132,0.58700826650396132],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00016801327036408686,-0.00018446372783831322,0.0041385458335398972,0.00696565434612606],"integral":[-0.090687643937131732,-0.096554959145887451,0.2771727348742129,0.060122471696187861],"effort":[-0.039359036984801803,0.00039390381888985797,0.34457870494398574,0.02939670918812708]}
{"step":6800,"t":34,"command":[-0.020318598031744763,-0.099874272888588744,-0.26220957475546303,0.58702379681376393,0.58702379681376393],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00016191252751296403,-0.00017356313045624461,0.0041460389135505871,0.0069245704290559207],"integral":[-0.090684405686581468,-0.096558430408496571,0.27725565565248389,0.060260963104768979],"effort":[-0.039364365739232528,0.00041284542597562219,0.34459693802564717,0.029389495354208234]}
{"step":6804,"t":34.020000000000003,"command":[-0.020780280535536828,-0.099938731057360883,-0.26220568602386901,0.58703890212493637,0.58703890212493637],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00015573362548892966,-0.00016277631062933118,0.0041530459527798769,0.0068834789972779253],"integral":[-0.090681291014071685,-0.096561685934709152,0.27733871657153947,0.060398632684714536],"effort":[-0.039369785874301649,0.00043182005913561076,0.34461467260805062,0.029382035908946141]}
{"step":6808,"t":34.039999999999999,"command":[-0.021232578415448806,-0.10000481961815211,-0.26220148985302272,0.58705357796948976,0.58705357796948976],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00014947752374006029,-0.00015210227365747286,0.0041595695527147925,0.0068423807932455061],"integral":[-0.090678301463596886,-0.096564727980182299,0.27742190796259375,0.060535480300579446],"effort":[-0.039375292614001967,0.00045082238616818253,0.34463190340677985,0.029374328667142825]}
{"step":6812,"t":34.060000000000002,"command":[-0.021675970967172359,-0.10007252593245981,-0.26219697105977086,0.58706781901586647,0.58706781901586647],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.0001431452114961651,-0.00014154002874477989,0.0041656123084083951,0.0068012765292294608],"integral":[-0.090675438559366967,-0.096567558780757193,0.27750522020876189,0.060671505831164034],"effort":[-0.039380881039710582,0.00046984771736969903,0.34464862412404618,0.029366370593207739]}
{"step":6816,"t":34.079999999999998,"command":[-0.022110886114302664,-0.10014183985361481,-0.26219211446640611,0.58708161962611927,0.58708161962611927],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00013673770596400736,-0.00013108858911459187,0.0041711768053804832,0.0067601668838196405],"integral":[-0.090672703805247681,-0.096570180552539478,0.27758864374486952,0.060806709168840428],"effort":[-0.039386546488816017,0.00048889128475966244,0.34466482810282745,0.029358158399548979]}
{"step":6820,"t":34.100000000000001,"command":[-0.022537730067312647,-0.10021275216788555,-0.26218690496066371,0.58709497350623951,0.58709497350623951],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00013025604893690534,-0.00012074697107333776,0.0041762656165573731,0.0067190525011268099],"integral":[-0.090670098684268938,-0.096572595491960941,0.27767216905720066,0.060941090218862966],"effort":[-0.039392284414957082,0.00050794927658704856,0.34468050791629212,0.02934968871789503]}
{"step":6824,"t":34.119999999999997,"command":[-0.022956873801485159,-0.1002852541059036,-0.26218132617001916,0.58710787400210596,0.58710787400210596],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00012370130522865175,-0.00011051419202834367,0.0041808812993284761,0.0066779339890175038],"integral":[-0.090667624658164359,-0.096574805775801506,0.27775578668318723,0.061074648898643315],"effort":[-0.03939808999167782,0.00052701805473731557,0.34469565571527278,0.029340957800592166]}
{"step":6828,"t":34.140000000000001,"command":[-0.023368662985505009,-0.10035934361671153,-0.26217536104075873,0.58712031294356182,0.58712031294356182],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00011707455971099456,-0.00010038927084932148,0.0041850263893623563,0.0066368119140948201],"integral":[-0.090665283166970145,-0.096576813561218486,0.27783948721097446,0.06120738513692521],"effort":[-0.039403958894014678,0.00054609440973011182,0.344710261870946,0.029331961042837501]}
{"step":6832,"t":34.160000000000004,"command":[-0.023773441849459474,-0.10043499352431756,-0.26216900168618978,0.58713228197356726,0.58713228197356726],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00011037691253990012,-9.0371225113239362e-05,0.0041887033967267229,0.0065956868241671129],"integral":[-0.09066307562871935,-0.096578620985720745,0.27792326127890898,0.061339298873408554],"effort":[-0.039409886684681546,0.00056517653736963113,0.34472431653548852,0.029322698760451835]}
{"step":6836,"t":34.18,"command":[-0.02417155183165668,-0.10051215648995281,-0.26216224763622664,0.58714377191143574,0.58714377191143574],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[0.00010360947445420265,-8.0459066317262184e-05,0.0041919148024889274,0.00655455928303883],"integral":[-0.090661003439230267,-0.096580230167047088,0.27800709957495878,0.061470390059069333],"effort":[-0.039415868843969491,0.00058426391795046544,0.34473780889438804,0.02931317524170873]}
{"step":6840,"t":34.200000000000003,"command":[-0.024563277429679318,-0.10059083344087569,-0.26215507995810255,0.58715477204571465,0.58715477204571465],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[9.6773367570079927e-05,-7.0651801932219982e-05,0.0041946630514546612,0.0065134298338086483],"integral":[-0.090659067971878865,-0.096581643203085737,0.27809099283598787,0.061600658655745502],"effort":[-0.039421900860084569,0.00060335459808739337,0.34475072633605508,0.029303385087754576]}
{"step":6844,"t":34.219999999999999,"command":[-0.024948859332638882,-0.1006710273554151,-0.26214748083547462,0.58716527016008069,0.58716527016008069],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[8.9869727150748702e-05,-6.0948441885422255e-05,0.0041969505438257393,0.0064722989704182332],"integral":[-0.090657270577335844,-0.096582862171923439,0.27817493184686437,0.061730104635153868],"effort":[-0.039427978728590135,0.0006224455819998022,0.34476305448216055,0.029293322979795401]}
{"step":6848,"t":34.240000000000002,"command":[-0.025328601944984049,-0.10075272938406961,-0.26213943442091359,0.58717525324934017,0.58717525324934017],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[8.2899694196392204e-05,-5.1347990118300046e-05,0.0041987796292031199,0.0064311671469624576],"integral":[-0.090655612583451922,-0.096583889131725803,0.27825890743944842,0.061858727978093116],"effort":[-0.039434097778428011,0.00064153807648744971,0.34477477802842676,0.029282985300088448]}
{"step":6852,"t":34.259999999999998,"command":[-0.025702807512949493,-0.10083592249322884,-0.26213092970784252,0.58718470653239685,0.58718470653239685],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[7.5864406804182494e-05,-4.1849437631302777e-05,0.0042001525988535349,0.0063900347936902691],"integral":[-0.090654095295315845,-0.096584726120478429,0.27834291049142551,0.061986528673966923],"effort":[-0.03944025378727916,0.00066063431404773292,0.34478587958553703,0.029272370522218705]}
{"step":6856,"t":34.280000000000001,"command":[-0.026070000589909263,-0.10091991761003109,-0.26212176546613242,0.58719361576758711,0.58719361576758711],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[6.8765541513693407e-05,-3.2451625180618393e-05,0.0042010716285889593,0.0063489024132049598],"integral":[-0.090652719984485569,-0.096585375152982045,0.27842693192399731,0.062113506722231024],"effort":[-0.039446324850748789,0.0006796449307578693,0.34479634239821277,0.029261495080333325]}
{"step":6860,"t":34.300000000000004,"command":[-0.026429834689822438,-0.10100402816359606,-0.26211193379830222,0.58720196816489456,0.58720196816489456],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[6.160536422727958e-05,-2.3153186310853613e-05,0.0042015387777087909,0.0063077708865543203],"integral":[-0.090651487877201023,-0.096585838216708256,0.2785109626995515,0.062239662139962112],"effort":[-0.039452239772379036,0.00069853616173134146,0.34480615141672588,0.029250426067106528]}
{"step":6864,"t":34.32,"command":[-0.026782452742949773,-0.10108824244816446,-0.26210140725364561,0.58720975564111533,0.58720975564111533],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[5.4386323552702009e-05,-1.3952687917040407e-05,0.0042015560554835574,0.0062666412553628037],"integral":[-0.090650400150729962,-0.096586117270466593,0.27859499382066116,0.062364994965069372],"effort":[-0.039457990222800138,0.00071729977492833788,0.3448152971200984,0.029239157461541258]}
{"step":6868,"t":34.340000000000003,"command":[-0.027126832971438558,-0.10117250598517095,-0.26209018984516425,0.58721696250779065,0.58721696250779065],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[4.7111028253610243e-05,-4.8488570458804503e-06,0.004201125424059704,0.0062255145633176578],"integral":[-0.090649457930164892,-0.096586214247607508,0.27867901632914238,0.062489505256335724],"effort":[-0.039463571790196841,0.00073586506706032609,0.34482376105687607,0.029227695822877389]}
{"step":6872,"t":34.359999999999999,"command":[-0.027457430456065586,-0.10125677487431972,-0.26207848136123429,0.58722357963714211,0.58722357963714211],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[3.9782715569369742e-05,4.1586262948811736e-06,0.0042002488310464159,0.006184392145019646],"integral":[-0.090648662275853512,-0.096586131075081613,0.2787630213057633,0.062613193099236117],"effort":[-0.039469032425279757,0.0007539104872496781,0.34483153248185905,0.02921609796733109]}
{"step":6876,"t":34.380000000000003,"command":[-0.027776294344393281,-0.10134065896544063,-0.26206649357453937,0.58722963629204195,0.58722963629204195],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[3.2404697756227563e-05,1.3069722021530339e-05,0.0041989283628125484,0.0061432759642051638],"integral":[-0.090648014181898384,-0.096585869680641187,0.27884699987301953,0.062736058618520218],"effort":[-0.039474388107001913,0.00077152252750637427,0.34483864573968381,0.029204458947452171]}
{"step":6880,"t":34.399999999999999,"command":[-0.028084672409564946,-0.10142366836620312,-0.26205441364377469,0.5872351508181155,0.5872351508181155],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[2.4980020282283633e-05,2.1884596395738143e-05,0.0041971662697743994,0.0061021687395395041],"integral":[-0.090647514581492741,-0.096585431988713277,0.27893094319841499,0.062858101993311002],"effort":[-0.03947963810752006,0.00078874882435257853,0.34484512235637482,0.029192877602662509]}
{"step":6884,"t":34.420000000000002,"command":[-0.028381464859876346,-0.10150584525030189,-0.2620427872036043,0.58724014827119753,0.58724014827119753],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.7511395357328041e-05,3.0602884969366251e-05,0.0041949650291916996,0.0060610741468926088],"integral":[-0.090647164353585594,-0.096584819931013893,0.27901484249899883,0.06297932347624885],"effort":[-0.039484929472705835,0.00080550754759239592,0.34485099174157807,0.0291814928527276]}
{"step":6888,"t":34.439999999999998,"command":[-0.028666445487019309,-0.10158740855237078,-0.26203171705134021,0.58724465251337155,0.58724465251337155],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[1.0001298883732801e-05,3.9223661784992814e-05,0.0041923273468866817,0.0060199962582064837],"integral":[-0.090646964327607923,-0.096584035457778189,0.27909868904593654,0.063099723401412983],"effort":[-0.03949031115862995,0.00082176509686024976,0.34485628190555045,0.029170309582243655]}
{"step":6892,"t":34.460000000000001,"command":[-0.028940061764255037,-0.10166841091956701,-0.26202115836485257,0.58724868566663346,0.58724868566663346],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[2.4521582533409969e-06,4.7745926200604139e-05,0.0041892560905454346,0.0059789390251800967],"integral":[-0.090646915284442853,-0.096583080539254171,0.27918247416774744,0.063219302181916584],"effort":[-0.039495776604884548,0.00083752717491889644,0.3448610188171885,0.029159310825974616]}
{"step":6896,"t":34.480000000000004,"command":[-0.029202774909101663,-0.10174886396615104,-0.26201108429447462,0.5872522679071609,0.5872522679071609],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-5.1336095019394179e-06,5.6168755162122608e-05,0.0041857542610239662,0.0059379062592259668],"integral":[-0.090647017956632894,-0.096581957164150925,0.27926618925296792,0.06333806030710111],"effort":[-0.039501319805784293,0.00085280206239165754,0.34486522616210386,0.029148488487381982]}
{"step":6900,"t":34.5,"command":[-0.029454995680719905,-0.10182882524941284,-0.26200144793619451,0.58725541658493052,0.58725541658493052],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-1.2753599049286635e-05,6.4491302292690733e-05,0.0041818249758565074,0.0058969016099252869],"integral":[-0.090647273028613876,-0.096580667338105067,0.27934982575248507,0.063455998339299616],"effort":[-0.039506934186168956,0.00086759677055122829,0.34486892430834026,0.029137824534493498]}
{"step":6904,"t":34.520000000000003,"command":[-0.029697237068446278,-0.10190836620457301,-0.26199219817320768,0.58725814874416815,0.58725814874416815],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-2.0405432398007406e-05,7.2712811373332187e-05,0.0041774714602840213,0.0058559285243023895],"integral":[-0.090647681137261835,-0.096579213081877599,0.27943337518169076,0.063573116909785662],"effort":[-0.039512613503057341,0.00088192588949949965,0.34487213326642757,0.029127298400571981]}
{"step":6908,"t":34.539999999999999,"command":[-0.029929908229099897,-0.10198753852759801,-0.26198329549287969,0.58726047883850008,0.58726047883850008],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-2.8086763293799777e-05,8.0832610650394265e-05,0.004172697036165296,0.0058149902665931563],"integral":[-0.090648242872527707,-0.096577596429664597,0.27951682912241405,0.063689416715117519],"effort":[-0.039518352566113905,0.00089579940660234171,0.34487487000562445,0.029116894551195618]}
{"step":6912,"t":34.560000000000002,"command":[-0.030153373449490654,-0.10206638825730031,-0.26197469967432191,0.58726242000784346,0.58726242000784346],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-3.5795268662708324e-05,8.8850102109128137e-05,0.0041675051100051874,0.0057740899372327181],"integral":[-0.090648958777900968,-0.096575819427622417,0.27960017922461416,0.063804898513862174],"effort":[-0.039524145440670566,0.00090922593038444792,0.34487714995346874,0.029106597828780594]}
{"step":6916,"t":34.579999999999998,"command":[-0.030367972198737117,-0.10214497179009684,-0.26196637225401603,0.5872639846830835,0.5872639846830835],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-4.352864972667625e-05,9.6764754384026652e-05,0.0041618991666521055,0.0057332304727159],"integral":[-0.090649829350895494,-0.096573884132534732,0.2796834172079472,0.063919563123316495],"effort":[-0.039529987726964692,0.00092221373546327043,0.3448789877058529,0.029096392464965013]}
{"step":6920,"t":34.600000000000001,"command":[-0.030574035914532671,-0.10222333327996193,-0.26195827544806349,0.58726518302796948,0.58726518302796948],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-5.1284633233228405e-05,0.00010457610232816883,0.0041558827581611446,0.0056924146526179387],"integral":[-0.090650855043560158,-0.096571792610488164,0.27976653486311043,0.064033411416368854],"effort":[-0.039535873971294835,0.0009347716721031336,0.34488039519687452,0.029086264104428664]}
{"step":6924,"t":34.619999999999997,"command":[-0.030771865989406691,-0.1023015206636871,-0.2619503730684265,0.58726602444191844,0.58726602444191844],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-5.9060971498992032e-05,0.00011228374388583262,0.0041494594949913477,0.0056516451056546346],"integral":[-0.090652036262990135,-0.096569546935610442,0.27984952405301028,0.064146444318481946],"effort":[-0.039541799540395307,0.00094690773647000421,0.34488138346381592,0.029076198410292509]}
{"step":6928,"t":34.640000000000001,"command":[-0.03096175272870216,-0.10237957743375427,-0.26194263092299802,0.58726651724026691,0.58726651724026691],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-6.6855443841218332e-05,0.00011988733650580841,0.0041426330395899491,0.0056109243161969191],"integral":[-0.090653373371866963,-0.096567149188880333,0.27993237671380206,0.064258662804805883],"effort":[-0.039547759885188022,0.00095863013203329557,0.34488196227151269,0.029066182009673935]}
{"step":6932,"t":34.660000000000004,"command":[-0.031143974882890231,-0.10245754339412684,-0.26193501699803057,0.58726666876594924,0.58726666876594924],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-7.4665858254885364e-05,0.0001273865956883391,0.0041354070996031389,0.0055702546334285286],"integral":[-0.090654866689032054,-0.096564601456966562,0.28001508485579413,0.064370067897474459],"effort":[-0.039553750664058973,0.0009699471715060976,0.34488214024345515,0.02905620246569959]}
{"step":6936,"t":34.68,"command":[-0.031318802932574309,-0.10253545227594739,-0.26192750184395303,0.58726648566352879,0.58726648566352879],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-8.2490052927930435e-05,0.00013478129404287387,0.004127785422371133,0.0055296382820365642],"integral":[-0.090656516490090613,-0.096561905831085704,0.28009764056424152,0.064480660663115197],"effort":[-0.03955976759782355,0.00098086741712942504,0.34488192518359173,0.029046248624390467]}
{"step":6940,"t":34.700000000000003,"command":[-0.031486479947790483,-0.10261334117791406,-0.26192005659477624,0.5872659735679322,0.5872659735679322],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-9.0325896258125482e-05,0.00014207125667997644,0.0041197717891154895,0.0054890773664114656],"integral":[-0.090658323008015781,-0.096559064405952105,0.28018003600002384,0.064590442210443424],"effort":[-0.039565806917152897,0.00099139841950261201,0.3448813237106913,0.029036309129457906]}
{"step":6944,"t":34.719999999999999,"command":[-0.031647243633669712,-0.10269123928349616,-0.26191265437760453,0.58726513728295604,0.58726513728295604],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-9.8171286555759352e-05,0.00014925635938567439,0.0041113700089092653,0.0054485738779702642],"integral":[-0.090660286433746892,-0.09655607927876439,0.28026226340020199,0.064699413688002833],"effort":[-0.039571864574351391,0.001001548029608848,0.34488034146796925,0.029026373948771125]}
{"step":6948,"t":34.740000000000002,"command":[-0.031801335834594838,-0.10276916391238325,-0.26190527577178341,0.5872639813912699,0.5872639813912699],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00010602415607219307,0.00015633652842916845,0.0041025839155897081,0.0054081297161576725],"integral":[-0.090662406916868332,-0.096552952548195806,0.28034431507851376,0.064807576282325988],"effort":[-0.039577937264172101,0.0010113249608646856,0.34487898383952581,0.029016436212921805]}
{"step":6952,"t":34.759999999999998,"command":[-0.031948973467933878,-0.10284713228405128,-0.26189789968502131,0.58726251021202658,0.58726251021202658],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00011388246983767836,0.00016331173871297899,0.0040934173655839956,0.0053677466967643195],"integral":[-0.090664684566265086,-0.096549686313421548,0.28042618342582543,0.064914931216261268],"effort":[-0.039584021239239313,0.001020736905654743,0.34487725590053064,0.02900648862018617]}
{"step":6956,"t":34.780000000000001,"command":[-0.032090340437740936,-0.1029249877421899,-0.26189056327179583,0.58726072966486376,0.58726072966486376],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00012174421174537819,0.00017018201709084746,0.0040838742410449491,0.0053274267171534717],"integral":[-0.090667119450499989,-0.096546282673079728,0.28050786091064633,0.065021479750604336],"effort":[-0.039590110116274217,0.001029789949410111,0.34487516460650813,0.028996557014544275]}
{"step":6960,"t":34.800000000000004,"command":[-0.032225608012755043,-0.10300275904355145,-0.26188324297997134,0.58725864385132076,0.58725864385132076],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00012960738648160053,0.00017694743401330815,0.0040739584467490708,0.0052871716799826052],"integral":[-0.090669711598229619,-0.096542743724399457,0.28058934007958131,0.065127223184203983],"effort":[-0.039596200662145323,0.001038489811791742,0.34487271477809239,0.028986632291561402]}
{"step":6964,"t":34.82,"command":[-0.032354947031968416,-0.10308047247406092,-0.26187591647978536,0.58725625543250959,0.58725625543250959],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00013747002632991112,0.0001836080969298548,0.0040636739011539191,0.0052469833909623009],"integral":[-0.090672460998756213,-0.09653907156246086,0.28067061355760436,0.065232162852023226],"effort":[-0.03960228971880158,0.0010468425974414818,0.34486990954461294,0.028976705913325948]}
{"step":6968,"t":34.840000000000003,"command":[-0.032478516651979684,-0.10315814344335775,-0.26186857420279896,0.58725356695130293,0.58725356695130293],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00014533019765039512,0.00019016414267647441,0.0040530245333014747,0.0052068635838433686],"integral":[-0.090675367602709223,-0.096535268279607331,0.28075167404827039,0.065336300123700092],"effort":[-0.03960837635684359,0.0010548540439129215,0.34486675189702842,0.028966773798163217]}
{"step":6972,"t":34.859999999999999,"command":[-0.032596466772981961,-0.10323578977933291,-0.26186120391721801,0.58725058062504321,0.58725058062504321],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0001531860023533671,0.00019661573339457838,0.0040420142812118698,0.0051668139297755822],"integral":[-0.090678431322756284,-0.096531335964939444,0.28083251433389461,0.065439636402295609],"effort":[-0.039614459204168721,0.0010625296460821171,0.34486324444445032,0.028956830912806104]}
{"step":6976,"t":34.880000000000003,"command":[-0.032708967298334987,-0.10331342273637291,-0.2618537907048355,0.58724729875623227,0.58724729875623227],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00016103557614055575,0.00020296306423817079,0.0040306470901345648,0.005126836034980875],"integral":[-0.090681652034279095,-0.096527276703654685,0.28091312727569728,0.06554217312299522],"effort":[-0.039620535511998144,0.0010698765417235475,0.34485938989649156,0.028946872194493649]}
{"step":6980,"t":34.899999999999999,"command":[-0.032816159190060555,-0.1033910623687108,-0.26184631721554319,0.58724372336741926,0.58724372336741926],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00016887708546753366,0.00020920636321752895,0.0040189269109118797,0.0050869314336110527],"integral":[-0.090685029575988452,-0.096523092576390329,0.28099350581391552,0.065643911751667436],"effort":[-0.039626602808536755,0.001076900303987396,0.34485519063443004,0.028936891030806107]}
{"step":6984,"t":34.920000000000002,"command":[-0.032918176910030336,-0.10346872909560907,-0.26183876530420469,0.5872398562893687,0.5872398562893687],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0001767087251056676,0.00021534588831129131,0.0040068576981475701,0.0050471015826164534],"integral":[-0.090688563750490558,-0.096518785658624109,0.28107364296787846,0.065744853783319762],"effort":[-0.03963265845834546,0.0010836063710800543,0.34485064881475846,0.028926880557684921]}
{"step":6988,"t":34.939999999999998,"command":[-0.033015155178144705,-0.10354644175448978,-0.26183111798221964,0.58723569921033891,0.58723569921033891],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00018452871862906228,0.00022138192734433293,0.003994443408797288,0.0050073478641297076],"integral":[-0.090692254324863136,-0.096514358020077226,0.2811535318360544,0.065845000740602358],"effort":[-0.03963869997191749,0.0010900004714369752,0.34484576642705567,0.028916834371901547]}
{"step":6992,"t":34.960000000000001,"command":[-0.033107208649760508,-0.10362409784512643,-0.26182339114956549,0.58723125392239484,0.58723125392239484],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00019233530498108387,0.00022731480683291228,0.0039816879999148291,0.0049676716935251886],"integral":[-0.090696101030962761,-0.096509811723940561,0.28123316559605271,0.065944354174472863],"effort":[-0.039644720903637347,0.0010960872645787772,0.34484054558326815,0.028906767249421012]}
{"step":6996,"t":34.980000000000004,"command":[-0.033194447375039689,-0.10370156474440867,-0.26181561006588955,0.58722652208864434,0.58722652208864434],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00020012672794145203,0.00023314489881698375,0.0039685954265200607,0.0049280746105062612],"integral":[-0.090700103565521592,-0.096505148825964226,0.28131253750458313,0.066042915666682994],"effort":[-0.039650714102306348,0.0011018713365342793,0.34483498824432512,0.028896699571867565]}
{"step":7000,"t":35,"command":[-0.033276978549443843,-0.1037788652326259,-0.26180775853843702,0.58722150531936457,0.58722150531936457],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00020790125028757878,0.00023887260632593499,0.0039551696430075722,0.0048885581596694871],"integral":[-0.090704261590527344,-0.096500371373837712,0.28139164089744328,0.06614068682987638],"effort":[-0.039656677649946043,0.0011073573013801457,0.34482909630954051,0.028886624780974514]}
{"step":7004,"t":35.020000000000003,"command":[-0.033354914126797648,-0.10385602054792076,-0.26179982056000128,0.5872162051162938,0.5872162051162938],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00021565716379834399,0.00024449835536233255,0.0039414146036427233,0.0048491238104955148],"integral":[-0.09070857473380331,-0.096495481406730463,0.28147046918951613,0.066237669306086294],"effort":[-0.039662609524649513,0.0011125502964060455,0.34482287155118119,0.028876536520599374]}
{"step":7008,"t":35.039999999999999,"command":[-0.033428357975336158,-0.10393305140539415,-0.2617917822153093,0.5872106230324865,0.5872106230324865],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00022339279026173386,0.00025002259327888687,0.0039273342622485607,0.0048097729617389007],"integral":[-0.09071304258960855,-0.096490480954864885,0.28154901587476111,0.066333864765321077],"effort":[-0.039668508204952116,0.0011174551169272203,0.34481631580220101,0.028866429030515815]}
{"step":7012,"t":35.060000000000002,"command":[-0.033497417309228256,-0.10400997709929465,-0.26178362960793106,0.58720476058328397,0.58720476058328397],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00023110648217405938,0.00025544578847935817,0.0039129325718012531,0.0047705069447188109],"integral":[-0.090717664719252036,-0.096485372039095296,0.28162727452619712,0.066429274904215449],"effort":[-0.039674372033449118,0.0011220769663885847,0.34480943085167182,0.028856296697253321]}
{"step":7016,"t":35.079999999999998,"command":[-0.033562196845063896,-0.10408681641817878,-0.26177534937916164,0.58719861931171757,0.58719861931171757],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00023879662309456151,0.00026076843067590616,0.0038982134839962157,0.004731327025420673],"integral":[-0.090722440651713934,-0.096480156670481779,0.28170523879587706,0.066523901444723865],"effort":[-0.03968019944732689,0.0011264210570668168,0.34480221852158738,0.028846134095255237]}
{"step":7020,"t":35.100000000000001,"command":[-0.033622781025182284,-0.10416358532152883,-0.26176692897957404,0.58719220312432197,0.58719220312432197],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00024646162403252347,0.00026599102873792191,0.0038831809573935949,0.0046922344082752643],"integral":[-0.090727369884194581,-0.096474836849907014,0.28178290241502491,0.066617746132889372],"effort":[-0.039685988807216382,0.0011304914038673579,0.34479468340999503,0.028835936300180966]}
{"step":7024,"t":35.119999999999997,"command":[-0.033679276602334947,-0.10424030064067971,-0.26175835633532263,0.5871855134203785,0.5871855134203785],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0002540999261233523,0.00027111411167135557,0.0038678389530151236,0.0046532302384676427],"integral":[-0.090732451882717044,-0.096469414567673592,0.28186025919408519,0.066710810737658721],"effort":[-0.039691738694514513,0.0011342936724565861,0.34478682717075348,0.028825698416855221]}
{"step":7028,"t":35.140000000000001,"command":[-0.033731802942434955,-0.10431697250904792,-0.26174962198000007,0.58717855177048539,0.58717855177048539],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00026171000550956336,0.00027613823201444454,0.0038521914290750026,0.0046143156095410642],"integral":[-0.090737686082827229,-0.096463891803033303,0.28193730302266667,0.066803097049849547],"effort":[-0.039697447680063197,0.0011378345297472635,0.34477865165928462,0.028815416926609737]}
{"step":7032,"t":35.160000000000004,"command":[-0.033780459738888352,-0.10439361788242502,-0.26174071543673122,0.5871713196435594,0.5871713196435594],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00026929037308121018,0.0002810639629826639,0.0038362423407640733,0.0045754915631803783],"integral":[-0.090743071890288851,-0.096458270523773648,0.28201402786948193,0.06689460688111315],"effort":[-0.039703114785956832,0.0011411194601706571,0.34477015861195898,0.028805087331375063]}
{"step":7036,"t":35.18,"command":[-0.033825350550040684,-0.10447025115607968,-0.26173162630742458,0.58716381851572119,0.58716381851572119],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00027683957359658784,0.0002858918974107949,0.0038199956396240964,0.0045367590882506859],"integral":[-0.090748608681760781,-0.096452552685825435,0.28209042778227439,0.066985342062878164],"effort":[-0.039708738793071852,0.0011441543398331376,0.34476134977396278,0.028794705416457483]}
{"step":7040,"t":35.200000000000003,"command":[-0.033866579524269989,-0.10454688564451245,-0.26172234487814,0.58715604988247494,0.58715604988247494],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00028435618605260338,0.00029062264861112741,0.0038034552731778248,0.0044981191236564966],"integral":[-0.090754295805481833,-0.096446740232853212,0.28216649688773793,0.0670753044453513],"effort":[-0.039714318553239411,0.0011469452086737034,0.34475222691359142,0.028784267255272649]}
{"step":7044,"t":35.219999999999999,"command":[-0.033904253011294953,-0.10462353583454549,-0.26171286285008033,0.58714801626286262,0.58714801626286262],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00029183882546046647,0.00029525684966258403,0.0037866251885048108,0.0044595725609674064],"integral":[-0.090760132581991046,-0.096440835095859961,0.282242229391508,0.067164495896570642],"effort":[-0.039719853415853691,0.0011494983722539029,0.3447427930014148,0.028773769165331267]}
{"step":7048,"t":35.240000000000002,"command":[-0.033938471581157877,-0.10470021095941023,-0.26170317072824001,0.58713971821336586,0.58713971821336586],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0002992861410469061,0.00029979515411993063,0.0037695093266312263,0.0044211202468233957],"integral":[-0.090766118304811988,-0.096434839192777566,0.28231761957804064,0.067252918301507106],"effort":[-0.039725341872079663,0.0011518198532650609,0.34473304870367072,0.028763207697134655]}
{"step":7052,"t":35.259999999999998,"command":[-0.033969340517535085,-0.10477692217478295,-0.2616932597525165,0.5871311575173418,0.5871311575173418],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00030669681615469457,0.0003042382366728047,0.0037521116222536399,0.0043827629840582638],"integral":[-0.090772252241135082,-0.096428754428044106,0.28239266181048572,0.067340573561188277],"effort":[-0.0397307828101593,0.0011539160951962507,0.34472299612765367,0.028752579389738776]}
{"step":7056,"t":35.280000000000001,"command":[-0.033996965397295381,-0.10485367806953927,-0.2616831240403345,0.58712233552667248,0.58712233552667248],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00031406957078927711,0.00030858679168621617,0.0037344360047946168,0.0043445015372365337],"integral":[-0.090778533632550867,-0.096422582692210379,0.28246735053058164,0.06742746359193301],"effort":[-0.039736175606109841,0.0011557936562248993,0.34471263687429454,0.02874188180139926]}
{"step":7060,"t":35.300000000000004,"command":[-0.034021446371309723,-0.1049304871832354,-0.26167275638673793,0.58711325395240033,0.58711325395240033],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00032140316064510621,0.00031284153268551496,0.0037164863983307761,0.0043063366343992771],"integral":[-0.090784961695763763,-0.09641632586155667,0.28254168025854826,0.067513590324620995],"effort":[-0.039741519287772108,0.0011574588131959033,0.34470197296657573,0.028731112147260977]}
{"step":7064,"t":35.32,"command":[-0.034042893919220135,-0.105007357176084,-0.26166215019014583,0.58710391448422616,0.58710391448422616],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00032869637767607429,0.00031700319393779264,0.0036982667218246057,0.0042682689676701857],"integral":[-0.090791535623317279,-0.096409985797677913,0.28261564559298474,0.067598955703974395],"effort":[-0.039746812951618062,0.0011589186263952752,0.34469100640270156,0.02872026789051238]}
{"step":7068,"t":35.340000000000003,"command":[-0.034061410816948627,-0.10508429726938183,-0.26165129898854789,0.587094319352224,0.587094319352224],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00033594805038505982,0.0003210725296944883,0.0036797808907396146,0.0042302991937406276],"integral":[-0.090798254584324986,-0.096403564347084025,0.28268924121079952,0.067683561687849211],"effort":[-0.039752055897497147,0.001160179706840945,0.34467973981565114,0.028709346364897338]}
{"step":7072,"t":35.359999999999999,"command":[-0.034077095864666999,-0.10516131336179693,-0.26164019735984267,0.58708447026800026,0.58708447026800026],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00034315704267529057,0.00032505031270790852,0.0036610328159309979,0.0041924279369504047],"integral":[-0.090805117725178491,-0.096397063340829869,0.28276246186711812,0.067767410246588222],"effort":[-0.039757247351237736,0.0011612484625697047,0.34466817522985854,0.028698345523259686]}
{"step":7076,"t":35.380000000000003,"command":[-0.034090052202462411,-0.1052384109037847,-0.26162884029243516,0.58707436915598843,0.58707436915598843],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00035032225414144413,0.00032893733444372408,0.0036420264028840243,0.0041546557922588212],"integral":[-0.090812124170261327,-0.096390484594140999,0.28283530239517579,0.067850503362433395],"effort":[-0.039762386601159189,0.0011621316591666124,0.34465631491990179,0.028687263471605357]}
{"step":7080,"t":35.399999999999999,"command":[-0.034100383546821031,-0.10531559529190536,-0.26161722306234791,0.58706401802924002,0.58706401802924002],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00035744262069159483,0.00033273440528336362,0.0036227655521434698,0.0041169833264131928],"integral":[-0.090819273022675159,-0.096383829906035334,0.28290775770621868,0.067932843028961659],"effort":[-0.039767473007271355,0.0011628361580403024,0.34464416126463587,0.028676098395582956]}
{"step":7084,"t":35.420000000000002,"command":[-0.034108193714026111,-0.10539287110848244,-0.26160534144687836,0.58705341892134333,0.58705341892134333],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00036451711472573756,0.00033644235430707603,0.003603254159213698,0.0040794110795694394],"integral":[-0.090826563364969679,-0.096377101058949199,0.28297982278940292,0.068014431250553051],"effort":[-0.039772505977013498,0.0011633688784335305,0.34463171666723819,0.028664848696524303]}
{"step":7088,"t":35.439999999999998,"command":[-0.034113586663806941,-0.10547024218049167,-0.26159319153773963,0.58704257394349502,0.58704257394349502],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00037154474507983259,0.00034006202919556472,0.0035834961144902699,0.0040419395670225899],"integral":[-0.090833994259871279,-0.096370299818365285,0.28305149271169272,0.068095270041893502],"effort":[-0.039777484922256051,0.0011637367950690669,0.34461898362220383,0.028653512936644487]}
{"step":7092,"t":35.460000000000001,"command":[-0.034116665612845515,-0.10554771214016438,-0.26158076974885702,0.58703148526984017,0.58703148526984017],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00037852455692322096,0.0003435942958894822,0.0035634953032790406,0.0040045692804748789],"integral":[-0.09084156475100974,-0.096363427932447496,0.28312276261775832,0.068175361427502995],"effort":[-0.039782409320213784,0.0011639468725387154,0.34460596469811461,0.02864208978219078]}
{"step":7096,"t":35.480000000000004,"command":[-0.034117534907059141,-0.10562528398841224,-0.26156807287634704,0.58702015513086447,0.58702015513086447],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00038545563185699017,0.00034704003841345976,0.0035432556057664044,0.0039673006894246354],"integral":[-0.090849273863646884,-0.096356487131679228,0.28319362772987366,0.068254707441291487],"effort":[-0.039787278682939367,0.0011640061881343991,0.34459266252986415,0.028630578065306632]}
{"step":7100,"t":35.5,"command":[-0.034116311445835476,-0.10570295928129543,-0.26155509889174522,0.58700858553530688,0.58700858553530688],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00039233709025365826,0.00035040016019383113,0.0035227808960160978,0.0039301342441933063],"integral":[-0.090857120605451952,-0.096349479128475357,0.28326408334779396,0.068333310126175356],"effort":[-0.039792092678546914,0.0011639227066692448,0.34457907949216171,0.028618977077723713]}
{"step":7104,"t":35.520000000000003,"command":[-0.034113085384746153,-0.10578074055426119,-0.26154184451748941,0.58699677906918035,0.58699677906918035],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00039916808763162948,0.00035367558153764911,0.003502075043117614,0.0038930703753563556],"integral":[-0.090865103967204583,-0.096342405616844609,0.28333412484865633,0.06841117153368248],"effort":[-0.039796850752909264,0.0011637025944669815,0.3445652186375921,0.028607285680701346]}
{"step":7108,"t":35.539999999999999,"command":[-0.034107960231312774,-0.10585862983771498,-0.26152830733039828,0.58698473810159524,0.58698473810159524],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00040594781409475367,0.00035686723902739192,0.0034811419112603659,0.0038561094940375851],"integral":[-0.090873222923486471,-0.096335268272064067,0.28340374768688154,0.068488293723563229],"effort":[-0.039801552523110809,0.0011633529511408138,0.34455108276419838,0.02859550301199245]}
{"step":7112,"t":35.560000000000002,"command":[-0.03410103919930995,-0.1059366282369984,-0.26151448538113792,0.58697246507569945,0.58697246507569945],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00041267549564105721,0.00035997608615612187,0.0034599853591896768,0.003819251994050199],"integral":[-0.090881476433399291,-0.096328068750340945,0.28347294739406531,0.068564678763444228],"effort":[-0.039806197633192694,0.0011628808744728737,0.34453667475704325,0.028583628430968688]}
{"step":7116,"t":35.579999999999998,"command":[-0.034092425408241159,-0.10601473659117963,-0.26150037685006922,0.58695996246723037,0.58695996246723037],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00041935039390006423,0.00036300309309089673,0.0034386092400899848,0.0037824982530546558],"integral":[-0.090889863441277294,-0.096320808688479129,0.28354171957886709,0.068640328728505326],"effort":[-0.039810785733612714,0.0011622934702164873,0.34452199753953244,0.028571661359115513]}
{"step":7120,"t":35.600000000000001,"command":[-0.034082221917375331,-0.10609295245092867,-0.26148598242421095,0.58694723244477665,0.58694723244477665],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00042597180682824032,0.00036594924550747976,0.0034170174002916553,0.0037458486379251532],"integral":[-0.090898382877413864,-0.096313489703568983,0.28361005992687294,0.068715245701263833],"effort":[-0.039815316782054876,0.0011615978508252194,0.34450705367458262,0.028559602222299862]}
{"step":7124,"t":35.619999999999997,"command":[-0.034070531724889372,-0.10617127879858101,-0.2614712989308251,0.58693427797682451,0.58693427797682451],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00043253906748508264,0.00036881554531453808,0.0033952136809962674,0.003709303499950356],"integral":[-0.09090703365876357,-0.096306113392662693,0.28367796420049285,0.068789431771262843],"effort":[-0.039819790303149458,0.0011608011320166931,0.34449184666417626,0.028547449861423439]}
{"step":7128,"t":35.640000000000001,"command":[-0.034057456717532915,-0.10624971576109553,-0.26145632529539797,0.58692110165216893,0.58692110165216893],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00043905154349532793,0.00037160301036365251,0.0033732019182250994,0.0036728631745028828],"integral":[-0.090915814689633473,-0.096298681332455421,0.28374542823885734,0.068862889034752905],"effort":[-0.039824206068143277,0.0011599103580666279,0.34447637956459559,0.028535203968829685]}
{"step":7132,"t":35.660000000000004,"command":[-0.034043098966207837,-0.10632826316090328,-0.26144106066689143,0.5869077061412511,0.5869077061412511],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00044550863722592204,0.00037431267363707832,0.003350985941972251,0.0036365279842089926],"integral":[-0.090924724862377987,-0.096291195078982678,0.28381244795769678,0.068935619594437086],"effort":[-0.039828563874721758,0.0011589325872230212,0.3444606555279851,0.028522864327907457]}
{"step":7136,"t":35.68,"command":[-0.034027559755883202,-0.10640692026904496,-0.26142550448044677,0.58689409411877214,0.58689409411877214],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00045190978544518146,0.00037694558287726387,0.0033285695760172374,0.0036002982400207273],"integral":[-0.090933763058086897,-0.096283656167325135,0.28387901934921711,0.069007625559237507],"effort":[-0.039832863536999497,0.001157874822940202,0.34444467771149423,0.028510430855856608]}
{"step":7140,"t":35.700000000000003,"command":[-0.034010940039105146,-0.10648568664850973,-0.26140965620774326,0.58688026833881479,0.58688026833881479],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00045825445900349315,0.00037950280014698023,0.003305956637853491,0.0035641742416298028],"integral":[-0.090942928147266969,-0.096276066111322195,0.28394513848197417,0.069078909044070103],"effort":[-0.039837104909827566,0.0011567440423436057,0.34442844936543926,0.028497903448822963]}
{"step":7144,"t":35.719999999999999,"command":[-0.033993340407453415,-0.10656456116852087,-0.26139351569444996,0.58686623153358763,0.58686623153358763],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00046454216255042979,0.00038198540141165527,0.0032831509384174673,0.003528156278378991],"integral":[-0.090952218990517975,-0.096268426403293958,0.28401080150074254,0.069149472169637682],"effort":[-0.039841287872072043,0.0011555471920570053,0.34441197371443444,0.028485282175032618]}
{"step":7148,"t":35.740000000000002,"command":[-0.033974860259844523,-0.10664354264501348,-0.26137708291877143,0.58685198651979553,0.58685198651979553],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00047077243409510139,0.00038439447602101051,0.0032601562819798424,0.0034922446300863497],"integral":[-0.09096163443919987,-0.096260738513773536,0.28407600462638216,0.06921931706223941],"effort":[-0.039845412331502572,0.0011542911296759627,0.34439525408223032,0.028472567143623763]}
{"step":7152,"t":35.759999999999998,"command":[-0.033955598498680496,-0.10672262975458356,-0.26136035797846552,0.58683753611314371,0.58683753611314371],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00047694484456939357,0.00038673112623899275,0.0032369764659572198,0.0034564395674917536],"integral":[-0.090971173336091254,-0.096253003891248759,0.28414074415570129,0.069288445853589245],"effort":[-0.039849478212182779,0.001152982669403593,0.34437829379134521,0.028459758510448855]}
{"step":7156,"t":35.780000000000001,"command":[-0.033935653001632579,-0.10680182101657876,-0.2613433411961773,0.58682288317406173,0.58682288317406173],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00048305899742495662,0.0003889964667050938,0.0032136152807149543,0.0034207413528751784],"integral":[-0.090980834516039749,-0.096245223961914664,0.28420501646131557,0.069356860680646754],"effort":[-0.039853485480019435,0.0011516285446472143,0.34436109621671851,0.02844685650756211]}
{"step":7160,"t":35.800000000000004,"command":[-0.033915132717986379,-0.10688111217973356,-0.26132603481731048,0.58680803064693166,0.58680803064693166],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00048911453048372522,0.00039119162515599548,0.0031900765097021555,0.0033851502443502657],"integral":[-0.090990616806649424,-0.096237400129411538,0.2842688179915096,0.069424563685533763],"effort":[-0.039857434307057474,0.0011502362272786302,0.34434366483173023,0.028433862166280684]}
{"step":7164,"t":35.82,"command":[-0.033894135570066923,-0.10696050146419162,-0.26130843949729099,0.58679298150067893,0.58679298150067893],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00049511111480837755,0.00039331774165696221,0.0031663639293277868,0.0033496664949091981],"integral":[-0.091000519028945598,-0.096229533774578394,0.28433214527009615,0.069491557015431943],"effort":[-0.039861324712990358,0.0011488124260420759,0.34432600313845618,0.028420775839519023]}
{"step":7168,"t":35.840000000000003,"command":[-0.033872752349558166,-0.10703998564748596,-0.26129055660270184,0.58677773928112897,0.58677773928112897],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00050104845194498537,0.00039537596668115516,0.0031424813106890603,0.0033142903521347078],"integral":[-0.091010539997984502,-0.096221626255244774,0.28439499489630993,0.069557842822474639],"effort":[-0.039865156748581869,0.0011473633517344985,0.34430811531587258,0.028407598221167868]}
{"step":7172,"t":35.859999999999999,"command":[-0.033851076568914243,-0.10711956056292517,-0.26127238792172047,0.58676230893072356,0.58676230893072356],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00050692627291715198,0.00039736746111107557,0.0031184324254898144,0.0032790220603307052],"integral":[-0.091020678523442838,-0.096213678906022559,0.28445736354481971,0.069623423263681247],"effort":[-0.039868930472756095,0.001145895384874495,0.34429000718171393,0.028394330217561901]}
{"step":7176,"t":35.880000000000003,"command":[-0.033829200753834693,-0.10719922484008423,-0.2612539340390751,0.5867466934878045,0.5867466934878045],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00051274433828840671,0.00039929339584998669,0.0030942210417097549,0.003243861858122643],"integral":[-0.091030933410208612,-0.096205693038105555,0.28451924796565392,0.069688300500843695],"effort":[-0.039872645928604164,0.0011444148236432498,0.34427168231887162,0.028380972122289232]}
{"step":7180,"t":35.899999999999999,"command":[-0.033807221132075835,-0.10727897517052191,-0.26123519654963023,0.58673089596274686,0.58673089596274686],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00051850243877682445,0.00040115495161285875,0.003069850918976158,0.003208809979028282],"integral":[-0.091041303458984146,-0.096197669939073305,0.28458064498403346,0.069752476700424254],"effort":[-0.039876303214980702,0.0011429282006730748,0.34425314427724774,0.028367524701343245]}
{"step":7184,"t":35.920000000000002,"command":[-0.033785229548911194,-0.10735880984341176,-0.26121617704529482,0.58671491944759224,0.58671491944759224],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00052420039516665184,0.00040295331784045985,0.0030453258085336721,0.0031738666520670922],"integral":[-0.091051787466887482,-0.096189610872716491,0.28464155150020415,0.069815954033465591],"effort":[-0.039879902600576327,0.0011414417356726222,0.3442343967023947,0.02835398854958248]}
{"step":7188,"t":35.939999999999998,"command":[-0.033763309962490648,-0.10743872661223117,-0.26119687634525457,0.58669876714686575,0.58669876714686575],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00052983805589845723,0.00040468969145801559,0.0030206494533935313,0.0031390321005648758],"integral":[-0.091062384228005458,-0.096181517078887335,0.28470196448927204,0.069878734675476895],"effort":[-0.03988344409428797,0.0011399610996232204,0.34421544337165222,0.028340364118230221]}
{"step":7192,"t":35.960000000000001,"command":[-0.033741554696038886,-0.10751872298346828,-0.26117729612748408,0.58668244201027087,0.58668244201027087],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0005354152974663684,0.00040636527707305081,0.0029958255873161477,0.0031043065430346184],"integral":[-0.091073092533954791,-0.096173389773345871,0.28476188100101835,0.069940820806337581],"effort":[-0.039886927902229648,0.0011384925133057838,0.34419628776313482,0.028326652110233858]}
{"step":7196,"t":35.980000000000004,"command":[-0.033720050770368035,-0.10759879627807042,-0.26115743743297382,0.58666594718963327,0.58666594718963327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00054093202383720396,0.00040798128697949743,0.0029708579346099384,0.0030696901932460996],"integral":[-0.091083911174431542,-0.096165230147606279,0.28482129815971052,0.070002214610202507],"effort":[-0.039890354043523667,0.0011370418239561981,0.3441769335919096,0.028312853083033964]}
{"step":7200,"t":36,"command":[-0.033698876891055558,-0.10767894573261075,-0.26113730279879521,0.58664928587050724,0.58664928587050724],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00054638816580232508,0.00040953893792528007,0.0029457502105807443,0.0030351832607552476],"integral":[-0.091094838937747585,-0.096157039368847771,0.28488021316392215,0.070062918275417607],"effort":[-0.039893723133558094,0.0011356143037185183,0.34415738461237616,0.028298967779471565]}
{"step":7204,"t":36.020000000000003,"command":[-0.033678115836551621,-0.10775917000902013,-0.26111689377000097,0.58663246115510481,0.58663246115510481],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00055178368065655903,0.00041103945072573644,0.0029205061209660599,0.0030007859505123413],"integral":[-0.091105874611360715,-0.096148818579833262,0.28493862328634145,0.070122933994427858],"effort":[-0.039897035466563438,0.001134215486300189,0.34413764448089551,0.028284996745530533]}
{"step":7208,"t":36.039999999999999,"command":[-0.033657847392610837,-0.1078394660304168,-0.26109621233705266,0.58661547615548448,0.58661547615548448],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00055711855105511354,0.00041248405081684147,0.0028951293613284079,0.0029664984638325675],"integral":[-0.091117016982381824,-0.096140568898816919,0.284996525873568,0.070182263963704514],"effort":[-0.039900291265240355,0.0011328506911042801,0.34411771686512582,0.028270940831514935]}
{"step":7212,"t":36.060000000000002,"command":[-0.033638150644567898,-0.10791983128772463,-0.26107526029134265,0.58659833399944827,0.58659833399944827],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0005623927842484111,0.00041387396786529695,0.0028696236167804479,0.0029323209987863752],"integral":[-0.091128264838066797,-0.096132291419459615,0.2850539183459036,0.070240910383680244],"effort":[-0.039903490760681636,0.0011315251787866435,0.34409760545092827,0.028256800775510689]}
{"step":7216,"t":36.079999999999998,"command":[-0.033619102085828731,-0.10800026272453421,-0.26105403975272928,0.58658103773847436,0.58658103773847436],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00056760641146880175,0.00041521043509906708,0.0028439925614369699,0.0028982537506085926],"integral":[-0.091139616966296175,-0.096123987210757628,0.28511079819713236,0.070298875458692414],"effort":[-0.039906634209893987,0.0011302440250573736,0.34407731383434548,0.028242577461325573]}
{"step":7220,"t":36.100000000000001,"command":[-0.033600776293981581,-0.10808075737931519,-0.26103255281722237,0.58656359049487117,0.58656359049487117],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00057275948719515135,0.00041649468863991235,0.0028182398581924062,0.0028642969120841189],"integral":[-0.091151072156040083,-0.096115657316984834,0.28516716299429623,0.070356161396934097],"effort":[-0.03990972187298119,0.0011290121675581947,0.34405684569423489,0.028228271757294796]}
{"step":7224,"t":36.119999999999997,"command":[-0.033583247384269301,-0.10816131244203542,-0.26101080234282414,0.58654599537353114,0.58654599537353114],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00057785208927896292,0.00041772796655292765,0.0027923691585982624,0.0028304506744325497],"integral":[-0.091162629197825668,-0.096107302757653779,0.28522301037746822,0.070412770410422751],"effort":[-0.039912754224414211,0.0011278345048730306,0.34403620468872642,0.028213884715230605]}
{"step":7228,"t":36.140000000000001,"command":[-0.033566581842772482,-0.10824192533496112,-0.26098878968743749,0.58652825545316867,0.58652825545316867],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00058288431683672925,0.0004189115082802175,0.002766384102308006,0.0027967152257863948],"integral":[-0.091174286884162403,-0.09609892452748818,0.28527833805951436,0.070468704714938477],"effort":[-0.039915731371366385,0.0011267154166075431,0.34401539444493745,0.028199416971147088]}
{"step":7232,"t":36.160000000000004,"command":[-0.033550846677652763,-0.10832259399411412,-0.26096651718461777,0.58651037387742444,0.58651037387742444],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00058785628966817605,0.00042004655372951394,0.0027402883169873604,0.0027630907509677005],"integral":[-0.091186044009955766,-0.096090523596413596,0.28533314382585412,0.070523966529957835],"effort":[-0.039918653730541549,0.0011256593127873635,0.34399441866583619,0.028184869360927862]}
{"step":7236,"t":36.18,"command":[-0.033536110162811383,-0.10840331370315949,-0.2609439875158201,0.58649235357950513,0.58649235357950513],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00059276814828246316,0.00042113434343915568,0.0027140854173959283,0.002729577434009256],"integral":[-0.091197899372921415,-0.096082100909544818,0.28538742553420204,0.070578558078638026],"effort":[-0.039921521521241045,0.0011246706848522209,0.34397328080722722,0.028170243099415439]}
{"step":7240,"t":36.200000000000003,"command":[-0.033522432055414164,-0.10848408244694732,-0.26092120360942239,0.58647419775944609,0.58647419775944609],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0005976200531891962,0.00042217611673778244,0.0026877790057127093,0.002696175458151262],"integral":[-0.091209851773985204,-0.096073657387210062,0.28544118111431632,0.070632481587801055],"effort":[-0.039924335318672857,0.0011237534509098593,0.34395198463758592,0.028155539174316794]}
{"step":7244,"t":36.219999999999999,"command":[-0.033509872066876598,-0.10856489704490459,-0.26089816711036651,0.58645590949519566,0.58645590949519566],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00060241218319845302,0.00042317311169015603,0.0026613726712665375,0.0026628850041219287],"integral":[-0.091221900017649168,-0.096065193924976255,0.28549440856774166,0.070685739287883492],"effort":[-0.039927095235959734,0.0011229115259384363,0.34393053378183713,0.028140758365589002]}
{"step":7248,"t":36.240000000000002,"command":[-0.03349849619838248,-0.10864575385178682,-0.26087488088331617,0.58643749161208814,0.58643749161208814],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0006071447362205884,0.00042412656593959763,0.0026348699890670346,0.0026297062513799263],"integral":[-0.091234042912373581,-0.096056711393657457,0.28554710596752303,0.070738333412911095],"effort":[-0.039929801652953727,0.0011221492475530456,0.3439089315682779,0.028125901822930677]}
{"step":7252,"t":36.259999999999998,"command":[-0.033488353026547749,-0.10872664817832663,-0.26085134870196525,0.58641894750161827,0.58641894750161827],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00061181792777187383,0.000425037713976395,0.0026082745211724045,0.0025966393809807586],"integral":[-0.091246279270929015,-0.096048210639377934,0.2855992714579465,0.070790266200530708],"effort":[-0.039932455071863937,0.0011214697884306896,0.34388718198890567,0.028110971047770321]}
{"step":7256,"t":36.280000000000001,"command":[-0.033479503494009674,-0.10880757271836648,-0.26082757647224908,0.58640028047429216,0.58640028047429216],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00061643199200744903,0.00042590778651530048,0.0025815898175012286,0.0025636845808031383],"integral":[-0.09125860791076916,-0.096039692483647632,0.28565090325429654,0.070841539892146768],"effort":[-0.039935056264624784,0.001120877154205406,0.34386528894032853,0.028095968383762174]}
{"step":7260,"t":36.300000000000004,"command":[-0.033472004484099184,-0.1088885238853786,-0.26080356763731882,0.58638149340608015,0.58638149340608015],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0006209871819515822,0.00042673801110515441,0.0025548194137612334,0.0025308420427656575],"integral":[-0.091271027654408185,-0.096031157723425534,0.28570199964257176,0.070892156733002087],"effort":[-0.039937605763145104,0.0011203750841835558,0.34384325580914477,0.028080895129208437]}
{"step":7264,"t":36.32,"command":[-0.033465893487683869,-0.10896949924248578,-0.26077932484471039,0.58636258949337516,0.58636258949337516],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00062548376543936079,0.00042752960961534026,0.0025279668312858661,0.0024981119579705613],"integral":[-0.091283537329716974,-0.096022607131233229,0.28575255897919749,0.070942118972161503],"effort":[-0.039940104015810544,0.0011199660269290014,0.34382108635737635,0.028065752250652436]}
{"step":7268,"t":36.340000000000003,"command":[-0.033461217646480287,-0.10905049482796146,-0.2607548503006476,0.58634357167508455,0.58634357167508455],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00062992202374734241,0.00042828379894499502,0.0025010355763797065,0.0024654945159695574],"integral":[-0.091296135770191925,-0.096014041455254329,0.28580257969072509,0.070991428862480888],"effort":[-0.039942551188768188,0.0011196530863851238,0.34379878404469505,0.028050540766544937]}
{"step":7272,"t":36.359999999999999,"command":[-0.033458010900761018,-0.10913150734881417,-0.2607301471020409,0.5863244430412774,0.5863244430412774],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00063430225079152969,0.00042900178959459634,0.0024740291401266212,0.0024329899057292659],"integral":[-0.091308821815207761,-0.096005461419462437,0.28585206027352761,0.071040088660595468],"effort":[-0.039944947752038079,0.0011194384934354431,0.34377635250766414,0.028035261855813797]}
{"step":7276,"t":36.380000000000003,"command":[-0.033456311639211915,-0.10921253369472957,-0.26070521847515066,0.58630520652367879,0.58630520652367879],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0006386247532208511,0.00042968478452753978,0.0024469509980069581,0.0024005983161773381],"integral":[-0.091321594310272175,-0.095996867723771889,0.28590099929348772,0.071088100626919018],"effort":[-0.039947294228099235,0.0011193247885000668,0.34375379519677368,0.028019916712076796]}
{"step":7280,"t":36.399999999999999,"command":[-0.033456150478729095,-0.10929357025614057,-0.26068006723714698,0.58628586517653092,0.58628586517653092],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00064288984918259295,0.00043033397889835623,0.0024198046096968184,0.0023683199359816332],"integral":[-0.091334452107255826,-0.095988261044193918,0.28594939538568165,0.071135467025638652],"effort":[-0.039949590977048699,0.001119314004855365,0.3437311157057934,0.028004506477714762]}
{"step":7284,"t":36.420000000000002,"command":[-0.033457557144977675,-0.1093746146465637,-0.26065469683076392,0.58626642195722067,0.58626642195722067],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00064709786800842828,0.00043095055875141952,0.0023925934188433473,0.0023361549535367843],"integral":[-0.091347394064615992,-0.095979642033018883,0.28599724725405851,0.071182190124709388],"effort":[-0.039951838654510873,0.0011194081301094468,0.34370831751452185,0.027989032325426565]}
{"step":7288,"t":36.439999999999998,"command":[-0.03346055727133869,-0.10945566373024841,-0.26062911108834569,0.58624687983162671,0.58624687983162671],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00065124915004388662,0.000431535699873975,0.0023653208527467662,0.0023041035579625113],"integral":[-0.091360419047616867,-0.095971011319021401,0.28604455367111342,0.071228272195868636],"effort":[-0.039954037934665218,0.0011196088929085364,0.34368540411231774,0.027973495612035999]}
{"step":7292,"t":36.460000000000001,"command":[-0.033465189722181668,-0.10953670776237821,-0.26060331656520785,0.58622724192754805,0.58622724192754805],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00065534404808809121,0.00043209056957871361,0.0023379903227391807,0.0022721659468070143],"integral":[-0.091373525928578628,-0.095962369507629833,0.28609131347756822,0.07127371551480477],"effort":[-0.039956189476103292,0.0011199189231416136,0.34366237917797998,0.027957899128682646]}
{"step":7296,"t":36.480000000000004,"command":[-0.033471479547547672,-0.10961774074853479,-0.26057731736702378,0.58620751122656767,0.58620751122656767],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00065938292576506186,0.00043261632664048921,0.0023106052236641084,0.0022403423250038079],"integral":[-0.091386713587093923,-0.09595371718109702,0.28613752558204153,0.071318522361304842],"effort":[-0.039958293706503806,0.0011203399431019023,0.34363924621844644,0.027942244619690821]}
{"step":7300,"t":36.5,"command":[-0.033479445679311062,-0.10969876019854935,-0.260551116944368,0.58618769070418664,0.58618769070418664],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00066336615558193479,0.00043311411905555541,0.0022831689333528971,0.0022086328988653037],"integral":[-0.091399980910205555,-0.095945054898715909,0.2861831889607086,0.071362695019282149],"effort":[-0.039960351265028282,0.00112087328299394,0.34361600873310716,0.027926533275929446]}
{"step":7304,"t":36.520000000000003,"command":[-0.033489104260924711,-0.10977976088239245,-0.26052471794740567,0.58616778306471751,0.58616778306471751],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00066729411690258367,0.0004335850842666078,0.0022556848112387229,0.0021770378748616759],"integral":[-0.091413326792543603,-0.095936383197030572,0.28622830265693339,0.071406235776779389],"effort":[-0.039962362280485268,0.0011215201041990855,0.34359266990300574,0.027910766381090003]}
{"step":7308,"t":36.539999999999999,"command":[-0.033500460513157165,-0.10986074019419369,-0.26049812412866868,0.5861477913649169,0.5861477913649169],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067116719479498599,0.00043403034672939711,0.0022281561989778709,0.0021455574598867599],"integral":[-0.0914267501364395,-0.09592770259009599,0.28627286578091293,0.071449146925977119],"effort":[-0.039964327455285706,0.0011222808545936023,0.3435692333219702,0.027894945219269583]}
{"step":7312,"t":36.560000000000002,"command":[-0.033513523256142555,-0.10994169327046718,-0.26047133853515608,0.58612771837822364,0.58612771837822364],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067498577934421711,0.00043445101788408547,0.0022005864199536873,0.0021141918615665833],"integral":[-0.091440249852026381,-0.095919013569738309,0.28631687750931201,0.071491430763208449],"effort":[-0.039966247058736692,0.001123156241040008,0.3435457022512623,0.027879071139559203]}
{"step":7316,"t":36.579999999999998,"command":[-0.033528304266751977,-0.11002261482923349,-0.26044436514240832,0.58610756691569932,0.58610756691569932],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067875026624553136,0.00043484819723182966,0.0021729787785833565,0.0020829412898760724],"integral":[-0.09145382485735129,-0.095910316605793675,0.28636033708488368,0.071533089589005977],"effort":[-0.039968121554146988,0.0011241471870038987,0.343522079995841,0.027863145780285117]}
{"step":7320,"t":36.600000000000001,"command":[-0.033544801038292923,-0.11010349987776191,-0.26041720813218616,0.58608733992405393,0.58608733992405393],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00068246105548563918,0.0004352229701178878,0.0021453365608032904,0.0020518059580802994],"integral":[-0.091467474078461009,-0.095901612146391313,0.28640324381609972,0.071574125708167582],"effort":[-0.039969951488347338,0.0011252536766986581,0.34349837001925354,0.02784717080301502]}
{"step":7324,"t":36.619999999999997,"command":[-0.033563011201446877,-0.11018434426747509,-0.26038987087934401,0.58606704024269551,0.58606704024269551],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00068611854990874299,0.00043557640686142651,0.002117663033768924,0.0020207860812505585],"integral":[-0.091481196449459179,-0.09589290061825409,0.28644559707677508,0.071614541429792594],"effort":[-0.039971737289107453,0.0011264757209084487,0.34347457565883333,0.027831147567453984]}
{"step":7328,"t":36.640000000000001,"command":[-0.033582934761717954,-0.11026514421832596,-0.26036235708658445,0.5860466705294699,0.5860466705294699],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00068972315581228294,0.0004359095630838139,0.0020899614448119941,0.0019898818755434977],"integral":[-0.09149499091257543,-0.095884182426992412,0.28648739630567133,0.071654339067303466],"effort":[-0.039973479508585166,0.001127813507209804,0.343450700038677,0.027815077479096943]}
{"step":7332,"t":36.660000000000004,"command":[-0.033604558160816402,-0.1103458952307152,-0.26033466995263765,0.58602623364806206,0.58602623364806206],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069327528073181988,0.00043622347852811938,0.0020622350215702134,0.001959093558070224],"integral":[-0.091508856418190065,-0.095875457957421847,0.28652864100610276,0.071693520938464872],"effort":[-0.039975178486808371,0.0011292663291836923,0.34342674652373306,0.027798961892540396]}
{"step":7336,"t":36.68,"command":[-0.033627870403691994,-0.11042659362669822,-0.26030681344580892,0.58600573237119391,0.58600573237119391],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069677533310041895,0.00043651917596931877,0.0020344869720223535,0.0019284213472620104],"integral":[-0.091522791924852076,-0.095866727573902466,0.28656933074554319,0.071732089365410118],"effort":[-0.039976834853153551,0.0011308336678875041,0.34340271837189934,0.027782802273157603]}
{"step":7340,"t":36.700000000000003,"command":[-0.033652855789481663,-0.11050723428387406,-0.26027879061871523,0.58598516941792866,0.58598516941792866],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00070022372117550802,0.00043679766157256328,0.0020067204838358776,0.0018978654627926916],"integral":[-0.091536796399275588,-0.095857991620671018,0.2866094651552199,0.071770046674665966],"effort":[-0.039978448837506016,0.0011325147027876495,0.34337861877775855,0.027766600008434984]}
{"step":7344,"t":36.719999999999999,"command":[-0.033679505940389938,-0.11058781139324801,-0.26025060701439301,0.58596454808305865,0.58596454808305865],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00070362085452768675,0.00043705992495812751,0.0019789387263422498,0.0018674261289327587],"integral":[-0.091550868816366149,-0.09584925042217185,0.28664904392974677,0.07180739519724462],"effort":[-0.039980021240054321,0.001134309120388761,0.34335445161018313,0.027750357211305726]}
{"step":7348,"t":36.740000000000002,"command":[-0.033707800849464266,-0.11066832028441843,-0.2602222663879073,0.58594387116414681,0.58594387116414681],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00070696714303331021,0.00043730693827848111,0.0019511448498241712,0.0018371035737116959],"integral":[-0.091565008159226816,-0.095840504283406278,0.28668806682674325,0.071844137268718855],"effort":[-0.039981552519316808,0.0011362158381071439,0.34333022015482623,0.027734075404742188]}
{"step":7352,"t":36.759999999999998,"command":[-0.033737717600979898,-0.1107487562317568,-0.26019377232768826,0.58592314133777601,0.58592314133777601],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007102629948045891,0.0004375396555770239,0.0019233419837183519,0.0018068980269135837],"integral":[-0.09157921341912291,-0.095831753490294741,0.28672653366641759,0.071880275229257121],"effort":[-0.039983043082496977,0.0011382335889234688,0.3433059275551274,0.027717756075615888]}
{"step":7356,"t":36.780000000000001,"command":[-0.03376923052602937,-0.11082911495675297,-0.26016512888967941,0.58590236125093476,0.58590236125093476],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071350881598908344,0.00043775901188936039,0.0018955332361856314,0.0017768097202979227],"integral":[-0.091593483595442685,-0.095822998310056959,0.28676444433114129,0.071915811423663073],"effort":[-0.039984493506140341,0.0011403609303201139,0.34328157691942079,0.027701400784043175]}
{"step":7360,"t":36.800000000000004,"command":[-0.033802307619503126,-0.11090939221248368,-0.26013633904399341,0.58588153370563645,0.58588153370563645],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071670500904708057,0.00043796592282452362,0.0018677216943938646,0.001746838886358737],"integral":[-0.091607817695623622,-0.095814238991600464,0.28680179876502915,0.071950748201390247],"effort":[-0.039985904086077016,0.0011425960004035189,0.34325717153726887,0.027685010805134479]}
{"step":7364,"t":36.82,"command":[-0.033836920148553669,-0.11098958217563992,-0.26010740668321636,0.58586066115562385,0.58586066115562385],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071985197247959043,0.00043816128492069062,0.001839910423427682,0.001716985759529277],"integral":[-0.091622214735073218,-0.095805475765902051,0.28683859697349773,0.071985087916580828],"effort":[-0.039987275181495613,0.0011449371651395973,0.34323271428970464,0.027668587829972485]}
{"step":7368,"t":36.840000000000003,"command":[-0.033873040064966713,-0.11106968126292686,-0.26007833586160878,0.58583974612201162,0.58583974612201162],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072295010224698864,0.00043834597524927688,0.0018121024658270812,0.0016872505763577683],"integral":[-0.09163667373711816,-0.095796708846397072,0.28687483902281424,0.072018832928107984],"effort":[-0.039988607440195972,0.0011473828432428403,0.34320820813630304,0.027652133344347806]}
{"step":7372,"t":36.859999999999999,"command":[-0.033910624910115789,-0.11114968325233143,-0.26004913044251388,0.58581879130292069,0.58581879130292069],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072599978914067442,0.00043852085009066233,0.0017843008421865036,0.0016576335760829508],"integral":[-0.091651193732900968,-0.095787938429395258,0.28691052503965797,0.072051985599629637],"effort":[-0.039989901165500608,0.0011499304817945654,0.34318365624361491,0.027635649078407001]}
{"step":7376,"t":36.880000000000003,"command":[-0.033949640053514085,-0.11122958195991653,-0.26001979320567881,0.58579779915302665,0.58579779915302665],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072900141731868651,0.00043868674638725125,0.0017565085503310485,0.001628134999897668],"integral":[-0.091665773761247335,-0.095779164694467511,0.28694565521066462,0.072084548299627585],"effort":[-0.039991156380850885,0.001152578059763168,0.34315906149252978,0.027619136477873098]}
{"step":7380,"t":36.899999999999999,"command":[-0.033990044087723666,-0.11130937297374802,-0.25999032855885323,0.58577677223968327,0.58577677223968327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073195536536130312,0.00043884448029785084,0.0017287285653200257,0.0015987550911903403],"integral":[-0.091680412868554564,-0.095770387804861551,0.28698022978197102,0.072116523401451388],"effort":[-0.039992373727974706,0.0011553230970853985,0.34313442689554174,0.027602597216165762]}
{"step":7384,"t":36.920000000000002,"command":[-0.034031795474179165,-0.11138905062527546,-0.25996073957155075,0.58575571306871899,0.58575571306871899],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073486200531935886,0.00043899484711229508,0.0017009638393257198,0.0015694940951587188],"integral":[-0.091695110108660952,-0.095761607907919308,0.28701424905875755,0.072147913283354556],"effort":[-0.039993553358893909,0.0011581631031963614,0.34310975539264349,0.027586032759693728]}
{"step":7388,"t":36.939999999999998,"command":[-0.034074843271819359,-0.11146860661302636,-0.25993103179488786,0.5857346242655197,0.5857346242655197],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073772170146746419,0.00043913861988131853,0.0016732173018771945,0.0015403522628452126],"integral":[-0.091709864542690298,-0.095752825135521677,0.28704771340479512,0.072178720328611459],"effort":[-0.039994695775102319,0.0011610949439990531,0.34308505006346951,0.027569445514852693]}
{"step":7392,"t":36.960000000000001,"command":[-0.03411913735114535,-0.11154802860055868,-0.25990121371401559,0.58571350840053615,0.58571350840053615],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074053481111380215,0.00043927654738795674,0.0016454918600801172,0.0015113298599321867],"integral":[-0.091724675238912576,-0.095744039604573922,0.28708062324199674,0.072208946925810105],"effort":[-0.039995801787344736,0.0011641155335863219,0.34306031392286496,0.027552839102673678]}
{"step":7396,"t":36.980000000000004,"command":[-0.034164631990404926,-0.11162731132298311,-0.25987128824594813,0.58569236782016332,0.58569236782016332],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007433016840343587,0.00043940935640074397,0.0016177903973830787,0.0014824271590441196],"integral":[-0.091739541272593261,-0.095735251417445905,0.28711297904994437,0.072238595468990988],"effort":[-0.039996871543903419,0.0011672220790397998,0.34303554972278949,0.027536214910705226]}
{"step":7400,"t":37,"command":[-0.034211276380650107,-0.1117064491814744,-0.25984125910046818,0.58567120503467363,0.58567120503467363],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074602266144263574,0.00043953775216865054,0.0015901157735087601,0.0014536444341665122],"integral":[-0.09175446172582212,-0.095726460662402535,0.28714478136541455,0.072267668357674314],"effort":[-0.039997905359824983,0.0011704114315932278,0.3430107604067667,0.027519574571091658]}
{"step":7404,"t":37.020000000000003,"command":[-0.034259017920982765,-0.11178543717775689,-0.25981112964769748,0.58565002248618248,0.58565002248618248],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074869807550070888,0.00043966241765014402,0.0015624708245391972,0.0014249819605828273],"integral":[-0.091769435687332132,-0.095717667414049537,0.28717603078190534,0.072296167996885971],"effort":[-0.039998903526917449,0.0011736803089102184,0.3429859488380661,0.027502919561895215]}
{"step":7408,"t":37.039999999999999,"command":[-0.034307807996610755,-0.11186427091831845,-0.259780903275868,0.58562882250406711,0.58562882250406711],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00075132824998558334,0.00043978401391653321,0.0015348583623326917,0.0013964400140633604],"integral":[-0.091784462252331847,-0.095708871733771211,0.28720672794915197,0.072324096797167239],"effort":[-0.039999866407456418,0.0011770256895323088,0.34296111774750015,0.02748625129936947]}
{"step":7412,"t":37.060000000000002,"command":[-0.034357585556120535,-0.11194294391138218,-0.25975058370697579,0.58560760759958108,0.58560760759958108],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007539134984393403,0.00043990317914865962,0.0015072811748355619,0.001368018872275667],"integral":[-0.091799540522300632,-0.095700073670188235,0.28723687357264871,0.072351457174612749],"effort":[-0.040000794213830751,0.0011804436852461422,0.34293627007850497,0.027469571522283895]}
{"step":7416,"t":37.079999999999998,"command":[-0.034408294265819192,-0.11202145063955588,-0.25972017447994694,0.58558638019958897,0.58558638019958897],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00075645412367819631,0.00044002052848657325,0.0014797420261070116,0.0013397188149334438],"integral":[-0.091814669604774191,-0.095691273259618501,0.28726646841317083,0.072378251550911418],"effort":[-0.040001687217642266,0.0011839307142832059,0.34291140867525755,0.027452881814251814]}
{"step":7420,"t":37.100000000000001,"command":[-0.034459875919743567,-0.112099785490545,-0.25968967907976898,0.58556514268159943,0.58556514268159943],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00075895041800855267,0.00044013665428010995,0.0014522436559225582,0.0013115401232822732],"integral":[-0.091829848613134368,-0.095682470526532892,0.28729551328628927,0.07240448235337707],"effort":[-0.040002545663789794,0.0011874830484041225,0.34288653632372185,0.027436183756763592]}
{"step":7424,"t":37.119999999999997,"command":[-0.03451227132150278,-0.11217794293623987,-0.2596591010777764,0.58554389738151402,0.58554389738151402],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076140266297852754,0.00044025212586618068,0.0014247887794804903,0.0012834830801274899],"integral":[-0.091845076666393938,-0.095673665484015569,0.28732400906187888,0.072430152014979626],"effort":[-0.040003369826962586,0.0011910968717690231,0.34286165576073296,0.027419478945556297]}
{"step":7428,"t":37.140000000000001,"command":[-0.03456542076214203,-0.11225591707596072,-0.25962844407872193,0.58552264670282039,0.58552264670282039],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076381112915635541,0.00044036748962006378,0.0013973800875208831,0.0012555479700958605],"integral":[-0.091860352888977065,-0.095664858134223166,0.28735195666362928,0.07245526297438154],"effort":[-0.040004159946651512,0.0011947683124639192,0.34283676980187588,0.02740276902808654]}
{"step":7432,"t":37.160000000000004,"command":[-0.034619263858917018,-0.11233370227953186,-0.25959771163075818,0.58550139296179693,0.58550139296179693],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076617607598006288,0.00044048326896484191,0.0013700202461248701,0.00122773507953855],"integral":[-0.091875676410496668,-0.095656048468843874,0.28737935706855178,0.072479817675972308],"effort":[-0.040004916275876393,0.0011984934301333182,0.3428118811602045,0.027386055608049891]}
{"step":7436,"t":37.18,"command":[-0.034673738303476788,-0.11241129268928256,-0.2595669071649554,0.58548013848237801,0.58548013848237801],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076849775127318942,0.00044059996429701709,0.001342711896503257,0.0012000446963404965],"integral":[-0.09189104636552213,-0.095647236469557931,0.28740621130648186,0.072503818569899112],"effort":[-0.040005639009628058,0.0012022681279379936,0.34278699255734452,0.027369340285552508]}
{"step":7440,"t":37.200000000000003,"command":[-0.034728782092997915,-0.11248868223550806,-0.25953603439108874,0.58545888559644332,0.58545888559644332],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077077639115108454,0.00044071805297152267,0.0013154576550329367,0.0011724771103605036],"integral":[-0.091906461893345157,-0.095638422108498503,0.28743252045958251,0.072527268112106316],"effort":[-0.040006328389266751,0.0012060883056629328,0.34276210672382929,0.027352624758185645]}
{"step":7444,"t":37.219999999999999,"command":[-0.034784332568615829,-0.11256586480024093,-0.2595050968420114,0.5854376365945696,0.5854376365945696],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077301221988546054,0.00044083798943395092,0.0012882601130965732,0.0011450326134895272],"integral":[-0.091921922137742862,-0.095629605348709817,0.28745828566184445,0.072550168764376102],"effort":[-0.040006984602603921,0.0012099497922440678,0.34273722634143527,0.027335910684377799]}
{"step":7448,"t":37.240000000000002,"command":[-0.034840330891356144,-0.11264283503754154,-0.25947409805038052,0.58541639367461817,0.58541639367461817],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007752054506164896,0.0004409602056993922,0.0012611218366753718,0.001117711499056262],"integral":[-0.091937426246755188,-0.095620786144595835,0.28748350809857798,0.072572522994357222],"effort":[-0.040007607922176648,0.0012138486566191855,0.34271235398299554,0.027319199636881852]}
{"step":7452,"t":37.259999999999998,"command":[-0.034896709672209744,-0.11271958666586765,-0.25944304195025036,0.58539515911191908,0.58539515911191908],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077735628451769401,0.00044108511039531173,0.0012340453664489992,0.0010905140625958598],"integral":[-0.09195297337244554,-0.095611964442387926,0.28750818900590697,0.072594333275609144],"effort":[-0.040008198617261702,0.0012177803459464973,0.34268749231166901,0.027302493399137654]}
{"step":7456,"t":37.280000000000001,"command":[-0.034953406753227056,-0.11279611405474932,-0.2594119320122365,0.5853739352034274,0.5853739352034274],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077946491064162515,0.00044121308908573464,0.001207033218012743,0.001063440601467347],"integral":[-0.091968562670658366,-0.095603140180606214,0.28753232967026721,0.072615602087638495],"effort":[-0.040008756908086619,0.0012217406436565389,0.34266264401554647,0.027285793562234602]}
{"step":7460,"t":37.300000000000004,"command":[-0.035010355013506404,-0.11287241017734249,-0.25938077152579286,0.58535272421397699,0.58535272421397699],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078153150494864043,0.00044134450480226572,0.0011800878817034288,0.0010364914148021098],"integral":[-0.091984193300757341,-0.095594313290510172,0.28755593142790126,0.072636331915934535],"effort":[-0.040009282808278909,0.001225724958171753,0.34263781174472424,0.027269101829036659]}
{"step":7464,"t":37.32,"command":[-0.035067490321277449,-0.1129484687943276,-0.25934956403366977,0.58533152837566016,0.58533152837566016],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078355623041348466,0.00044147969807484255,0.0011532118224271137,0.0010096668036881917],"integral":[-0.091999864425365604,-0.095585483696548679,0.2875789956643498,0.072656525252008303],"effort":[-0.040009776483718881,0.0012297288774328877,0.34261299811058626,0.027252419880735686]}
{"step":7468,"t":37.340000000000003,"command":[-0.035124748175334411,-0.11302428358999321,-0.25931831305475206,0.58531034992393005,0.58531034992393005],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078553923746449428,0.00044161898705585845,0.0011264074796502044,0.00098296707108191939],"integral":[-0.0920155752101149,-0.095576651316807565,0.28760152381394283,0.072676184593429935],"effort":[-0.040010238083296804,0.0012337479343806578,0.34258820572807347,0.027235749402265596]}
{"step":7472,"t":37.359999999999999,"command":[-0.035182064116404697,-0.11309984831603352,-0.25928702203524107,0.58528919102980737,0.58528919102980737],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078748066390366134,0.00044176266766715599,0.0010996772671796329,0.00095639252165158339],"integral":[-0.092031324823392976,-0.095567816063454228,0.28762351735928643,0.072695312443862972],"effort":[-0.040010667742506688,0.0012377776354908108,0.34256343713632637,0.027219092053396898]}
{"step":7476,"t":37.380000000000003,"command":[-0.035239373904716931,-0.11317515667870523,-0.25925569446514674,0.58526805389222736,0.58526805389222736],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078938063493216859,0.00044191101377089037,0.0010730235731406523,0.00092994346175101494],"integral":[-0.092047112436091622,-0.095558977843178808,0.28764497783074922,0.072713911313097998],"effort":[-0.040011065600927494,0.0012418134731964445,0.34253869490679517,0.027202449511678016]}
{"step":7480,"t":37.399999999999999,"command":[-0.035296613930794488,-0.11325020210620931,-0.25922433383098453,0.58524694069864569,0.58524694069864569],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007912392631712617,0.00044206427750548283,0.0010464487600092554,0.0009036201995956672],"integral":[-0.092062937221355043,-0.095550136557628701,0.28766590680594939,0.072731983717089915],"effort":[-0.040011431763607483,0.0012458509549795557,0.3425139815971241,0.027185823486510226]}
{"step":7484,"t":37.420000000000002,"command":[-0.035353720687506224,-0.11332497844122486,-0.25919294352597927,0.58522585360431423,0.58522585360431423],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079305664874618209,0.00044222268947113896,0.0010199551644940463,0.00087742304496229995],"integral":[-0.092078798354329972,-0.095541292103839284,0.28768630590923927,0.072749532177989157],"effort":[-0.040011766356182775,0.0012498855664502054,0.34248929972689829,0.027169215617478697]}
{"step":7488,"t":37.439999999999998,"command":[-0.035410631272337324,-0.11339947932209758,-0.25916152701003381,0.58520479473869536,0.58520479473869536],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079483287941450875,0.0004423864589273574,0.00099354509741322872,0.00085135230915500681],"integral":[-0.092094695011918262,-0.095532444374660741,0.28770617681118754,0.072766559224172259],"effort":[-0.040012069496347662,0.0012539128071054342,0.34246465178515856,0.027152627585824825]}
{"step":7492,"t":37.460000000000001,"command":[-0.035467282791557232,-0.11347369844092443,-0.25913008756840705,0.58518376625409008,0.58518376625409008],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079656803048555602,0.00044255577410956537,0.00096722084373057626,0.0008254083048373495],"integral":[-0.092110626372527968,-0.095523593259178544,0.28772552122806216,0.072783067390269005],"effort":[-0.040012341260536079,0.0012579281486162915,0.34244004028732156,0.027136061022674223]}
{"step":7496,"t":37.480000000000004,"command":[-0.035523613723856221,-0.11354762962366778,-0.25909862857310439,0.58516277029281905,0.58516277029281905],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079826216506795333,0.00044273080253220964,0.00094098466261804958,0.00079959134589069336],"integral":[-0.092126591615829326,-0.0955147386431279,0.28774434092131451,0.072799059217186823],"effort":[-0.040012581760808574,0.001261927132001746,0.34241546773676651,0.027119517567654936]}
{"step":7500,"t":37.5,"command":[-0.035579562283090338,-0.11362126696609776,-0.25906715363198168,0.58514180894841139,0.58514180894841139],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079991533449730312,0.00044291169085830528,0.00091483878735365565,0.00077390174756397645],"integral":[-0.092142589922519266,-0.095505880409310739,0.28776263769706156,0.072814537252138101],"effort":[-0.04001279119897902,0.0012659052522563045,0.34239093657941921,0.027102998891997764]}
{"step":7504,"t":37.520000000000003,"command":[-0.035635068666342959,-0.11369460479496243,-0.25903566613453388,0.58512088429627773,0.58512088429627773],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080152757869611513,0.00044309856523438995,0.00088878542520287596,0.00074833982612088068],"integral":[-0.092158620474093192,-0.095497018438006051,0.28778041340556559,0.072829504048660523],"effort":[-0.040012969744622193,0.0012698581188549777,0.34236644923965809,0.027086506585139499]}
{"step":7508,"t":37.539999999999999,"command":[-0.035690072394933908,-0.1137676358226499,-0.25900416887033167,0.58509999846801708,0.58509999846801708],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080309892519370152,0.00044329153255484588,0.00086282675746574,0.0007229058987103798],"integral":[-0.092174682452597065,-0.095488152607354951,0.28779766994071493,0.072843962166634732],"effort":[-0.040013117226443184,0.0012737812675556234,0.34234200820727356,0.027070042265768091]}
{"step":7512,"t":37.560000000000002,"command":[-0.035744515045615433,-0.11384035415944874,-0.25897266497423288,0.58507915350167028,0.58507915350167028],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080462938953629326,0.00044349068069760023,0.00083696493933427263,0.00069760028308374356],"integral":[-0.092190775040387793,-0.095479282793741002,0.28781440923950163,0.072857914172296409],"effort":[-0.040013233719502495,0.001277670355846228,0.34231761586223108,0.027053607484353776]}
{"step":7516,"t":37.579999999999998,"command":[-0.035798338486167834,-0.11391275354535862,-0.2589411576256973,0.58505835147461593,0.58505835147461593],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080611897588234172,0.00044369607853889104,0.00081120209994756109,0.00067242329763606001],"integral":[-0.09220689741990544,-0.095470408872170218,0.2878306332815006,0.072871362638249129],"effort":[-0.040013319266410913,0.001281521038370245,0.34229327463019527,0.027037203846125298]}
{"step":7520,"t":37.600000000000001,"command":[-0.03585148999306146,-0.11398482655300177,-0.25890965118822079,0.58503759451335946,0.58503759451335946],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080756767831102749,0.00044390777653613434,0.00078554034278877083,0.00064737526374070153],"integral":[-0.092223048773471664,-0.095461530716639501,0.28784634408835635,0.072884310143523937],"effort":[-0.040013374081362033,0.001285329334722586,0.34226898699397795,0.027020833397044135]}
{"step":7524,"t":37.619999999999997,"command":[-0.035903915068644522,-0.11405656673095531,-0.25887814909817064,0.58501688472267821,0.58501688472267821],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080897548097436101,0.00044412580716879368,0.00075998174575753197,0.0006224565052681541],"integral":[-0.092239228283091154,-0.095452648200496121,0.2878615437232715,0.072896759273629305],"effort":[-0.040013398247473762,0.0012890911172564394,0.34224475541062738,0.027004497833020901]}
{"step":7528,"t":37.640000000000001,"command":[-0.035955558477766582,-0.11412796827215937,-0.25884665423740943,0.58499622412127961,0.58499622412127961],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081034235741328509,0.00044435018518607095,0.00073452836080534212,0.00059766734640531727],"integral":[-0.092255435130239413,-0.095443761196792404,0.28787623429048759,0.072908712620557412],"effort":[-0.040013391775916007,0.0012928021854480922,0.34222058223615442,0.026988198633984991]}
{"step":7532,"t":37.660000000000004,"command":[-0.036006366987184207,-0.11419902546842611,-0.2588151695407428,0.58497561474771209,0.58497561474771209],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081166827077261416,0.00044458090802734773,0.00070918221387739067,0.00057300811100435833],"integral":[-0.092271668495654866,-0.095434869578631856,0.28789041793476511,0.072920172782777501],"effort":[-0.040013354701170845,0.0012964584636157889,0.34219646984946372,0.026971937283232609]}
{"step":7536,"t":37.68,"command":[-0.036056287186050612,-0.11426973277299457,-0.25878369802082335,0.58495505993348118,0.58495505993348118],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081295317374263654,0.00044481795634077059,0.00068394530971804812,0.00054847912258726428],"integral":[-0.09228792755912972,-0.095425973219505036,0.28790409684095947,0.07293114236522924],"effort":[-0.04001328709467214,0.0013000558456429576,0.34217242214178262,0.026955715266660549]}
{"step":7540,"t":37.700000000000003,"command":[-0.036105268263636942,-0.11434008738899283,-0.25875224356607329,0.58493457058222442,0.58493457058222442],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081419700814344687,0.000445061295302418,0.00065881966223901856,0.00052408070391107842],"integral":[-0.092304211499292591,-0.095417071993598987,0.28791727323420424,0.072941623979307466],"effort":[-0.040013189567299524,0.0013035903963891887,0.34214845186221127,0.026939533983177007]}
{"step":7544,"t":37.719999999999999,"command":[-0.036153260163307825,-0.11441008384647587,-0.25872080891780025,0.58491414868351932,0.58491414868351932],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081539970584754151,0.00044531087459942498,0.00063380727828299399,0.00049981317673308823],"integral":[-0.092320519493409539,-0.095408165776107001,0.2879299493797699,0.07295162024284213],"effort":[-0.040013062126419273,0.0013070582204358207,0.34212456133016611,0.026923394840661634]}
{"step":7548,"t":37.740000000000002,"command":[-0.03620021451643194,-0.11447971664154125,-0.25868939684870351,0.58489379619530968,0.58489379619530968],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081656118972350811,0.00044556662834493999,0.00060891013789010628,0.00047567686189409208],"integral":[-0.092336850717204003,-0.095399254443540096,0.28794212758252768,0.072961133780080012],"effort":[-0.040012904782136795,0.0013104555310356897,0.34210075282776042,0.026907299259809218]}
{"step":7552,"t":37.759999999999998,"command":[-0.036246084915451955,-0.1145489805377701,-0.25865801000654765,0.58487351503869167,0.58487351503869167],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081768137414561792,0.00044582847566987382,0.00058413019418690482,0.00045167207903351603],"integral":[-0.092353204344686912,-0.095390337874026704,0.28795381018641142,0.072970167221660678],"effort":[-0.04001271754139487,0.0013137786716981535,0.34207702859371469,0.026891248599152436]}
{"step":7556,"t":37.780000000000001,"command":[-0.036290825501991412,-0.11461787011277112,-0.25862665109124167,0.58485330707447003,0.58485330707447003],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008187601652906995,0.00044609632113801201,0.00055946937318074319,0.00042779914657886664],"integral":[-0.092369579547992728,-0.095381415947603937,0.28796499957387506,0.072978723204592255],"effort":[-0.040012500401929454,0.0013170240156159905,0.34205339079594432,0.026875244252741383]}
{"step":7560,"t":37.800000000000004,"command":[-0.036334391832282965,-0.11468638052808436,-0.25859532245908756,0.58483317415839675,0.58483317415839675],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081979746137128551,0.00044637005522718542,0.00053492957369449812,0.0004040583810639431],"integral":[-0.092385975497220149,-0.095372488546499393,0.28797569816534896,0.07298680437221354],"effort":[-0.04001225333817602,0.001320188029821871,0.34202984159618566,0.026859287459543451]}
{"step":7564,"t":37.82,"command":[-0.036376741680310416,-0.11475450656351707,-0.25856402674523538,0.58481311811632541,0.58481311811632541],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008207931532075996,0.00044664955490625324,0.00051051266736523715,0.00038045009725939938],"integral":[-0.092402391360284303,-0.095363555555401269,0.28798590841869626,0.072994413374158726],"effort":[-0.040011976351673542,0.001323267335276033,0.34200638312093912,0.026843379575037258]}
{"step":7568,"t":37.840000000000003,"command":[-0.036417833999763685,-0.11482224372652457,-0.25853276619206145,0.58479314076830569,0.58479314076830569],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082174712465810096,0.00044693468417156268,0.00048622049866109407,0.00035697460759220867],"integral":[-0.092418826302777465,-0.095354616861717839,0.28799563282866947,0.073001552866310576],"effort":[-0.040011669424656254,0.0013262586332343437,0.34198301748965942,0.026827521770262843]}
{"step":7572,"t":37.859999999999999,"command":[-0.03645762919850172,-0.11488958704188289,-0.25850154325585945,0.58477324386389418,0.58477324386389418],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082265925298496967,0.00044722529454399584,0.00046205488472228495,0.00033363222216042931],"integral":[-0.092435279487837169,-0.095345672355826958,0.28800487392636392,0.073008225510753783],"effort":[-0.040011332538157675,0.0013291587267754454,0.34195974673910146,0.026811715327503292]}
{"step":7576,"t":37.880000000000003,"command":[-0.03649608932380187,-0.11495653206030206,-0.25847036015806563,0.58475342917957818,0.58475342917957818],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082352940929064644,0.00044752122560876018,0.00043801761542061612,0.00031042324847208036],"integral":[-0.092451750076022979,-0.095336721931314788,0.28801363427867233,0.073014433975723228],"effort":[-0.040010965671785706,0.001331964535930925,0.34193657293727597,0.026795961408454451]}
{"step":7580,"t":37.899999999999999,"command":[-0.036533178237809986,-0.11502307432665594,-0.25843921914942763,0.58473369847284817,0.58473369847284817],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082435745901743296,0.00044782230558526592,0.00041411045347228281,0.00028734799114049636],"integral":[-0.092468237225203323,-0.095327765485203081,0.28802191648774178,0.073020180935546034],"effort":[-0.040010568811060652,0.0013346731121555934,0.34191349812973576,0.026780261183505235]}
{"step":7584,"t":37.920000000000002,"command":[-0.036568860747343168,-0.1150892096984527,-0.25840812225628484,0.58471405349398464,0.58471405349398464],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082514326226212908,0.00044812835184060429,0.00039033513448316626,0.0002644067514537829],"integral":[-0.092484740090448561,-0.095318802918166273,0.28802972319043146,0.073025469070575111],"effort":[-0.040010141918516734,0.0013372815763585757,0.34189052435336637,0.026764615729502315]}
{"step":7588,"t":37.939999999999998,"command":[-0.036603104385720196,-0.11515493389503609,-0.25837707166400864,0.58469449595349587,0.58469449595349587],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082588667438665553,0.00044843917151182744,0.00036669336691730336,0.00024159982740556973],"integral":[-0.092501257823936298,-0.095309834134736038,0.28803705705776983,0.073030301067123216],"effort":[-0.0400096849810192,0.0013397872506719292,0.34186765359831262,0.026749026180649067]}
{"step":7592,"t":37.960000000000001,"command":[-0.036635877168592144,-0.11522024295714556,-0.25834606929334558,0.58467502754782075,0.58467502754782075],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082658754635844822,0.0004487545620226463,0.00034318683208223177,0.000218927513362277],"integral":[-0.092517789574863465,-0.095300859043495584,0.28804392079441149,0.073034679617390463],"effort":[-0.040009197953212887,0.001342187495912171,0.34184488783804495,0.026733493566109236]}
{"step":7596,"t":37.980000000000004,"command":[-0.036667149666175791,-0.11528513328801356,-0.25831511707056015,0.58465565000918096,0.58465565000918096],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008272457253069021,0.000449074311618336,0.00031981718436835394,0.00019639009956995412],"integral":[-0.09253433448936961,-0.095291877557263219,0.28805031713809887,0.073038607419381868],"effort":[-0.040008680832206128,0.0013444798646417356,0.34182222908765786,0.026718018874971078]}
{"step":7600,"t":38,"command":[-0.036696893702059433,-0.11534960099019222,-0.25828421686113329,0.58463636498702509,0.58463636498702509],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082786105495658013,0.00044939820000655661,0.00029658605114812886,0.00017398787216449385],"integral":[-0.092550891710468736,-0.095282889593263087,0.28805624885912184,0.073042087176825157],"effort":[-0.04000813356408274,0.0013466620073802492,0.34179967926524202,0.026702603115486188]}
{"step":7604,"t":38.020000000000003,"command":[-0.036725083244834103,-0.11541364290881562,-0.25825337037288326,0.5846171741696683,0.5846171741696683],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082843337617566348,0.00044972599891635046,0.00027349503287910082,0.00015172111262651278],"integral":[-0.092567460377992253,-0.095273895073284764,0.28806171875977943,0.073045121599077681],"effort":[-0.040007556139218609,0.0013487317393399948,0.34177724033412832,0.026687247169735005]}
{"step":7608,"t":38.039999999999999,"command":[-0.03675169362293601,-0.1154772556276025,-0.25822257936647292,0.58459807920480278,0.58459807920480278],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082896252747555188,0.00045005747262572005,0.00025054570318561176,0.00012959009766233542],"integral":[-0.092584039628541767,-0.09526489392383225,0.28806672967384311,0.073047713401030931],"effort":[-0.040006948530978532,0.0013506869841541556,0.34175491420994486,0.026671951963695879]}
{"step":7612,"t":38.060000000000002,"command":[-0.036776701910100351,-0.11554043591358706,-0.25819184550111746,0.58457908175678386,0.58457908175678386],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082944834541942569,0.00045039237855137859,0.00022773960896271817,0.0001075950991396013],"integral":[-0.092600628595450152,-0.095255886076261218,0.28807128446602237,0.073049865303013717],"effort":[-0.040006310707187319,0.0013525258033843786,0.34173270282760454,0.0266567183760856]}
{"step":7616,"t":38.079999999999998,"command":[-0.036800088800190887,-0.11560318139070094,-0.25816117049464321,0.58456018323016301,0.58456018323016301],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082989066580951842,0.00045073046774146697,0.00020507826967408604,8.5736383566237251e-05],"integral":[-0.092617226408766337,-0.095246871466906385,0.28807538603141586,0.073051580030685043],"effort":[-0.04000564274940778,0.0013542465357019346,0.34171060781808171,0.026641547201756474]}
{"step":7620,"t":38.100000000000001,"command":[-0.036821832983472316,-0.11566548874955852,-0.25813055565110832,0.58454138549492296,0.58454138549492296],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083028932322415372,0.00045107148555056931,0.00018256317854703497,6.4014211889285022e-05],"integral":[-0.092633832195230817,-0.095237850037195371,0.2880790372949868,0.073052860314922835],"effort":[-0.040004944524212091,0.00135584738426273,0.34168863135632416,0.026626439236537843]}
{"step":7624,"t":38.119999999999997,"command":[-0.036841917103075057,-0.11572735568391021,-0.25810000226751523,0.58452269008674296,0.58452269008674296],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083064415147471315,0.0004514151722400106,0.00016019580251214194,4.2428838963992632e-05],"integral":[-0.092650445078260313,-0.095228821733750565,0.28808224121103704,0.07305370889170211],"effort":[-0.040004216012040822,0.0013573268558298543,0.3416667752262425,0.026611395158450558]}
{"step":7628,"t":38.140000000000001,"command":[-0.03686032503838936,-0.11578877970252453,-0.25806951173807258,0.58450409864060837,0.58450409864060837],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083095498446583704,0.00045176126344581569,0.00013797758202294119,2.0980513486645869e-05],"integral":[-0.092667064177949635,-0.095219786508481646,0.28808500076267751,0.073054128501971849],"effort":[-0.040003457196863469,0.0013586835619357137,0.34164504132766998,0.02659641569186371]}
{"step":7632,"t":38.160000000000004,"command":[-0.036877042908880033,-0.11584975878605887,-0.25803908528277691,0.58448561270115063,0.58448561270115063],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083122165675275639,0.00045210949074347972,0.00011590993109678038,-3.3052230907770763e-07],"integral":[-0.092683688611084683,-0.095210744318666773,0.28808731896129947,0.073054121891525672],"effort":[-0.040002668072180114,0.0013599162937033792,0.34162343145463941,0.026581501461392092]}
{"step":7636,"t":38.18,"command":[-0.036892058406030437,-0.11591029062615672,-0.25800872413358367,0.58446723383993759,0.58446723383993759],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083144400397783258,0.00045245958230444305,9.3994237364558586e-05,-2.1504032705288445e-05],"integral":[-0.092700317491164239,-0.095201695127020688,0.28808919884604678,0.073053691810871568],"effort":[-0.040001848601039898,0.0013610239734339609,0.34160194743250827,0.026566653127999783]}
{"step":7640,"t":38.200000000000003,"command":[-0.036905360815028196,-0.11597037365286661,-0.25797842937790327,0.58444896357439013,0.58444896357439013],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083162186340590694,0.00045281126332619159,7.2231862104921163e-05,-4.2539788940643142e-05],"integral":[-0.092716949928432352,-0.095192638901754167,0.28809064348328889,0.073052841015092754],"effort":[-0.040000998794737667,0.0013620056568874185,0.34158059102317884,0.02655187122955217]}
{"step":7644,"t":38.219999999999999,"command":[-0.036916941308121946,-0.11603000615026622,-0.25794820207738811,0.58443080338939435,0.58443080338939435],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083175507444588348,0.00045316425657326853,5.0624140170540954e-05,-6.3437569461588517e-05],"integral":[-0.092733585029921267,-0.095183575616622704,0.28809165596609232,0.073051572263703526],"effort":[-0.040000118641093943,0.0013628605555473206,0.3415593639503729,0.026537156313863126]}
{"step":7648,"t":38.240000000000002,"command":[-0.036926792847252608,-0.11608918648785163,-0.25791804326361334,0.5844127547939536,0.5844127547939536],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083184347910569834,0.00045351828299866614,2.9172380166642142e-05,-8.4197159915366804e-05],"integral":[-0.092750221899503382,-0.095174505250962729,0.28809223941369566,0.073049888320505213],"effort":[-0.03999920813017116,0.0013635880299839062,0.34153826796585773,0.026522508910759968]}
{"step":7652,"t":38.259999999999998,"command":[-0.036934909978996774,-0.11614791374854369,-0.25788795367277018,0.58439481922940606,0.58439481922940606],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083188692248059581,0.00045387306224353718,7.8778644265753428e-06,-0.00010481835391962235],"integral":[-0.092766859637952989,-0.095165427789717857,0.28809239697098421,0.073047791953426824],"effort":[-0.039998267258834007,0.0013641875751565953,0.34151730474217012,0.026507929390694861]}
{"step":7656,"t":38.280000000000001,"command":[-0.03694128884315772,-0.11620618671062748,-0.25785793420644854,0.58437699818116984,0.58437699818116984],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083188525321231666,0.00045422831312103007,-1.3258150800776747e-05,-0.00012530095307217159],"integral":[-0.092783497343017232,-0.095156343223455439,0.28809213180796822,0.073045285934365378],"effort":[-0.039997296031521176,0.0013646588213936091,0.34149647600323502,0.026493418201695963]}
{"step":7660,"t":38.300000000000004,"command":[-0.036945927869713541,-0.11626400443065103,-0.25782798568005877,0.58435929305901313,0.58435929305901313],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083183832408106895,0.0004545837541838349,-3.4234435348778902e-05,-0.00014564476691669714],"integral":[-0.092800134109498847,-0.095147251548371767,0.28809144711926127,0.073042373039027039],"effort":[-0.039996294463043515,0.0013650015861540758,0.34147578338442963,0.026478975736793073]}
{"step":7664,"t":38.32,"command":[-0.036948826518305812,-0.11632136619000075,-0.25779810876226406,0.58434170524013573,0.58434170524013573],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083174599241031544,0.00045493910420402184,-5.5049785248506566e-05,-0.00016584961333465653],"integral":[-0.09281676902934706,-0.09513815276628769,0.28809034612355627,0.073039056046760351],"effort":[-0.039995262556854191,0.0013652157810798589,0.34145522848294962,0.026464602324545942]}
{"step":7668,"t":38.340000000000003,"command":[-0.036949986365829739,-0.11637827176977709,-0.25776830397611805,0.58432423612774398,0.58432423612774398],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083160812054572375,0.00045529408266753446,-7.5703022517803475e-05,-0.00018591531914236015],"integral":[-0.09283340119175798,-0.095129046884634333,0.28808883206310593,0.073035337740377501],"effort":[-0.03999420033742225,0.0013653014924350038,0.34143481292627148,0.026450298197302154]}
{"step":7672,"t":38.359999999999999,"command":[-0.036949410560459875,-0.11643472039755823,-0.25773857205783723,0.58430688705057354,0.58430688705057354],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083142457634255429,0.00045564841029399616,-9.6192995192811992e-05,-0.00020584171968063281],"integral":[-0.092850029683284832,-0.095119933916428451,0.2880869082032021,0.073031220905983893],"effort":[-0.039993107820235262,0.0013652589407654235,0.34141453825473167,0.026436063706177699]}
{"step":7676,"t":38.380000000000003,"command":[-0.036947103470368101,-0.11649071192681255,-0.25770891345717234,0.58428965935531874,0.58428965935531874],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083119523349539648,0.00045600180947935609,-0.00011651857724848114,-0.00022562865910802365],"integral":[-0.092866653587954734,-0.09511081388023887,0.28808457783165714,0.073026708332801726],"effort":[-0.039991985020245979,0.0013650884548500866,0.34139440602955434,0.02642189905503035]}
{"step":7680,"t":38.399999999999999,"command":[-0.036943071831532351,-0.11654624662232385,-0.25767932855611675,0.58427255432413749,0.58427255432413749],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083091997213191604,0.00045635400476895516,-0.00013667866859279343,-0.00024527599107304621],"integral":[-0.092883271987397376,-0.095101686800143498,0.28808184425828526,0.073021802812980263],"effort":[-0.039990831983441347,0.0013647905563497589,0.34137441773645222,0.026407804381689812]}
{"step":7684,"t":38.420000000000002,"command":[-0.03693732539488162,-0.11660132492162523,-0.25764981780852092,0.58425557306121245,0.58425557306121245],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083059867974366597,0.00045670472341829971,-0.00015667219563164636,-0.00026478357882253611],"integral":[-0.092899883960992247,-0.095092552705675126,0.28807871081437264,0.073016507141403814],"effort":[-0.039989648795121228,0.0013643660073273665,0.34135457465308572,0.026393779821642809]}
{"step":7688,"t":38.439999999999998,"command":[-0.036929871634853409,-0.11665594656603318,-0.25762038151150168,0.58423871697975804,0.58423871697975804],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00083023125073400372,0.00045705369572390797,-0.0001764981103922203,-0.00028415129489745006],"integral":[-0.092916488586006929,-0.09508341163176065,0.28807518085216477,0.073010824115505871],"effort":[-0.039988435419674437,0.0013638154189667504,0.34133487841815385,0.026379825550457248]}
{"step":7692,"t":38.460000000000001,"command":[-0.036920721480059898,-0.11671011230298683,-0.25759101983231092,0.5842219872862322,0.5842219872862322],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082981758676936579,0.00045740065538035779,-0.00019615539040351848,-0.00030337902166932551],"integral":[-0.092933084937742313,-0.095074263618653038,0.28807125774435671,0.07300475653507249],"effort":[-0.039987191906012895,0.0013631396746081564,0.34131533042867451,0.026365941592237097]}
{"step":7696,"t":38.480000000000004,"command":[-0.036909887959113298,-0.11676382278527297,-0.25756173300933599,0.58420538517085163,0.58420538517085163],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008293575976345835,0.00045774534000053713,-0.00021564303898458093,-0.00032246665153956577],"integral":[-0.092949672089694999,-0.09506510871185303,0.28806694488357704,0.072998307202041701],"effort":[-0.03998591831110155,0.0013623398291542968,0.3412959320626231,0.026352127999670918]}
{"step":7700,"t":38.5,"command":[-0.036897385013199654,-0.11681707879695651,-0.25753252119870534,0.584188911801926,0.584188911801926],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082885120154863046,0.00045808749150699768,-0.00023496008516010747,-0.00034141408692500708],"integral":[-0.092966249113725974,-0.095055946962022894,0.28806224568187383,0.072991478920303207],"effort":[-0.03998461468680798,0.0013614170208122907,0.34127668467231853,0.026338384788153636]}
{"step":7704,"t":38.520000000000003,"command":[-0.036883229555189197,-0.1168698847121404,-0.25750338365054731,0.5841725681366392,0.5841725681366392],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082829832628283917,0.00045842685614461143,-0.00025410558417959805,-0.00036022124352452778],"integral":[-0.092982815080251635,-0.095046778424900003,0.28805716357019023,0.072984274495432711],"effort":[-0.039983281272054964,0.0013603726224207817,0.34125758936335632,0.026324711319425976]}
{"step":7708,"t":38.539999999999999,"command":[-0.036867437444100447,-0.11692223815153924,-0.25747432131792769,0.58415635542137667,0.58415635542137667],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082769890847611549,0.00045876318537807492,-0.00027307861684189305,-0.00037888804599339743],"integral":[-0.092999369058421155,-0.095037603161192447,0.2880517019978534,0.072976696734512847],"effort":[-0.039981917956246366,0.0013592079436946596,0.34123864757918576,0.026311108181881107]}
{"step":7712,"t":38.560000000000002,"command":[-0.036850027229596329,-0.11697414054308414,-0.25744533407790593,0.58414027471817143,0.58414027471817143],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082705289379103597,0.00045909623636930519,-0.00029187828934462701,-0.00039741442777441183],"integral":[-0.093015910116296979,-0.095028421236465058,0.28804586443206653,0.072968748445957354],"effort":[-0.0399805247971389,0.0013579245068219908,0.34121986054782083,0.0262975752413457]}
{"step":7716,"t":38.579999999999998,"command":[-0.03683101907882471,-0.11702559460507858,-0.25741642243708013,0.58412433020446586,0.58412433020446586],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082636023769100397,0.00045942577219093561,-0.00031050372207186427,-0.00041580033310706366],"integral":[-0.093032437321050793,-0.095019232721021238,0.28803965435762507,0.072960432439295217],"effort":[-0.039979102166488742,0.0013565239663847497,0.34120123313681583,0.026284112373816546]}
{"step":7720,"t":38.600000000000001,"command":[-0.036810434858898046,-0.11707661304341756,-0.25738759131140981,0.58410855215809199,0.58410855215809199],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082562090477389383,0.00045975156317645816,-0.0003289539476778458,-0.00043404571702954087],"integral":[-0.093048949739146264,-0.095010037689757715,0.2880330752786715,0.072951751524954631],"effort":[-0.039977652741403732,0.0013550081145011763,0.34118280070422241,0.026270719419685604]}
{"step":7724,"t":38.619999999999997,"command":[-0.036788299680556025,-0.11712719704403414,-0.25735884053752772,0.58409294055692229,0.58409294055692229],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082483487015116985,0.00046007338690756683,-0.00034722796556030389,-0.00045215054517855346],"integral":[-0.093065446436549293,-0.095000836222019561,0.28802613071936028,0.072942708514051061],"effort":[-0.039976176545106309,0.0013533789933863987,0.3411645632084323,0.026257396257714311]}
{"step":7728,"t":38.640000000000001,"command":[-0.03676464046362931,-0.11717734811011049,-0.25733017001985209,0.5840774949806482,0.5840774949806482],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082400212105726567,0.00046039102780537355,-0.00036532481003437312,-0.00047011479366454445],"integral":[-0.093081926478970442,-0.094991628401463454,0.28801882422315961,0.072933306218177771],"effort":[-0.039974673656282003,0.0013516387884199294,0.34114652014286917,0.02624414274616399]}
{"step":7732,"t":38.660000000000004,"command":[-0.036739483385410665,-0.11722706961650881,-0.25730157984143348,0.58406221787604695,0.58406221787604695],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082312265687423114,0.00046070427708544415,-0.00038324354042096331,-0.00048793844987582435],"integral":[-0.093098388932107923,-0.094982414315921748,0.28801115935235116,0.072923547449180254],"effort":[-0.039973144419885691,0.0013497896394268664,0.34112867435028699,0.026230958569011888]}
{"step":7736,"t":38.68,"command":[-0.036712857437904284,-0.11727636335029785,-0.25727307000589489,0.58404711105683182,0.58404711105683182],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082219648894388264,0.00046101293358369322,-0.00040098323695225702,-0.00050562151204591732],"integral":[-0.093114832861886807,-0.094973194057250077,0.2880031396876121,0.072913435018939335],"effort":[-0.03997158897546458,0.001347833901255884,0.3411110279338313,0.026217843574793495]}
{"step":7740,"t":38.700000000000003,"command":[-0.03668479225023645,-0.11732523115976758,-0.25724464006165382,0.58403217397268714,0.58403217397268714],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082122364096770539,0.00046131680397998309,-0.00041854301061494681,-0.00052316398925367213],"integral":[-0.093131257334706161,-0.094963967721170481,0.28799476882739977,0.072902971739154263],"effort":[-0.039970007353571362,0.0013457739824430082,0.34109358023526315,0.026204797486878467]}
{"step":7744,"t":38.719999999999999,"command":[-0.036655318796079736,-0.1173736734932119,-0.25721629004730528,0.58401740602588514,0.58401740602588514],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00082020414928640761,0.00046161570292768683,-0.00043592200820086191,-0.00054056590022433237],"integral":[-0.093147661417691888,-0.094954735407111926,0.28798605038723574,0.072892160421149779],"effort":[-0.039968399547495301,0.0013436123960422364,0.34107633054120357,0.026191820318204186]}
{"step":7748,"t":38.740000000000002,"command":[-0.036624469328091318,-0.11742169376035096,-0.25718801905937172,0.58400280645861613,0.58400280645861613],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0008191380633706391,0.00046190945306867626,-0.00045311941260672839,-0.00055782727529474219],"integral":[-0.093164044178959307,-0.094945497218050554,0.28797698799898358,0.07288100387564389],"effort":[-0.039966765656616693,0.0013413517535643018,0.3410592779515399,0.026178911491067051]}
{"step":7752,"t":38.759999999999998,"command":[-0.036592276180625882,-0.11746929346892672,-0.25715982713469887,0.58398837445910012,0.58398837445910012],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081802544608766681,0.00046219788486279167,-0.00047013444298693585,-0.00057494815572389779],"integral":[-0.093180404687881066,-0.094936253260353293,0.28796758531012384,0.072869504912529415],"effort":[-0.039965105800018517,0.0013389946760792005,0.34104242150338215,0.026166070891929689]}
{"step":7756,"t":38.780000000000001,"command":[-0.03655877317002957,-0.11751647554785201,-0.25713171317737277,0.58397410929596372,0.58397410929596372],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081686637344580149,0.00046248083714450772,-0.00048696635428058244,-0.00059192859446099977],"integral":[-0.093196742015349984,-0.094927003643610397,0.28795784598303825,0.072857666340640198],"effort":[-0.039963419973359796,0.0013365438956976739,0.34102576032801413,0.026153297948170895]}
{"step":7760,"t":38.800000000000004,"command":[-0.03652399640900747,-0.11756324317097915,-0.25710367716282623,0.58396001015054366,0.58396001015054366],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081566093562313036,0.00046275815691632083,-0.00050361443688995422,-0.00060876865615100417],"integral":[-0.093213055234062453,-0.094917748480472075,0.28794777369430047,0.072845490967517176],"effort":[-0.039961708477762765,0.0013340023136851906,0.34100929345502307,0.026140592332883992]}
{"step":7764,"t":38.82,"command":[-0.036487980229915278,-0.11760959807448591,-0.25707571792247197,0.58394607610333205,0.58394607610333205],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081440923596010073,0.00046302970001166344,-0.00052007801701137168,-0.00062546841688138066],"integral":[-0.093229343418781654,-0.09490848788647184,0.28793737213396026,0.072832981599179544],"effort":[-0.039959971152298254,0.0013313727012586882,0.34099301979647845,0.026127953593056134]}
{"step":7768,"t":38.840000000000003,"command":[-0.036450761325644461,-0.11765554271679528,-0.25704783496944494,0.58393230627402437,0.58393230627402437],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081311139095063822,0.00046329533129385592,-0.00053635645636340712,-0.00064202796397294648],"integral":[-0.093245605646600671,-0.09489922197984596,0.287926645004833,0.072820141039900088],"effort":[-0.039958208097231322,0.0013286580012190979,0.34097693831050102,0.026115381365247683]}
{"step":7772,"t":38.859999999999999,"command":[-0.036412376661634625,-0.11770108003165593,-0.25702002757932652,0.58391869978187472,0.58391869978187472],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081176753077261132,0.00046355492443472812,-0.0005524491516650798,-0.00065844739615705805],"integral":[-0.093261840997216128,-0.094889950881357266,0.28791559602179972,0.072806972091976951],"effort":[-0.039956419408748022,0.001325861174148754,0.34096104795495508,0.026102875168129747]}
{"step":7776,"t":38.880000000000003,"command":[-0.036372864416324709,-0.11774621275298745,-0.25699229517468763,0.58390525573662067,0.58390525573662067],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00081037779935999588,0.00046380836203629983,-0.00056835553430900632,-0.00067472682348490576],"integral":[-0.093278048553203333,-0.094880674714116542,0.28790422891111356,0.072793477555507247],"effort":[-0.039954605198412776,0.0013229852658483401,0.34094534767684842,0.026090434580740993]}
{"step":7780,"t":38.899999999999999,"command":[-0.036332264957394278,-0.11779094230794719,-0.25696463747547199,0.58389197328156095,0.58389197328156095],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080894235447215301,0.0004640555362399601,-0.00058407506993329861,-0.00069086636585724559],"integral":[-0.093294227400292778,-0.094871393603391738,0.28789254740971487,0.072779660228190102],"effort":[-0.039952765501347451,0.0013200334769343002,0.34092983646263508,0.026078059411553306]}
{"step":7784,"t":38.920000000000002,"command":[-0.036290616001997268,-0.11783527343248705,-0.25693705341353157,0.5838788514972908,0.5838788514972908],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080746136770870613,0.00046429634801170572,-0.00059960725815066951,-0.00070686615517234763],"integral":[-0.093310376627646949,-0.094862107676431509,0.28788055526455186,0.072765522905086658],"effort":[-0.039950900540868486,0.0013170088098044203,0.3409145132257953,0.026065748875959499]}
{"step":7788,"t":38.939999999999998,"command":[-0.036247959260007935,-0.11787920755380629,-0.25690954272186561,0.58386588956669616,0.58386588956669616],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080593502446735243,0.00046453070767815685,-0.00061495163199110081,-0.00072272633398218211],"integral":[-0.093326495328136291,-0.094852817062277953,0.28786825623191203,0.072751068378407016],"effort":[-0.039949010357535716,0.0013139145505151949,0.3408993769995094,0.026053502784022374]}
{"step":7792,"t":38.960000000000001,"command":[-0.03620433355952974,-0.11792274986190267,-0.25688210427913766,0.58385308657324742,0.58385308657324742],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080436352400781175,0.00046475853442462522,-0.00063010775762961657,-0.00073844705688919099],"integral":[-0.093342582598616441,-0.094843521891589455,0.28785565407675945,0.072736299437269239],"effort":[-0.039947095216935312,0.0013107537684896914,0.34088442670110797,0.026041320281942445]}
{"step":7796,"t":38.980000000000004,"command":[-0.036159781370919658,-0.11796590442112351,-0.25685473760999744,0.58384044182136585,0.58384044182136585],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080274707998806427,0.00046497975607484587,-0.00064507523337065109,-0.00075402849089334367],"integral":[-0.093358637540216199,-0.094834222296467957,0.28784275257209202,0.072721218867451379],"effort":[-0.039945155419297135,0.0013075297887927084,0.34086966150616771,0.026029200813403489]}
{"step":7800,"t":39,"command":[-0.036114342348659158,-0.1180086741300638,-0.25682744176250211,0.58382795430068191,0.58382795430068191],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00080108591950889263,0.00046519430955260788,-0.00065985369007126593,-0.00076947081427436448],"integral":[-0.093374659258606371,-0.094824918410276904,0.28782955549829059,0.072705829451165896],"effort":[-0.039943191006103503,0.0013042457232761563,0.34085508022291916,0.026017143836167912]}
{"step":7804,"t":39.020000000000003,"command":[-0.036068058469238634,-0.1180510627123517,-0.25680021592967284,0.58381562318275992,0.58381562318275992],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079938028294557206,0.00046540214094781263,-0.00067444279082007341,-0.00078477421670275493],"integral":[-0.093390646864265278,-0.094815610367457948,0.28781606664247417,0.072690133966831841],"effort":[-0.039941202154521099,0.0013009048417404168,0.34084068187227429,0.026005148747005505]}
{"step":7808,"t":39.039999999999999,"command":[-0.036020971807687825,-0.11809307373917768,-0.25677305955383639,0.58380344762852432,0.58380344762852432],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079763042431602038,0.00046560320531940924,-0.00068884223016585366,-0.00079993889887042258],"integral":[-0.093406599472751595,-0.094806298303351563,0.28780228979787087,0.072674135188854433],"effort":[-0.039939189088902441,0.0012975104099702413,0.34082646546295109,0.025993215023735583]}
{"step":7812,"t":39.060000000000002,"command":[-0.035973124745800042,-0.11813471122420334,-0.25674597162058505,0.5837914268486345,0.5837914268486345],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079583661099746905,0.0004657974667732212,-0.00070305173363127693,-0.00081496507295464315],"integral":[-0.093422516204971551,-0.094796982354016096,0.28778822876319826,0.072657835887395342],"effort":[-0.039937151969712086,0.0012940657039768912,0.3408124300619646,0.025981341973686171]}
{"step":7816,"t":39.079999999999998,"command":[-0.035924560440012056,-0.11817597888377396,-0.25671895145654422,0.58377956004874076,0.58377956004874076],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079399912369670922,0.00046598489848137525,-0.00071707105726614984,-0.00082985296236792738],"integral":[-0.093438396187445483,-0.094787662656046462,0.28777388734205295,0.072641238828147978],"effort":[-0.039935091011042846,0.0012905740428080792,0.3407985747307013,0.025969529025904659]}
{"step":7820,"t":39.100000000000001,"command":[-0.03587532172084594,-0.11821688058888731,-0.25669199831835698,0.58376784643133461,0.58376784643133461],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079211825634462052,0.00046616548250333345,-0.00073089998731123984,-0.00084460280143194844],"integral":[-0.093454238552572372,-0.094778339346396401,0.28775926934230672,0.072624346772119333],"effort":[-0.039933006428419314,0.0012870387085742003,0.34078489852707827,0.025957775572252071]}
{"step":7824,"t":39.119999999999997,"command":[-0.035825451687268868,-0.11825742044849429,-0.25666511130207692,0.58375628523602063,0.58375628523602063],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00079019431583926547,0.00046633920973748744,-0.0007445383397310934,-0.00085921483568895951],"integral":[-0.09347004243888915,-0.094769012562201646,0.28774437857551211,0.072607162475405551],"effort":[-0.039930898425419747,0.0012834629885968357,0.34077140055255833,0.025946080934287793]}
{"step":7828,"t":39.140000000000001,"command":[-0.035774993590419704,-0.11829760245587635,-0.256638289672873,0.58374487570784095,0.58374487570784095],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078822762192998219,0.00046650607980569525,-0.00075798595976328542,-0.00087368932168807589],"integral":[-0.093485806991327747,-0.094759682440605536,0.28772921885631686,0.072589688688971796],"effort":[-0.039928767236513014,0.001279850166394571,0.34075807991516271,0.025934444489704452]}
{"step":7832,"t":39.160000000000004,"command":[-0.035723990793048485,-0.1183374306210733,-0.25661153266207382,0.58373361708776406,0.58373361708776406],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078621850705973273,0.00046666610094303618,-0.00077124272157114149,-0.00088802652672059779],"integral":[-0.093501531361468937,-0.09475034911858668,0.28771379400188546,0.072571928158437382],"effort":[-0.039926613090587953,0.0012762035181818128,0.34074493571836439,0.025922865604590617]}
{"step":7836,"t":39.18,"command":[-0.035672486389817855,-0.11837690909831426,-0.25658483942296229,0.58372250863601627,0.58372250863601627],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078416731608665913,0.00046681928987790666,-0.00078430852785205118,-0.00090222672890027944],"integral":[-0.093517214707790675,-0.09474101273278912,0.28769810783132843,0.07255388362385938],"effort":[-0.039924436214688955,0.0012725262852317403,0.34073196708832404,0.025911343607018397]}
{"step":7840,"t":39.200000000000003,"command":[-0.035620524639333358,-0.11841604513417128,-0.25655820858013662,0.58371154944308756,0.58371154944308756],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00078207440692801278,0.0004669656711668857,-0.00079718330995515174,-0.00091629021964312329],"integral":[-0.093532856195929229,-0.094731673419365781,0.28768216416512932,0.072535557819466523],"effort":[-0.039922237067533485,0.0012688217755813551,0.34071917295324999,0.025899877322315395]}
{"step":7844,"t":39.219999999999999,"command":[-0.035568148170795177,-0.11845483967180614,-0.25653163999296319,0.58370073900433239,0.58370073900433239],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077994014924964716,0.00046710527787485745,-0.00080986702658858434,-0.0009302172996875635],"integral":[-0.093548454998914218,-0.094722331313808278,0.28766596682459755,0.07251695347347277],"effort":[-0.039920015679576287,0.0012650931642996404,0.3407065527142038,0.02588846663790299]}
{"step":7848,"t":39.240000000000002,"command":[-0.035515404344887938,-0.11849329730737444,-0.25650513326922647,0.58369007684606433,0.58369007684606433],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007777649250735319,0.0004672381518047164,-0.00082235966245169934,-0.0009440082782649073],"integral":[-0.093564010297415692,-0.094712986550772177,0.28764951963134849,0.072498073307907474],"effort":[-0.039917772450118724,0.0012613439457808851,0.34069410580856446,0.025877110943344894]}
{"step":7852,"t":39.259999999999998,"command":[-0.035462331860988613,-0.11853142173369953,-0.25647868733489759,0.58367956206526017,0.58367956206526017],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077554912758603933,0.00046736434252281356,-0.00083466122942521537,-0.00095766347481607283],"integral":[-0.093579521279967409,-0.094703639263921724,0.28763282640675997,0.072478920038411151],"effort":[-0.039915507497622141,0.0012575769810188884,0.34068183117269396,0.025865809559410004]}
{"step":7856,"t":39.280000000000001,"command":[-0.035408972155952345,-0.11856921693980449,-0.256452301250778,0.58366919403269935,0.58366919403269935],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077329316024754569,0.00046748390715989352,-0.00084677176622438566,-0.00097118321905675931],"integral":[-0.093594987143172353,-0.094694289585778524,0.28761589097143547,0.072459496374030014],"effort":[-0.039913221011269102,0.0012537953091410084,0.34066972806278084,0.025854561805550683]}
{"step":7860,"t":39.300000000000004,"command":[-0.035355368903733933,-0.11860668636300406,-0.25642597498184855,0.58365897208865569,0.58365897208865569],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00077099743775876917,0.00046759691033770867,-0.00085869133748373017,-0.0009845678493609622],"integral":[-0.093610407091927528,-0.094684937647571771,0.28759871714468582,0.072439805017042794],"effort":[-0.039910913347701818,0.0012500021103191163,0.34065779569958615,0.025843367297689806]}
{"step":7864,"t":39.32,"command":[-0.035301563728649496,-0.1186438347524887,-0.25639970727950501,0.58364889550595367,0.58364889550595367],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007686623855969188,0.00046770342408619658,-0.00087042003377080235,-0.00099781771407958519],"integral":[-0.093625780339639461,-0.094675583579090047,0.28758130874401039,0.072419848662761202],"effort":[-0.039908584708895856,0.0012462004016879019,0.34064603322531967,0.025832225184120011]}
{"step":7868,"t":39.340000000000003,"command":[-0.035247597634824865,-0.11868066631479156,-0.25637349732247749,0.58363896360910106,0.58363896360910106],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076628843937220914,0.00046780352758868382,-0.00088195797123535868,-0.001010933171938011],"integral":[-0.093641106108426908,-0.094666227508538273,0.28756366958458568,0.072399629999322437],"effort":[-0.039906235343140639,0.0012423931390265113,0.34063443984270553,0.025821134786217739]}
{"step":7872,"t":39.359999999999999,"command":[-0.035193511894026745,-0.11871718501415722,-0.2563473444566059,0.58362917576221374,0.58362917576221374],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076387604470529169,0.00046789730695850906,-0.00089330529100939415,-0.0010239145910162506],"integral":[-0.093656383629321008,-0.094656869562399104,0.28754580347876552,0.072379151707502115],"effort":[-0.039903865513819692,0.001238583279435002,0.34062301480088097,0.025810095496134056]}
{"step":7876,"t":39.380000000000003,"command":[-0.035139346610995055,-0.11875339485805468,-0.25632124793788313,0.58361953133380617,0.58361953133380617],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00076142565683290364,0.00046798485501164944,-0.00090446215879058656,-0.0010367623485394439],"integral":[-0.093671612142457672,-0.094647509865298865,0.2875277142355897,0.07235841646053133],"effort":[-0.039901475467373396,0.0012347736802476496,0.34061175735429161,0.025799106677060347]}
{"step":7880,"t":39.399999999999999,"command":[-0.035085141959364442,-0.11878929990275369,-0.25629520709402764,0.58361002967853903,0.58361002967853903],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00075893774034963002,0.00046806627102380371,-0.00091542876455097399,-0.0010494768307781621],"integral":[-0.093686790897264671,-0.094638148539878383,0.2875094056602987,0.072337426923915774],"effort":[-0.039899065475378442,0.0012309671863087554,0.34060066674138523,0.025788167703992084]}
{"step":7884,"t":39.420000000000002,"command":[-0.03503093745996412,-0.11882490379937408,-0.25626922163327043,0.58360067004082705,0.58360067004082705],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007564127691392919,0.00046814166031328153,-0.00092620532261555866,-0.0010620584321513471],"integral":[-0.093701919152647459,-0.094628785706672117,0.28749088155384639,0.072316185755272752],"effort":[-0.039896635859726387,0.0012271665793239174,0.3405897420721023,0.025777278096795884]}
{"step":7888,"t":39.439999999999998,"command":[-0.034976770973847444,-0.11886021251498885,-0.25624329061152246,0.58359145152903669,0.58359145152903669],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007538512263192132,0.00046821113337158771,-0.00093679207199981462,-0.0010745075568852069],"integral":[-0.093716996177173842,-0.094619421484004679,0.28747214571240637,0.072294695604135054],"effort":[-0.039894187051264733,0.0012233745077569773,0.34057898229776801,0.025766436932156422]}
{"step":7892,"t":39.460000000000001,"command":[-0.034922681436651865,-0.11889523014740901,-0.25621741258815078,0.5835823738113739,0.5835823738113739],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00075125360308869737,0.00046827480675659672,-0.0009471892744943311,-0.0010868246197273113],"integral":[-0.093732021249235617,-0.094610055987869549,0.28745320192691648,0.072272959111740503],"effort":[-0.039891719132586025,0.0012195936787258688,0.3405683870233181,0.025755643380780669]}
{"step":7896,"t":39.480000000000004,"command":[-0.034868703694064508,-0.11892995855942738,-0.25619158758261346,0.58357343637838566,0.58357343637838566],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074862039768119892,0.0004683328028075584,-0.00095739721383569787,-0.0010990100423147187],"integral":[-0.093746993657189234,-0.094600689331813398,0.28743405398263977,0.072250978910894215],"effort":[-0.039889232295523512,0.0012158264973044677,0.34055795564647767,0.025744897252576397]}
{"step":7900,"t":39.5,"command":[-0.034814867478701238,-0.11896440143725104,-0.25616581536856836,0.58356463827707705,0.58356463827707705],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074595211483474699,0.00046838524760028921,-0.00096741619727458428,-0.0011110642525542502],"integral":[-0.09376191269948593,-0.094591321626861388,0.28741470565869426,0.072228757625843132],"effort":[-0.039886726886383436,0.0012120749975595292,0.34054768704745575,0.025734198077060018]}
{"step":7904,"t":39.520000000000003,"command":[-0.034761213345112937,-0.11899856193182115,-0.25614009449447617,0.58355597925511948,0.58355597925511948],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074324926586255557,0.00046843227302317825,-0.00097724655382602776,-0.0011229876866093447],"integral":[-0.093776777684803178,-0.09458195298140093,0.28739516072761773,0.072206297872110942],"effort":[-0.039884202874740322,0.0012083419532244578,0.34053758092440145,0.025723545132898849]}
{"step":7908,"t":39.539999999999999,"command":[-0.034707775186189317,-0.1190324437226155,-0.25611442423772474,0.58354745869342806,0.58354745869342806],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00074051236852068492,0.00046847401660921051,-0.0009868886337569549,-0.001134780788908496],"integral":[-0.093791587932173598,-0.094572583501068744,0.28737542295494256,0.072183602256332774],"effort":[-0.039881660480599428,0.0012046296583750589,0.34052763654755813,0.025712937822021803]}
{"step":7912,"t":39.560000000000002,"command":[-0.034654586094980053,-0.11906605043774357,-0.25608880398424372,0.5835390759807848,0.5835390759807848],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073774194667608484,0.00046851062015285105,-0.0009963428089609927,-0.0011464440114864471],"integral":[-0.093806342771107123,-0.094563213288665682,0.28735549609876332,0.072160673376103046],"effort":[-0.039879099946461848,0.0012009403374143848,0.34051785319650812,0.025702375579618551]}
{"step":7916,"t":39.579999999999998,"command":[-0.03460167850571326,-0.11909938625186706,-0.25606323383303592,0.58353083039969844,0.58353083039969844],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073493853076533888,0.00046854222867831474,-0.0010056094728976284,-0.0011579778131749485],"integral":[-0.093821041541722425,-0.094553842444092109,0.28733538390930535,0.072137513819839544],"effort":[-0.039876521763301725,0.0011972761554127388,0.34050823002696157,0.025691857957730307]}
{"step":7920,"t":39.600000000000001,"command":[-0.034549089036114367,-0.11913245409341711,-0.25603771203165882,0.58352272179747489,0.58352272179747489],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00073210265669088059,0.00046856899248171047,-0.0010146890386986129,-0.0011693826607735991],"integral":[-0.093835683594856237,-0.094544471064242477,0.2873150901285314,0.072114126166624076],"effort":[-0.039873925800363384,0.0011936395532253577,0.34049876685393321,0.02568138418204325]}
{"step":7924,"t":39.619999999999997,"command":[-0.034496841665627297,-0.11916525392010062,-0.2560122390075415,0.58351474915649149,0.58351474915649149],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072923486380327418,0.00046859106585173116,-0.0010235819408523916,-0.0011806590253486959],"integral":[-0.093850268292132305,-0.094535099242925441,0.28729461848971438,0.0720905129861171],"effort":[-0.039871312131748299,0.0011900320849033597,0.3404894624831632,0.025670954389906242]}
{"step":7928,"t":39.640000000000001,"command":[-0.034444962533042474,-0.11919779170636294,-0.25598681323978562,0.58350691195521742,0.58350691195521742],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072633569495739181,0.00046860860519004621,-0.0010322886348084204,-0.0011918073854929601],"integral":[-0.093864795006031454,-0.094525727070821644,0.28727397271701821,0.072066676838407243],"effort":[-0.039868681050167179,0.0011864554439026996,0.34048031629951381,0.025660567502493695]}
{"step":7932,"t":39.660000000000004,"command":[-0.034393477397951337,-0.11923007203968856,-0.25596143425096951,0.58349920953561429,0.58349920953561429],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072340569716500269,0.00046862176848294634,-0.0010408095959748564,-0.0012028282286959957],"integral":[-0.093879263119974757,-0.09451635463545198,0.2872531565250987,0.072042620273833319],"effort":[-0.039866032951201356,0.0011829112875233897,0.34047132752868675,0.025650222872612032]}
{"step":7936,"t":39.68,"command":[-0.034342413451575841,-0.1192620963193949,-0.25593610099258274,0.58349164133993436,0.58349164133993436],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00072044542030291758,0.00046863071681113588,-0.0010491453195737854,-0.0012137220487448142],"integral":[-0.093893672028380809,-0.094506982021115751,0.28723217361870723,0.072018345832858419],"effort":[-0.039863367704891073,0.0011794013616789772,0.34046249551357066,0.025639920086394447]}
{"step":7940,"t":39.700000000000003,"command":[-0.034291786120190966,-0.1192938666176995,-0.25591081275780847,0.58348420898912567,0.58348420898912567],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071745541427370441,0.00046863561374299589,-0.0010572963123580692,-0.0012244893448799532],"integral":[-0.093908021136666284,-0.094497609308840894,0.2872110276924601,0.071993856045960813],"effort":[-0.039860685349481798,0.0011759265953129217,0.34045382213966574,0.025629658736880317]}
{"step":7944,"t":39.719999999999999,"command":[-0.034241617936343026,-0.11932538562543307,-0.25588556913413024,0.58347691261138357,0.58347691261138357],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00071443622973443865,0.00046863662451757104,-0.0010652630929541829,-0.0012351306216744629],"integral":[-0.093922309861260975,-0.09448823657635054,0.28718972243060104,0.071969153433527319],"effort":[-0.039857986072878028,0.0011724883988984886,0.34044530755051211,0.025619438418219717]}
{"step":7948,"t":39.740000000000002,"command":[-0.034191930488263078,-0.11935665642576866,-0.255860369145755,0.58346975161242687,0.58346975161242687],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007113884189893227,0.000468633916061445,-0.0010730461974746142,-0.0012456463898860015],"integral":[-0.093936537629640757,-0.094478863898029314,0.28716826150665153,0.071944240505729604],"effort":[-0.0398552699662705,0.0011690881105142141,0.3404369510466671,0.025609258533131517]}
{"step":7952,"t":39.759999999999998,"command":[-0.034142741888222694,-0.11938768062819632,-0.25583521311838425,0.58346272503375984,0.58346272503375984],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00070831253582159803,0.00046862765583655097,-0.0010806461820633828,-0.0012560371643925983],"integral":[-0.093950703880357186,-0.094469491344912587,0.28714664858301026,0.071919119762441752],"effort":[-0.039852537278554652,0.0011657268236457965,0.34042875150382079,0.025599118992774447]}
{"step":7956,"t":39.780000000000001,"command":[-0.034094071492913991,-0.11941846073818739,-0.25581010011725791,0.58345583217843178,0.58345583217843178],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0007052091349193379,0.00046861801207265241,-0.0010880636224830376,-0.0012663034647260041],"integral":[-0.093964808063055572,-0.094460118984671132,0.28712488731056057,0.071893793693147232],"effort":[-0.039849788043539759,0.0011624057109639306,0.34042070810302638,0.025589019278461755]}
{"step":7960,"t":39.800000000000004,"command":[-0.034045936959342923,-0.11944899934659603,-0.25578502853124147,0.5834490727113848,0.5834490727113848],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00070207877066241764,0.00046860515461533137,-0.0010952991120798394,-0.0012764458171892201],"integral":[-0.093978849638468823,-0.094450746881578826,0.28710298132831896,0.071868264776803442],"effort":[-0.039847022132815553,0.0011591258234395524,0.34041282044777482,0.025578958687912455]}
{"step":7964,"t":39.82,"command":[-0.03399835288496373,-0.11947929704510545,-0.25575999788332676,0.58344244585554295,0.58344244585554295],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069892199639021158,0.00046858925436488175,-0.0011023532623237742,-0.0012864647526511508],"integral":[-0.093992828078396623,-0.094441375096491531,0.28708093426307246,0.071842535481750416],"effort":[-0.039844239469835931,0.0011558879988905215,0.34040508762589816,0.025568937047443389]}
{"step":7968,"t":39.840000000000003,"command":[-0.033951332568981252,-0.11950935626877027,-0.25573500736336091,0.58343595085130306,0.58343595085130306],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069573936444355944,0.00046857048224335784,-0.0011092267033205871,-0.0012963608063994991],"integral":[-0.0940067428656855,-0.094432003686846663,0.28705874972900602,0.071816608265622431],"effort":[-0.039841440113457055,0.001152692983209567,0.34039750874576413,0.025558953877681197]}
{"step":7972,"t":39.859999999999999,"command":[-0.033904888229538251,-0.11953918206572857,-0.25571005555596937,0.58342958709902781,0.58342958709902781],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00069253142648562083,0.00046854900827808521,-0.0011159200827832727,-0.0013061345213079001],"integral":[-0.09402059349421521,-0.094422632706681095,0.28703643132735035,0.071790485575196267],"effort":[-0.039838624280690176,0.0011495414458574816,0.3403900831025421,0.025549008231746773]}
{"step":7976,"t":39.880000000000003,"command":[-0.033859035446700936,-0.11956877225236197,-0.2556851427939833,0.58342335383954935,0.58342335383954935],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00068929873294409916,0.00046852500294158883,-0.0011224340661142307,-0.0013157864425608068],"integral":[-0.094034379468874094,-0.094413262206622259,0.28701398264602807,0.071764169846345052],"effort":[-0.039835791771758416,0.0011464342813809502,0.34038280980538804,0.02553910047382121]}
{"step":7980,"t":39.899999999999999,"command":[-0.03381378096483776,-0.11959813300642728,-0.25566026640898798,0.58341725040734327,0.58341725040734327],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00068604183190856816,0.00046849863619058407,-0.001128769336129043,-0.0013253171224852922],"integral":[-0.094048100305512264,-0.094403892233898445,0.2869914072593055,0.071737663503895349],"effort":[-0.039832942619468896,0.0011433717831380243,0.34037568807286467,0.025529229200845823]}
{"step":7984,"t":39.920000000000002,"command":[-0.033769128880153043,-0.11962726456052315,-0.25563542585590665,0.58341127593513076,0.58341127593513076],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.0006827612678856898,0.00046847007634287507,-0.001134926593288732,-0.0013347271194715793],"integral":[-0.094061755530869984,-0.094394522832371583,0.28696870872743974,0.071710968961505916],"effort":[-0.039830076689382078,0.0011403540653243864,0.34036871688825726,0.025519394263148681]}
{"step":7988,"t":39.939999999999998,"command":[-0.033725082449685188,-0.11965616616549517,-0.25561062102825727,0.58340542953055652,0.58340542953055652],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067945758117415878,0.00046843949001595941,-0.0011409065559790932,-0.0013440169929567203],"integral":[-0.09407534468249347,-0.094385154042571265,0.28694589059632014,0.071684088621646783],"effort":[-0.039827193841937968,0.0011373811862380641,0.34036189520573312,0.025509595740513376]}
{"step":7992,"t":39.960000000000001,"command":[-0.033681642317154974,-0.11968484039940416,-0.25558584947617202,0.58339971083634434,0.58339971083634434],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067613130666188681,0.00046840704244721643,-0.0011467099584248075,-0.0013531873076686463],"integral":[-0.094088867308626714,-0.094375785901722326,0.28692295639715165,0.071657024875493414],"effort":[-0.039824293736943663,0.0011344530291807645,0.34035522260393025,0.025499832715512816]}
{"step":7996,"t":39.980000000000004,"command":[-0.033638810999655502,-0.11971328572792353,-0.25556111090343187,0.58339411860680057,0.58339411860680057],"target_ned_yaw":[1.5,1,3.5,0.78539816339744828],"error":[-0.00067278297388462249,0.00046837289758461242,-0.001152337552472904,-0.0013622386313134616],"integral":[-0.094102322968104404,-0.094366418443770639,0.28689990964610218,0.071629780102867149],"effort":[-0.039821376092985833,0.0011315696054705439,0.34034869762500575,0.025490105313210373]}