# Measured with larger left wheel
# timestamp Ku  Tu  err_peak  err
pid_autoTune2=[
[26019,66.20,0.00,0.000,0.785],
[26060,66.20,0.00,0.000,0.788],
[26100,66.20,0.00,0.000,0.770],
[26140,66.20,0.00,0.000,0.699],
[26180,66.20,0.00,0.000,0.617],
[26220,66.20,0.00,0.000,0.528],
[26260,66.20,0.00,0.000,0.440],
[26301,66.20,0.00,0.000,0.351],
[26341,66.20,0.00,0.000,0.263],
[26381,66.20,0.00,0.000,0.173],
[26421,66.20,0.00,0.000,0.086],
[26461,66.20,0.39,0.788,-0.001],
[26501,66.20,0.39,0.788,-0.083],
[26541,66.20,0.39,0.788,-0.072],
[26582,66.20,0.33,0.083,0.008],
[26621,66.20,0.33,0.083,0.090],
[26661,66.20,0.33,0.083,0.067],
[26701,66.20,0.29,0.090,-0.001],
[26741,66.20,0.29,0.090,-0.076],
[26781,66.20,0.29,0.090,-0.067],
[26821,66.20,0.27,0.076,0.014],
[26861,66.20,0.27,0.076,0.096],
[26902,66.20,0.27,0.076,0.053],
[26942,66.20,0.26,0.096,-0.018],
[26982,66.20,0.26,0.096,-0.095],
[27022,66.20,0.26,0.096,-0.069],
[27062,66.20,0.25,0.095,0.010],
[27103,66.20,0.25,0.095,0.095],
[27143,66.20,0.25,0.095,0.062],
[27183,66.20,0.25,0.095,-0.007],
[27223,66.20,0.25,0.095,-0.084],
[27262,66.20,0.25,0.095,-0.049],
[27302,66.20,0.24,0.084,0.034],
[27342,66.20,0.24,0.084,0.119],
[27383,66.20,0.24,0.084,0.075],
[27423,66.20,0.24,0.084,0.000],
[27463,66.20,0.28,0.119,-0.078],
[27503,66.20,0.28,0.119,-0.099],
[27543,66.20,0.28,0.119,-0.045],
[27584,66.20,0.26,0.099,0.040],
[27624,66.20,0.26,0.099,0.125],
[27664,66.20,0.26,0.099,0.080],
[27704,66.20,0.26,0.099,0.005],
[27744,66.20,0.29,0.125,-0.077],
[27784,66.20,0.29,0.125,-0.133],
[27824,66.20,0.29,0.125,-0.098],
[27864,66.20,0.29,0.125,-0.016],
[27905,66.20,0.30,0.133,0.073],
[27944,66.20,0.30,0.133,0.150],
[27984,66.20,0.30,0.133,0.103],
[28265,44.13,0.21,0.803,-0.803],
[28305,44.13,0.21,0.803,-0.813],
[28345,44.13,0.21,0.803,-0.761],
[28385,44.13,0.21,0.803,-0.672],
[28426,44.13,0.21,0.803,-0.576],
[28466,44.13,0.21,0.803,-0.483],
[28506,44.13,0.21,0.803,-0.392],
[28546,44.13,0.21,0.803,-0.298],
[28585,44.13,0.21,0.803,-0.204],
[28625,44.13,0.21,0.803,-0.110],
[28665,44.13,0.21,0.803,-0.016],
[28706,44.13,0.48,0.813,0.076],
[28746,44.13,0.48,0.813,0.152],
[28786,44.13,0.48,0.813,0.104],
[28826,44.13,0.48,0.813,0.025],
[28866,44.13,0.42,0.152,-0.065],
[28906,44.13,0.42,0.152,-0.141],
[28947,44.13,0.42,0.152,-0.113],
[28987,44.13,0.42,0.152,-0.032],
[29027,44.13,0.38,0.141,0.057],
[29067,44.13,0.38,0.141,0.142],
[29107,44.13,0.38,0.141,0.103],
[29147,44.13,0.38,0.141,0.027],
[29188,44.13,0.36,0.142,-0.063],
[29228,44.13,0.36,0.142,-0.151],
[29267,44.13,0.36,0.142,-0.147],
[29307,44.13,0.36,0.142,-0.079],
[29347,44.13,0.34,0.151,0.007],
[29387,44.13,0.34,0.151,0.098],
[29427,44.13,0.34,0.151,0.104],
[29468,44.13,0.34,0.151,0.042],
[29508,44.13,0.33,0.104,-0.040],
[29548,44.13,0.33,0.104,-0.128],
[29588,44.13,0.33,0.104,-0.118],
[29628,44.13,0.33,0.104,-0.049],
[29668,44.13,0.33,0.128,0.038],
[29709,44.13,0.33,0.128,0.126],
[29749,44.13,0.33,0.128,0.111],
[29789,44.13,0.33,0.128,0.036],
[29829,44.13,0.33,0.126,-0.050],
[29869,44.13,0.33,0.126,-0.138],
[29908,44.13,0.33,0.126,-0.129],
[29948,44.13,0.33,0.126,-0.059],
[29988,44.13,0.32,0.138,0.031],
[30029,44.13,0.32,0.138,0.120],
[30069,44.13,0.32,0.138,0.102],
[30109,44.13,0.32,0.138,0.026],
[30149,44.13,0.32,0.120,-0.062],
[30189,44.13,0.32,0.120,-0.149],
[30229,44.13,0.32,0.120,-0.140],
[30511,29.42,0.23,0.804,0.804],
[30551,29.42,0.23,0.804,0.815],
[30590,29.42,0.23,0.804,0.774],
[30630,29.42,0.23,0.804,0.691],
[30670,29.42,0.23,0.804,0.603],
[30710,29.42,0.23,0.804,0.512],
[30750,29.42,0.23,0.804,0.421],
[30791,29.42,0.23,0.804,0.333],
[30831,29.42,0.23,0.804,0.244],
[30871,29.42,0.23,0.804,0.152],
[30911,29.42,0.23,0.804,0.062],
[30951,29.42,0.49,0.815,-0.025],
[30991,29.42,0.49,0.815,-0.100],
[31031,29.42,0.49,0.815,-0.080],
[31072,29.42,0.39,0.100,0.005],
[31112,29.42,0.39,0.100,0.087],
[31152,29.42,0.39,0.100,0.075],
[31192,29.42,0.39,0.100,0.008],
[31232,29.42,0.36,0.087,-0.066],
[31271,29.42,0.36,0.087,-0.124],
[31311,29.42,0.36,0.087,-0.101],
[31352,29.42,0.36,0.087,-0.027],
[31392,29.42,0.35,0.124,0.066],
[31432,29.42,0.35,0.124,0.143],
[31472,29.42,0.35,0.124,0.124],
[31512,29.42,0.35,0.124,0.049],
[31553,29.42,0.34,0.143,-0.036],
[31593,29.42,0.34,0.143,-0.122],
[31633,29.42,0.34,0.143,-0.115],
[31673,29.42,0.34,0.143,-0.049],
[31713,29.42,0.33,0.122,0.043],
[31753,29.42,0.33,0.122,0.133],
[31793,29.42,0.33,0.122,0.116],
[31834,29.42,0.33,0.122,0.040],
[31874,29.42,0.33,0.133,-0.043],
[31913,29.42,0.33,0.133,-0.130],
[31953,29.42,0.33,0.133,-0.122],
[31993,29.42,0.33,0.133,-0.055],
[32033,29.42,0.32,0.130,0.038],
[32074,29.42,0.32,0.130,0.127],
[32114,29.42,0.32,0.130,0.108],
[32154,29.42,0.32,0.130,0.034],
[32194,29.42,0.32,0.127,-0.049],
[32234,29.42,0.32,0.127,-0.129],
[32274,29.42,0.32,0.127,-0.115],
[32314,29.42,0.32,0.127,-0.047],
[32354,29.42,0.32,0.129,0.044],
[32395,29.42,0.32,0.129,0.133],
[32435,29.42,0.32,0.129,0.110],
[32475,29.42,0.32,0.129,0.035],
[32755,19.61,0.23,0.811,-0.811],
[32795,19.61,0.23,0.811,-0.828],
[32835,19.61,0.23,0.811,-0.782],
[32875,19.61,0.23,0.811,-0.695],
[32916,19.61,0.23,0.811,-0.601],
[32956,19.61,0.23,0.811,-0.505],
[32996,19.61,0.23,0.811,-0.410],
[33036,19.61,0.23,0.811,-0.315],
[33076,19.61,0.23,0.811,-0.222],
[33116,19.61,0.23,0.811,-0.130],
[33157,19.61,0.23,0.811,-0.037],
[33197,19.61,0.49,0.828,0.054],
[33236,19.61,0.49,0.828,0.126],
[33276,19.61,0.49,0.828,0.079],
[33316,19.61,0.39,0.126,-0.002],
[33356,19.61,0.39,0.126,-0.083],
[33396,19.61,0.39,0.126,-0.071],
[33437,19.61,0.33,0.083,0.006],
[33477,19.61,0.33,0.083,0.083],
[33517,19.61,0.33,0.083,0.079],
[33557,19.61,0.33,0.083,0.023],
[33597,19.61,0.33,0.083,-0.057],
[33637,19.61,0.33,0.083,-0.129],
[33677,19.61,0.33,0.083,-0.116],
[33718,19.61,0.33,0.083,-0.042],
[33758,19.61,0.32,0.129,0.046],
[33798,19.61,0.32,0.129,0.124],
[33838,19.61,0.32,0.129,0.107],
[33878,19.61,0.32,0.129,0.034],
[33918,19.61,0.32,0.124,-0.051],
[33958,19.61,0.32,0.124,-0.128],
[33998,19.61,0.32,0.124,-0.112],
[34038,19.61,0.32,0.124,-0.039],
[34078,19.61,0.32,0.128,0.050],
[34118,19.61,0.32,0.128,0.124],
[34158,19.61,0.32,0.128,0.103],
[34198,19.61,0.32,0.128,0.029],
[34239,19.61,0.32,0.124,-0.058],
[34279,19.61,0.32,0.124,-0.133],
[34319,19.61,0.32,0.124,-0.117],
[34359,19.61,0.32,0.124,-0.046],
[34399,19.61,0.32,0.133,0.043],
[34440,19.61,0.32,0.133,0.121],
[34480,19.61,0.32,0.133,0.102],
[34520,19.61,0.32,0.133,0.029],
[34560,19.61,0.32,0.121,-0.058],
[34599,19.61,0.32,0.121,-0.132],
[34639,19.61,0.32,0.121,-0.113],
[34679,19.61,0.32,0.121,-0.043],
[34720,19.61,0.32,0.132,0.044],
[35001,13.08,0.32,0.132,0.803],
[35041,13.08,0.32,0.132,0.814],
[35081,13.08,0.32,0.132,0.772],
[35121,13.08,0.32,0.132,0.692],
[35161,13.08,0.32,0.132,0.606],
[35201,13.08,0.32,0.132,0.514],
[35240,13.08,0.32,0.132,0.421],
[35280,13.08,0.32,0.132,0.331],
[35321,13.08,0.32,0.132,0.242],
[35361,13.08,0.32,0.132,0.151],
[35401,13.08,0.32,0.132,0.060],
[35441,13.08,0.58,0.814,-0.028],
[35481,13.08,0.58,0.814,-0.093],
[35521,13.08,0.58,0.814,-0.062],
[35562,13.08,0.44,0.093,0.016],
[35602,13.08,0.44,0.093,0.077],
[35642,13.08,0.44,0.093,0.069],
[35682,13.08,0.44,0.093,0.016],
[35722,13.08,0.39,0.077,-0.044],
[35762,13.08,0.39,0.077,-0.096],
[35803,13.08,0.39,0.077,-0.068],
[35843,13.08,0.33,0.096,0.013],
[35883,13.08,0.33,0.096,0.090],
[35922,13.08,0.33,0.096,0.097],
[35962,13.08,0.33,0.096,0.041],
[36003,13.08,0.33,0.097,-0.040],
[36043,13.08,0.33,0.097,-0.108],
[36083,13.08,0.33,0.097,-0.088],
[36123,13.08,0.33,0.097,-0.014],
[36163,13.08,0.33,0.108,0.074],
[36203,13.08,0.33,0.108,0.134],
[36243,13.08,0.33,0.108,0.107],
[36284,13.08,0.33,0.108,0.032],
[36324,13.08,0.32,0.134,-0.056],
[36364,13.08,0.32,0.134,-0.129],
[36404,13.08,0.32,0.134,-0.103],
[36444,13.08,0.32,0.134,-0.025],
[36484,13.08,0.32,0.129,0.064],
[36524,13.08,0.32,0.129,0.131],
[36564,13.08,0.32,0.129,0.110],
[36604,13.08,0.32,0.129,0.038],
[36644,13.08,0.32,0.131,-0.049],
[36684,13.08,0.32,0.131,-0.120],
[36724,13.08,0.32,0.131,-0.095],
[36764,13.08,0.32,0.131,-0.018],
[36805,13.08,0.32,0.120,0.070],
[36845,13.08,0.32,0.120,0.130],
[36885,13.08,0.32,0.120,0.102],
[36925,13.08,0.32,0.120,0.028],
[36965,13.08,0.32,0.130,-0.058],
[37245,8.72,0.32,0.130,-0.799],
[37285,8.72,0.32,0.130,-0.806],
[37325,8.72,0.32,0.130,-0.758],
[37366,8.72,0.32,0.130,-0.670],
[37406,8.72,0.32,0.130,-0.576],
[37446,8.72,0.32,0.130,-0.481],
[37486,8.72,0.32,0.130,-0.385],
[37526,8.72,0.32,0.130,-0.292],
[37566,8.72,0.32,0.130,-0.201],
[37607,8.72,0.32,0.130,-0.109],
[37647,8.72,0.32,0.130,-0.016],
[37687,8.72,0.58,0.806,0.061],
[37727,8.72,0.58,0.806,0.104],
[37767,8.72,0.58,0.806,0.075],
[37807,8.72,0.58,0.806,0.018],
[37847,8.72,0.47,0.104,-0.039],
[37888,8.72,0.47,0.104,-0.077],
[37927,8.72,0.47,0.104,-0.053],
[37967,8.72,0.47,0.104,-0.005],
[38007,8.72,0.41,0.077,0.039],
[38047,8.72,0.41,0.077,0.071],
[38087,8.72,0.41,0.077,0.063],
[38128,8.72,0.41,0.077,0.026],
[38168,8.72,0.38,0.071,-0.020],
[38208,8.72,0.38,0.071,-0.055],
[38248,8.72,0.38,0.071,-0.045],
[38288,8.72,0.38,0.071,-0.008],
[38328,8.72,0.35,0.055,0.028],
[38368,8.72,0.35,0.055,0.052],
[38409,8.72,0.35,0.055,0.046],
[38449,8.72,0.35,0.055,0.021],
[38489,8.72,0.34,0.052,-0.013],
[38529,8.72,0.34,0.052,-0.039],
[38568,8.72,0.34,0.052,-0.034],
[38608,8.72,0.34,0.052,-0.007],
[38648,8.72,0.33,0.039,0.023],
[38689,8.72,0.33,0.039,0.041],
[38729,8.72,0.33,0.039,0.035],
[38769,8.72,0.33,0.039,0.018],
[38809,8.72,0.33,0.041,-0.009],
[38849,8.72,0.33,0.041,-0.025],
[38889,8.72,0.33,0.041,-0.022],
[38930,8.72,0.33,0.041,-0.004],
[38970,8.72,0.32,0.025,0.015],
[39010,8.72,0.32,0.025,0.025],
[39050,8.72,0.32,0.025,0.021],
[39090,8.72,0.32,0.025,0.010],
[39130,8.72,0.32,0.025,-0.002],
[39170,8.72,0.32,0.025,-0.009],
[39211,8.72,0.32,0.025,-0.007],
[39491,5.81,0.23,0.785,0.785],
[39531,5.81,0.23,0.785,0.785],
[39571,5.81,0.23,0.785,0.733],
[39611,5.81,0.23,0.785,0.656],
[39651,5.81,0.23,0.785,0.569],
[39691,5.81,0.23,0.785,0.480],
[39731,5.81,0.23,0.785,0.391],
[39772,5.81,0.23,0.785,0.301],
[39812,5.81,0.23,0.785,0.214],
[39852,5.81,0.23,0.785,0.124],
[39891,5.81,0.23,0.785,0.038],
[39931,5.81,0.49,0.785,-0.031],
[39971,5.81,0.49,0.785,-0.074],
[40012,5.81,0.49,0.785,-0.064],
[40052,5.81,0.49,0.785,-0.030],
[40092,5.81,0.42,0.074,0.005],
[40132,5.81,0.42,0.074,0.027],
[40172,5.81,0.42,0.074,0.026],
[40212,5.81,0.42,0.074,0.022],
[40252,5.81,0.42,0.074,0.013],
[40293,5.81,0.42,0.074,0.004],
[40333,5.81,0.45,0.027,-0.000],
[40373,5.81,0.45,0.027,-0.001],
[40413,5.81,0.45,0.027,-0.001],
[40453,5.81,0.45,0.027,-0.000],
[40494,5.81,0.45,0.027,-0.000],
[40532,5.81,0.45,0.027,-0.000],
[40573,5.81,0.45,0.027,-0.000],
[40613,5.81,0.49,0.001,0.000],
[40653,5.81,0.49,0.001,0.001],
[40693,5.81,0.49,0.001,0.001],
[40733,5.81,0.49,0.001,0.001],
[40773,5.81,0.49,0.001,0.001],
[40814,5.81,0.49,0.001,0.001],
[40854,5.81,0.49,0.001,0.001],
[40894,5.81,0.49,0.001,0.001],
[40934,5.81,0.49,0.001,0.001],
[40974,5.81,0.49,0.001,0.001],
[41014,5.81,0.49,0.001,0.001],
[41055,5.81,0.49,0.001,0.001],
[41095,5.81,0.49,0.001,0.001],
[41135,5.81,0.49,0.001,0.001],
[41175,5.81,0.49,0.001,0.001],
[41214,5.81,0.49,0.001,0.001],
[41255,5.81,0.49,0.001,0.001],
[41294,5.81,0.49,0.001,0.001],
[41335,5.81,0.49,0.001,0.001],
[41375,5.81,0.49,0.001,0.001],
[41415,5.81,0.49,0.001,0.001],
[41455,5.81,0.49,0.001,0.001]]


