<?xml version='1.0' encoding='UTF-8'?>
<root>
 <tabbed_widget parent="main_window" name="Main Window">
  <Tab tab_name="tab1" containers="1">
   <Container>
    <DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
     <DockArea name="...">
      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
       <range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
       <limitY/>
       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
       <range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
       <limitY/>
       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
       <range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
       <limitY/>
       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
        <transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
         <options value_scale="-1" value_offset="0" time_offset="0"/>
        </transform>
       </curve>
       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
      </plot>
     </DockArea>
     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
      <DockArea name="...">
       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
        <range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
        <limitY/>
        <curve name="/carControl/latActive" color="#1ac938"/>
        <curve name="/carState/steeringPressed" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="...">
       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
        <range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
        <limitY/>
        <curve name="/carState/vEgo" color="#f14cc1"/>
       </plot>
      </DockArea>
     </DockSplitter>
    </DockSplitter>
   </Container>
  </Tab>
  <currentTabIndex index="0"/>
 </tabbed_widget>
 <use_relative_time_offset enabled="1"/>
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <Plugins>
  <plugin ID="DataLoad Rlog"/>
  <plugin ID="Cereal Subscriber"/>
 </Plugins>
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <customMathEquations>
  <snippet name="Actual lateral accel (roll compensated)">
   <global></global>
   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
   <linked_source>/controlsState/curvature</linked_source>
   <additional_sources>
    <v1>/carState/vEgo</v1>
    <v2>/liveParameters/roll</v2>
   </additional_sources>
  </snippet>
  <snippet name="Desired lateral accel (roll compensated)">
   <global></global>
   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
   <linked_source>/controlsState/desiredCurvature</linked_source>
   <additional_sources>
    <v1>/carState/vEgo</v1>
    <v2>/liveParameters/roll</v2>
   </additional_sources>
  </snippet>
 </customMathEquations>
 <snippets/>
 <!-- - - - - - - - - - - - - - - -->
</root>
