"time","theta","theta_dot","x_dot","x","der(theta)","der(theta_dot)","der(x_dot)","der(x)","u_coarse","f","modeFine","modeChange",
0,0.1,0,0,0,0,2.0601,-0.04905000000000001,0,0,0,0,0,
0,0.1,0,0,0,0,2.0601,-0.04905000000000001,0,0,0,0,0,
0,0.1,0,0,0,0,-59.295854,30.628927,0,61.355954,61.355954,0,0,
0.05,0.1,-2.9647927,1.53144635,0,-2.9647927,-59.295854,30.628927,1.53144635,61.355954,61.355954,0,0,
0.05,0.1,-2.9647927,1.53144635,0,-2.9647927,25.32715490678108,-11.68257745339054,1.53144635,-23.26705490678108,-23.26705490678108,0,0,
0.1,-0.048239635,-1.698434954660946,0.9473174773304729,0.0765723175,-1.698434954660946,22.27327018614609,-11.60986591242304,0.9473174773304729,-23.26705490678108,-23.26705490678108,0,0,
0.1,-0.048239635,-1.698434954660946,0.9473174773304729,0.0765723175,-1.698434954660946,30.44907713493222,-15.69776938681611,0.9473174773304729,-31.44286185556722,-31.44286185556722,0,0,
0.15,-0.1331613827330473,-0.1759810979143348,0.1624290079896673,0.1239381913665237,-0.1759810979143348,28.69960420988371,-15.65611526955305,0.1624290079896673,-31.44286185556722,-31.44286185556722,0,0,
0.15,-0.1331613827330473,-0.1759810979143348,0.1624290079896673,0.1239381913665237,-0.1759810979143348,17.23335974130462,-9.922993035263506,0.1624290079896673,-19.97661738698813,-19.97661738698813,0,0,
0.2,-0.1419604376287641,0.685686889150896,-0.3337206437735079,0.132059641766007,0.685686889150896,17.05209041139796,-9.918677098837158,-0.3337206437735079,-19.97661738698813,-19.97661738698813,0,0,
0.2,-0.1419604376287641,0.685686889150896,-0.3337206437735079,0.132059641766007,0.685686889150896,5.132634511962529,-3.95894914911944,-0.3337206437735079,-8.057161487552698,-8.057161487552698,0,0,
0.25,-0.1076760931712193,0.9423186147490223,-0.5316681012294798,0.1153736095773316,0.9423186147490223,5.838926292132409,-3.975765620075866,-0.5316681012294798,-8.057161487552698,-8.057161487552698,0,0,
0.25,-0.1076760931712193,0.9423186147490223,-0.5316681012294798,0.1153736095773316,0.9423186147490223,-1.883124288632506,-0.1147403296934084,-0.5316681012294798,-0.3351109067877829,-0.3351109067877829,0,0,
0.3,-0.06056016243376818,0.8481624003173971,-0.5374051177141502,0.08879020451585765,0.8481624003173971,-0.9124889995102756,-0.1378506937201282,-0.5374051177141502,-0.3351109067877829,-0.3351109067877829,0,0,
0.3,-0.06056016243376818,0.8481624003173971,-0.5374051177141502,0.08879020451585765,0.8481624003173971,-4.659857665882649,1.735833639466059,-0.5374051177141502,3.412257759584591,3.412257759584591,0,0,
0.35,-0.01815204241789833,0.6151695170232647,-0.4506134357408473,0.06191994863015014,0.6151695170232647,-3.786207985435715,1.715032456598275,-0.4506134357408473,3.412257759584591,3.412257759584591,0,0,
0.35,-0.01815204241789833,0.6151695170232647,-0.4506134357408473,0.06191994863015014,0.6151695170232647,-4.911978210624801,2.277917569192818,-0.4506134357408473,4.538027984773677,4.538027984773677,0,0,
0.4,0.0126064334332649,0.3695706064920248,-0.3367175572812065,0.03938927684310778,0.3695706064920248,-4.278322849614987,2.262830536787822,-0.3367175572812065,4.538027984773677,4.538027984773677,0,0,
0.4,0.0126064334332649,0.3695706064920248,-0.3367175572812065,0.03938927684310778,0.3695706064920248,-4.013740148759247,2.130539186359952,-0.3367175572812065,4.273445283917937,4.273445283917937,0,0,
0.45,0.03108496375786613,0.1688835990540625,-0.2301905979632089,0.02255339897904746,0.1688835990540625,-3.633063945542137,2.121475467235735,-0.2301905979632089,4.273445283917937,4.273445283917937,0,0,
0.45,0.03108496375786613,0.1688835990540625,-0.2301905979632089,0.02255339897904746,0.1688835990540625,-2.804258252805578,1.707072620867456,-0.2301905979632089,3.444639591181378,3.444639591181378,0,0,
0.4999999999999999,0.03952914371056925,0.02867068641378362,-0.1448369669198361,0.01104386908088702,0.02867068641378362,-2.630299701599941,1.702930750600655,-0.1448369669198361,3.444639591181378,3.444639591181378,0,0,
0.4999999999999999,0.03952914371056925,0.02867068641378362,-0.1448369669198361,0.01104386908088702,0.02867068641378362,-1.700323339721696,1.237942569661533,-0.1448369669198361,2.514663229303134,2.514663229303134,0,0,
0.5499999999999999,0.04096267803125844,-0.05634548057230117,-0.08293983843675951,0.003802020734895215,-0.05634548057230117,-1.670791099181178,1.237239421077234,-0.08293983843675951,2.514663229303134,2.514663229303134,0,0,
0.5499999999999999,0.04096267803125844,-0.05634548057230117,-0.08293983843675951,0.003802020734895215,-0.05634548057230117,-0.8549465701992863,0.8293171565862885,-0.08293983843675951,1.698818700321241,1.698818700321241,0,0,
0.6,0.03814540400264337,-0.09909280908226553,-0.04147398060744505,-0.0003449711869427646,-0.09909280908226553,-0.9129852324627852,0.8306990294973241,-0.04147398060744505,1.698818700321241,1.698818700321241,0,0,
0.6,0.03814540400264337,-0.09909280908226553,-0.04147398060744505,-0.0003449711869427646,-0.09909280908226553,-0.2820881083099549,0.515250467420909,-0.04147398060744505,1.067921576168411,1.067921576168411,0,0,
0.65,0.03319076354853009,-0.1131972144977633,-0.01571145723639958,-0.002418670217315019,-0.1131972144977633,-0.3841586563051426,0.5176807185636515,-0.01571145723639958,1.067921576168411,1.067921576168411,0,0,
0.65,0.03319076354853009,-0.1131972144977633,-0.01571145723639958,-0.002418670217315019,-0.1131972144977633,0.06379699884705092,0.2937028909875548,-0.01571145723639958,0.6199659210162176,0.6199659210162176,0,0,
0.7000000000000001,0.02753090282364193,-0.1100073645554107,-0.001026312687021821,-0.003204243079134998,-0.1100073645554107,-0.05280179194637025,0.2964790526731124,-0.001026312687021821,0.6199659210162176,0.6199659210162176,0,0,
0.7000000000000001,0.02753090282364193,-0.1100073645554107,-0.001026312687021821,-0.003204243079134998,-0.1100073645554107,0.2439204066124313,0.1481179533937117,-0.001026312687021821,0.3232437224574161,0.3232437224574161,0,0,
0.7500000000000001,0.02203053459587138,-0.09781134422478917,0.006379584982663769,-0.003255558713486089,-0.09781134422478917,0.1306073207521304,0.1508158840094331,0.006379584982663769,0.3232437224574161,0.3232437224574161,0,0,
0.7500000000000001,0.02203053459587138,-0.09781134422478917,0.006379584982663769,-0.003255558713486089,-0.09781134422478917,0.3145450968477622,0.05884699596161723,0.006379584982663769,0.1393059463617843,0.1393059463617843,0,0,
0.8000000000000002,0.01713996738463192,-0.08208408938240105,0.009321934780744633,-0.002936579464352901,-0.08208408938240105,0.213794521729018,0.06124581917873018,0.009321934780744633,0.1393059463617843,0.1393059463617843,0,0,
0.8000000000000002,0.01713996738463192,-0.08208408938240105,0.009321934780744633,-0.002936579464352901,-0.08208408938240105,0.3196276094828439,0.00832927530181727,0.009321934780744633,0.03347285860795846,0.03347285860795846,0,0,
0.8500000000000002,0.01303576291551187,-0.06610270890825884,0.009738398545835497,-0.002470482725315669,-0.06610270890825884,0.2350768932145015,0.01034238759392066,0.009738398545835497,0.03347285860795846,0.03347285860795846,0,0,
0.8500000000000002,0.01303576291551187,-0.06610270890825884,0.009738398545835497,-0.002470482725315669,-0.06610270890825884,0.290113457810139,-0.01717589470389806,0.009738398545835497,-0.02156370598767898,-0.02156370598767898,0,0,
0.9000000000000002,0.009730627470098922,-0.05159703601775188,0.008879603810640593,-0.001983562798023893,-0.05159703601775188,0.2220243624991869,-0.01555472576792301,0.008879603810640593,-0.02156370598767898,-0.02156370598767898,0,0,
0.9000000000000002,0.009730627470098922,-0.05159703601775188,0.008879603810640593,-0.001983562798023893,-0.05159703601775188,0.2460032295126542,-0.02754415927465666,0.008879603810640593,-0.04554257300114628,-0.04554257300114628,0,0,
0.9500000000000003,0.007150775669211326,-0.03929687454211916,0.007502395846907759,-0.001539582607491864,-0.03929687454211916,0.1928557025625688,-0.0262787419663213,0.007502395846907759,-0.04554257300114628,-0.04554257300114628,0,0,
0.9500000000000003,0.007150775669211326,-0.03929687454211916,0.007502395846907759,-0.001539582607491864,-0.03929687454211916,0.1991444973807317,-0.02942313937540275,0.007502395846907759,-0.05183136781930919,-0.05183136781930919,0,0,
1,0.005185931942105371,-0.02933964967308259,0.006031238878137623,-0.001164462815146476,-0.02933964967308259,0.1586667517586219,-0.02845938352725728,0.006031238878137623,-0.05183136781930919,-0.05183136781930919,0,0,
1,0.005185931942105371,-0.02933964967308259,0.006031238878137623,-0.001164462815146476,-0.02933964967308259,0.1558126799947391,-0.02703234764531585,0.006031238878137623,-0.04897729605542633,-0.04897729605542633,0,0,
1,0.005185931942105371,-0.02933964967308259,0.006031238878137623,-0.001164462815146476,-0.02933964967308259,0.1558126799947391,-0.02703234764531585,0.006031238878137623,-0.04897729605542633,-0.04897729605542633,0,0,