"time","theta","theta_dot","x_dot","x","der(theta)","der(theta_dot)","der(x_dot)","der(x)","u_fine","f","modeFine","modeChange",
0,0.1,0,0,0,0,2.0601,-0.04905000000000001,0,0,0,1,0,
0,0.1,0,0,0,0,2.0601,-0.04905000000000001,0,0,0,1,0,
0,0.1,0,0,0,0,-0.603002,1.282501,0,2.663102,2.663102,1,0,
0.05,0.1,-0.0301501,0.06412505,0,-0.0301501,-0.603002,1.282501,0.06412505,2.663102,2.663102,1,0,
0.05,0.1,-0.0301501,0.06412505,0,-0.0301501,-0.5024220113725053,1.232211005686253,0.06412505,2.562522011372506,2.562522011372506,1,0,
0.1,0.098492495,-0.05527120056862526,0.1257356002843126,0.0032062525,-0.05527120056862526,-0.5334781218775051,1.232950436888753,0.1257356002843126,2.562522011372506,2.562522011372506,1,0,
0.1,0.098492495,-0.05527120056862526,0.1257356002843126,0.0032062525,-0.05527120056862526,-0.4131949034890603,1.17280882769453,0.1257356002843126,2.442238792984061,2.442238792984061,1,0,
0.15,0.09572893497156873,-0.07593094574307829,0.1843760416690392,0.009493032514215634,-0.07593094574307829,-0.4701270036347733,1.174164353888476,0.1843760416690392,2.442238792984061,2.442238792984061,1,0,
0.15,0.09572893497156873,-0.07593094574307829,0.1843760416690392,0.009493032514215634,-0.07593094574307829,-0.3342517108289342,1.106226707485556,0.1843760416690392,2.306363500178222,2.306363500178222,1,0,
0.2,0.09193238768441482,-0.092643531284525,0.239687377043317,0.01871183459766759,-0.092643531284525,-0.4124643814915916,1.108088913929905,0.239687377043317,2.306363500178222,2.306363500178222,1,0,
0.2,0.09193238768441482,-0.092643531284525,0.239687377043317,0.01871183459766759,-0.092643531284525,-0.2646141325066367,1.034163789437428,0.239687377043317,2.158513251193267,2.158513251193267,1,0,
0.25,0.08730021112018857,-0.1058742379098568,0.2913955665151883,0.03069620344983344,-0.1058742379098568,-0.3600416019062618,1.036435872042181,0.2913955665151883,2.158513251193267,2.158513251193267,1,0,
0.25,0.08730021112018857,-0.1058742379098568,0.2913955665151883,0.03069620344983344,-0.1058742379098568,-0.2033873247392999,0.9581087334587,0.2913955665151883,2.001858974026305,2.001858974026305,1,0,
0.3,0.08200649922469573,-0.1160436041468218,0.3393010031881233,0.04526598177559285,-0.1160436041468218,-0.312443083498348,0.9607052991434392,0.3393010031881233,2.001858974026305,2.001858974026305,1,0,
0.3,0.08200649922469573,-0.1160436041468218,0.3393010031881233,0.04526598177559285,-0.1160436041468218,-0.149753243611304,0.8793603791999172,0.3393010031881233,1.839169134139261,1.839169134139261,1,0,
0.35,0.07620431901735464,-0.123531266327387,0.3832690221481192,0.06223103193499902,-0.123531266327387,-0.2692839580627378,0.882206348591618,0.3832690221481192,1.839169134139261,1.839169134139261,1,0,
0.35,0.07620431901735464,-0.123531266327387,0.3832690221481192,0.06223103193499902,-0.123531266327387,-0.1029644971205832,0.7990466181205407,0.3832690221481192,1.672849673197106,1.672849673197106,1,0,
0.4,0.0700277557009853,-0.1286794911834162,0.4232213530541462,0.08139448304240497,-0.1286794911834162,-0.2302078780011081,0.8020762224272199,0.4232213530541462,1.672849673197106,1.672849673197106,1,0,
0.4,0.0700277557009853,-0.1286794911834162,0.4232213530541462,0.08139448304240497,-0.1286794911834162,-0.06233866850877168,0.7181416176810517,0.4232213530541462,1.50498046370477,1.50498046370477,1,0,
0.45,0.06359378114181449,-0.1317964246088548,0.4591284339381988,0.1025555506951123,-0.1317964246088548,-0.1948849784022493,0.7212974822023249,0.4591284339381988,1.50498046370477,1.50498046370477,1,0,
0.45,0.06359378114181449,-0.1317964246088548,0.4591284339381988,0.1025555506951123,-0.1317964246088548,-0.02725307567430724,0.6374815308383539,0.4591284339381988,1.337348560976828,1.337348560976828,1,0,
0.4999999999999999,0.05700395991137176,-0.1331590783925702,0.4910025104801165,0.1255119723920222,-0.1331590783925702,-0.1630099828426581,0.6407138381518861,0.4910025104801165,1.337348560976828,1.337348560976828,1,0,
0.4999999999999999,0.05700395991137176,-0.1331590783925702,0.4910025104801165,0.1255119723920222,-0.1331590783925702,0.002860065940083256,0.5577788137605154,0.4910025104801165,1.171478512194087,1.171478512194087,1,0,
0.5499999999999999,0.05034600599174325,-0.133016075095566,0.5188914511681423,0.150062097916028,-0.133016075095566,-0.1343004427581838,0.5610445401580931,0.5188914511681423,1.171478512194087,1.171478512194087,1,0,
0.5499999999999999,0.05034600599174325,-0.133016075095566,0.5188914511681423,0.150062097916028,-0.133016075095566,0.02851810719154813,0.4796352651832272,0.5188914511681423,1.008659962244355,1.008659962244355,1,0,
0.6,0.04369520223696494,-0.1315901697359886,0.5428732144273036,0.1760066704744352,-0.1315901697359886,-0.1084951009606398,0.482897484424946,0.5428732144273036,1.008659962244355,1.008659962244355,1,0,
0.6,0.04369520223696494,-0.1315901697359886,0.5428732144273036,0.1760066704744352,-0.1315901697359886,0.05019208379219964,0.4035538920485263,0.5428732144273036,0.8499727774915152,0.8499727774915152,1,0,
0.65,0.0371156937501655,-0.1290805655463786,0.56305090902973,0.2031503311958004,-0.1290805655463786,-0.08535237054435552,0.4067811409613014,0.56305090902973,0.8499727774915152,0.8499727774915152,1,0,
0.65,0.0371156937501655,-0.1290805655463786,0.56305090902973,0.2031503311958004,-0.1290805655463786,0.06831051549069256,0.3299496979437774,0.56305090902973,0.6963098914564672,0.6963098914564672,1,0,
0.7000000000000001,0.03066166547284657,-0.125665039771844,0.5795483939269188,0.2313028766472869,-0.125665039771844,-0.06464892105035491,0.3331153988138023,0.5795483939269188,0.6963098914564672,0.6963098914564672,1,0,
0.7000000000000001,0.03066166547284657,-0.125665039771844,0.5795483939269188,0.2313028766472869,-0.125665039771844,0.08326290988320162,0.259159483347024,0.5795483939269188,0.5483980605229106,0.5483980605229106,1,0,
0.7500000000000001,0.02437841348425437,-0.1215018942776839,0.59250636809427,0.2602802963436329,-0.1215018942776839,-0.04617836433378642,0.2622414184474285,0.59250636809427,0.5483980605229106,0.5483980605229106,1,0,
0.7500000000000001,0.02437841348425437,-0.1215018942776839,0.59250636809427,0.2602802963436329,-0.1215018942776839,0.09540299308411926,0.1914507397384757,0.59250636809427,0.406816703105005,0.406816703105005,1,0,
0.8000000000000002,0.01830331877037017,-0.1167317446234779,0.6020789050811939,0.2899056147483464,-0.1167317446234779,-0.02975003311660907,0.1944305736956359,0.6020789050811939,0.406816703105005,0.406816703105005,1,0,
0.8000000000000002,0.01830331877037017,-0.1167317446234779,0.6020789050811939,0.2899056147483464,-0.1167317446234779,0.105051687844015,0.1270297132153239,0.6020789050811939,0.2720149821443809,0.2720149821443809,1,0,
0.8500000000000002,0.01246673153919627,-0.1114791602312772,0.60843039074196,0.3200095600024062,-0.1114791602312772,-0.01518784570539855,0.1298925592522147,0.60843039074196,0.2720149821443809,0.2720149821443809,1,0,
0.8500000000000002,0.01246673153919627,-0.1114791602312772,0.60843039074196,0.3200095600024062,-0.1114791602312772,0.1124998581799584,0.0660487073095362,0.60843039074196,0.1443272782590239,0.1443272782590239,1,0,
0.9000000000000002,0.006892773527632406,-0.1058541673222792,0.6117328261074368,0.3504310795395042,-0.1058541673222792,-0.002329250816268724,0.06878273371420828,0.6117328261074368,0.1443272782590239,0.1443272782590239,1,0,
0.9000000000000002,0.006892773527632406,-0.1058541673222792,0.6117328261074368,0.3504310795395042,-0.1058541673222792,0.1180108381724093,0.008612689219869277,0.6117328261074368,0.02398718927034595,0.02398718927034595,1,0,
0.9500000000000003,0.00160006516151844,-0.09995362541365876,0.6121634605684303,0.3810177208448761,-0.09995362541365876,0.008975753122095434,0.01120876267344818,0.6121634605684303,0.02398718927034595,0.02398718927034595,1,0,
0.9500000000000003,0.00160006516151844,-0.09995362541365876,0.6121634605684303,0.3810177208448761,-0.09995362541365876,0.1218227612753776,-0.0452147414031929,0.6121634605684303,-0.0888598188829362,-0.0888598188829362,1,0,
1,-0.003397616109164492,-0.09386248734988989,0.6099027234982707,0.4116258938732975,-0.09386248734988989,0.0188655294180385,-0.04276337873992292,0.6099027234982707,-0.0888598188829362,-0.0888598188829362,1,0,
1,-0.003397616109164492,-0.09386248734988989,0.6099027234982707,0.4116258938732975,-0.09386248734988989,0.1241507052749008,-0.09540596666835408,0.6099027234982707,-0.1941449947397985,-0.1941449947397985,1,0,
1,-0.003397616109164492,-0.09386248734988989,0.6099027234982707,0.4116258938732975,-0.09386248734988989,0.1241507052749008,-0.09540596666835408,0.6099027234982707,-0.1941449947397985,-0.1941449947397985,1,0,