{
 "collection": "2026-09-17-cone-course-trial",
 "group": "gpt-6-astra",
 "group_title": "GPT-6 Astra (Codex, medium reasoning)",
 "result": "F S",
 "part": "attempt-2--success--5c4479",
 "about": "Attempt 2, continuation prompt at 21:04:26. After it the model observed once while the car was still being reset (result: operator brake, 1.1 m/s) and ended its turn; 33 s later the operator typed \"Continue\" to restart it, with no other information. Completed the course: 229 s, 24 commands, ended by the operator's brake in the finish area.",
 "segments": [
  {
   "segment": "2026-09-17-5c4479",
   "t_start": 0.0,
   "t_end": 329.0,
   "ended_by": "operator_brake"
  }
 ],
 "video": {
  "road": "road.mp4",
  "wide": "wide.mp4",
  "annotated": "road-annotated.mp4",
  "fps": 20,
  "frames": 6620,
  "duration_s": 331.0,
  "t0": "2026-09-17T21:05:08.295+00:00",
  "steering_scale_deg": 180
 },
 "calls": [
  {
   "t": 3.0,
   "timestamp": "2026-09-17T21:05:11.286334+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "held",
    "speed_mps": 0.0,
    "remaining_s": 0,
    "steering_percent": -5.9,
    "timestamp": "2026-09-17T21:05:10.649069+00:00",
    "image_age_s": 0.997434654000017
   },
   "frames": [
    "000060-narrow-76e915c0.jpg",
    "000060-wide-56782e9f.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 7.15,
   "timestamp": "2026-09-17T21:05:15.434449+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "left",
    "steering_percent": 100.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The vehicle has reset at the entrance, where the cone corridor curves left away from the wall. I am starting the bend slowly and will monitor both boundaries throughout."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 11.55,
   "timestamp": "2026-09-17T21:05:19.829371+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 1.1055787801742554,
    "remaining_s": 6.534747186999994,
    "steering_percent": 4.7,
    "timestamp": "2026-09-17T21:05:19.012137+00:00",
    "image_age_s": 0.984183594000001
   },
   "frames": [
    "000231-narrow-4acb0d6e.jpg",
    "000231-wide-e4364da4.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 16.5,
   "timestamp": "2026-09-17T21:05:24.806556+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.5540506839752197,
    "remaining_s": 1.4829020280000123,
    "steering_percent": 60.7,
    "timestamp": "2026-09-17T21:05:24.050831+00:00",
    "image_age_s": 0.6617805859999635
   },
   "frames": [
    "000330-narrow-a7b43a55.jpg",
    "000330-wide-2f9055c6.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 20.8,
   "timestamp": "2026-09-17T21:05:29.090067+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "left",
    "steering_percent": 100.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The entrance cones remain clear on both sides and the outer row curves left ahead. I am continuing the slow left arc while keeping distance from the right boundary."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 24.7,
   "timestamp": "2026-09-17T21:05:32.971140+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.3122587502002716,
    "remaining_s": 6.643668329999969,
    "steering_percent": 59.0,
    "timestamp": "2026-09-17T21:05:32.463394+00:00",
    "image_age_s": 0.9261772619998965
   },
   "frames": [
    "000494-narrow-9c1c74a2.jpg",
    "000494-wide-459cde84.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 31.35,
   "timestamp": "2026-09-17T21:05:39.626495+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.7208402156829834,
    "remaining_s": 0.46633538300000055,
    "steering_percent": 72.9,
    "timestamp": "2026-09-17T21:05:38.634099+00:00",
    "image_age_s": 0.8524108029999979
   },
   "frames": [
    "000627-narrow-b7f30a4b.jpg",
    "000627-wide-9b151595.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 36.85,
   "timestamp": "2026-09-17T21:05:45.132353+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "left",
    "steering_percent": 100.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The lane sweeps left between two islands, with the nearest cones remaining outside the vehicle path. I am maintaining the turn to follow the visible arc toward the straight."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 40.5,
   "timestamp": "2026-09-17T21:05:48.818451+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.31702423095703125,
    "remaining_s": 6.728704596999933,
    "steering_percent": 67.8,
    "timestamp": "2026-09-17T21:05:48.558182+00:00",
    "image_age_s": 1.0237180239998906
   },
   "frames": [
    "000810-narrow-d9260bf5.jpg",
    "000810-wide-4c298947.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 46.85,
   "timestamp": "2026-09-17T21:05:55.154317+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.6895352602005005,
    "remaining_s": 0.6812927189999982,
    "steering_percent": 74.3,
    "timestamp": "2026-09-17T21:05:54.603912+00:00",
    "image_age_s": 1.0595167729999275
   },
   "frames": [
    "000937-narrow-ed6d9853.jpg",
    "000937-wide-8791fde8.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 51.8,
   "timestamp": "2026-09-17T21:06:00.096361+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "left",
    "steering_percent": 100.0,
    "speed_mps": 0.8,
    "duration_s": 15.0,
    "reason": "The first island is passing on the left, and the cone corridor still runs across our heading. I am continuing the controlled left arc until the exit lane aligns ahead."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 57.95,
   "timestamp": "2026-09-17T21:06:06.244930+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.7502860426902771,
    "remaining_s": 9.61858161500004,
    "steering_percent": 71.7,
    "timestamp": "2026-09-17T21:06:05.522076+00:00",
    "image_age_s": 1.0988788600000134
   },
   "frames": [
    "001159-narrow-1a4b3f37.jpg",
    "001159-wide-fb01627b.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 62.85,
   "timestamp": "2026-09-17T21:06:11.164741+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.6950966715812683,
    "remaining_s": 4.286226424000006,
    "steering_percent": 72.3,
    "timestamp": "2026-09-17T21:06:10.728680+00:00",
    "image_age_s": 0.770060113999989
   },
   "frames": [
    "001257-narrow-7457756c.jpg",
    "001257-wide-16b8dc75.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 67.35,
   "timestamp": "2026-09-17T21:06:15.628252+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "left",
    "steering_percent": 100.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The exit lane is coming into view but remains left of our heading. I am finishing the curve at low speed, preserving space from the nearer right cone row."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 71.25,
   "timestamp": "2026-09-17T21:06:19.554481+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.7851122617721558,
    "remaining_s": 6.26589779699998,
    "steering_percent": 72.7,
    "timestamp": "2026-09-17T21:06:19.547054+00:00",
    "image_age_s": 0.7096356019999348
   },
   "frames": [
    "001425-narrow-d9291e36.jpg",
    "001425-wide-6d6d1236.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 78.5,
   "timestamp": "2026-09-17T21:06:26.790248+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "straight",
    "steering_percent": 0.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The exit corridor is almost aligned, with clear space between the nearby cone rows. I am unwinding the left steering now to avoid carrying the turn toward the left curb."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 82.6,
   "timestamp": "2026-09-17T21:06:30.882508+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 1.0887031555175781,
    "remaining_s": 6.536622084999976,
    "steering_percent": -0.9,
    "timestamp": "2026-09-17T21:06:30.276916+00:00",
    "image_age_s": 0.618702295999924
   },
   "frames": [
    "001652-narrow-cd4a5d56.jpg",
    "001652-wide-57b20740.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 88.55,
   "timestamp": "2026-09-17T21:06:36.836397+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 8.0,
    "reason": "The car has rotated past the lane heading, and the corridor now lies to the right. I am correcting immediately at low speed before the left cones draw closer."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 92.6,
   "timestamp": "2026-09-17T21:06:40.893380+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.6897239089012146,
    "remaining_s": 4.566610147999995,
    "steering_percent": -43.6,
    "timestamp": "2026-09-17T21:06:40.302932+00:00",
    "image_age_s": 0.6531290629999376
   },
   "frames": [
    "001852-narrow-0a6c34e3.jpg",
    "001852-wide-88dc86f2.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 97.5,
   "timestamp": "2026-09-17T21:06:45.784975+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 10.0,
    "reason": "The left cone row is close and the open corridor remains to our right. I am sustaining the right turn slowly to increase left-side clearance and establish the correct heading."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 102.1,
   "timestamp": "2026-09-17T21:06:50.413546+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.8816985487937927,
    "remaining_s": 5.712694514999953,
    "steering_percent": -75.7,
    "timestamp": "2026-09-17T21:06:50.092909+00:00",
    "image_age_s": 0.6040378999998666
   },
   "frames": [
    "002042-narrow-e9dd406e.jpg",
    "002042-wide-251f201a.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 110.0,
   "timestamp": "2026-09-17T21:06:58.302017+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "held",
    "speed_mps": -0.0003691542078740895,
    "remaining_s": 0,
    "steering_percent": -87.6,
    "timestamp": "2026-09-17T21:06:57.626769+00:00",
    "image_age_s": 1.0573603120000143
   },
   "frames": [
    "002200-narrow-385259d0.jpg",
    "002200-wide-ca83287a.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 118.9,
   "timestamp": "2026-09-17T21:07:07.188885+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "straight",
    "steering_percent": 0.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The car is now aligned between the cone rows with the island safely left. I am moving straight through the corridor while assessing the approaching right bend before the parked sedan."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 123.9,
   "timestamp": "2026-09-17T21:07:12.194156+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.8618223667144775,
    "remaining_s": 5.429229530999919,
    "steering_percent": 1.8,
    "timestamp": "2026-09-17T21:07:11.789645+00:00",
    "image_age_s": 0.7994896349998726
   },
   "frames": [
    "002478-narrow-494cdb2c.jpg",
    "002478-wide-013d4f65.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 131.05,
   "timestamp": "2026-09-17T21:07:19.334292+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 60.0,
    "speed_mps": 0.7,
    "duration_s": 10.0,
    "reason": "The cone boundaries begin bending right ahead of the parked sedan, with an island defining the inside. I am starting the right arc early while retaining clearance from its tip."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 134.9,
   "timestamp": "2026-09-17T21:07:23.210093+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.8283758759498596,
    "remaining_s": 6.505497353999999,
    "steering_percent": -30.2,
    "timestamp": "2026-09-17T21:07:22.854819+00:00",
    "image_age_s": 0.7652252629999339
   },
   "frames": [
    "002698-narrow-9026fd87.jpg",
    "002698-wide-561951dd.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 142.75,
   "timestamp": "2026-09-17T21:07:31.048956+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.7,
    "duration_s": 10.0,
    "reason": "The outer cone row now runs across the front and the route turns decisively right around the island. I am increasing steering to follow that bend before reaching the outer boundary."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 148.05,
   "timestamp": "2026-09-17T21:07:36.328568+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.7920455932617188,
    "remaining_s": 5.41254002800008,
    "steering_percent": -70.5,
    "timestamp": "2026-09-17T21:07:35.648987+00:00",
    "image_age_s": 0.7359531899999183
   },
   "frames": [
    "002961-narrow-d216c285.jpg",
    "002961-wide-684d7e9b.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 152.5,
   "timestamp": "2026-09-17T21:07:40.788103+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.7,
    "duration_s": 10.0,
    "reason": "The sedan is passing safely on the left and the corridor curves around the island on the right. I am continuing the right turn while watching clearance to both cone rows."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 158.9,
   "timestamp": "2026-09-17T21:07:47.183453+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.7248794436454773,
    "remaining_s": 4.425412644000062,
    "steering_percent": -87.1,
    "timestamp": "2026-09-17T21:07:46.513085+00:00",
    "image_age_s": 1.0380466379999689
   },
   "frames": [
    "003178-narrow-a6e2dec3.jpg",
    "003178-wide-5267dd78.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 163.8,
   "timestamp": "2026-09-17T21:07:52.119674+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.7,
    "duration_s": 8.0,
    "reason": "The next corridor is visible to the right between the outer vegetation and parked cars. I am completing the remaining right arc, keeping the inner island outside the vehicle footprint."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 168.6,
   "timestamp": "2026-09-17T21:07:56.916435+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.4109898805618286,
    "remaining_s": 4.08377280000002,
    "steering_percent": -77.9,
    "timestamp": "2026-09-17T21:07:56.114042+00:00",
    "image_age_s": 0.8056328199999143
   },
   "frames": [
    "003372-narrow-70db305a.jpg",
    "003372-wide-64b1c65f.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 174.85,
   "timestamp": "2026-09-17T21:08:03.137700+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.7,
    "duration_s": 8.0,
    "reason": "The corridor remains right of our heading, with cones separating us from trees and parked cars. I am finishing the turn in a short increment to avoid overshooting the alignment."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 180.1,
   "timestamp": "2026-09-17T21:08:08.408412+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.3227764666080475,
    "remaining_s": 3.420617330999903,
    "steering_percent": -68.6,
    "timestamp": "2026-09-17T21:08:07.745895+00:00",
    "image_age_s": 0.9646877840000343
   },
   "frames": [
    "003602-narrow-fdb53528.jpg",
    "003602-wide-9dbeacbd.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 185.3,
   "timestamp": "2026-09-17T21:08:13.585185+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "straight",
    "steering_percent": 0.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The cone corridor now extends ahead between the trees and the parked red car. I am straightening before the turn carries us toward the right boundary, then advancing slowly."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 190.1,
   "timestamp": "2026-09-17T21:08:18.395288+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.8214051127433777,
    "remaining_s": 6.226041022000118,
    "steering_percent": 1.6,
    "timestamp": "2026-09-17T21:08:17.447064+00:00",
    "image_age_s": 1.2419181759998992
   },
   "frames": [
    "003802-narrow-436a2a9e.jpg",
    "003802-wide-6d390a62.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 196.0,
   "timestamp": "2026-09-17T21:08:24.291856+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "straight",
    "steering_percent": 0.0,
    "speed_mps": 0.8,
    "duration_s": 10.0,
    "reason": "The short connector is centered between the left tree island and the right accessible-parking island. I am proceeding straight with ample side clearance before the next rightward change in course."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 201.0,
   "timestamp": "2026-09-17T21:08:29.315797+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.9653115272521973,
    "remaining_s": 5.853223463999939,
    "steering_percent": 1.4,
    "timestamp": "2026-09-17T21:08:28.577877+00:00",
    "image_age_s": 1.1212650380000468
   },
   "frames": [
    "004020-narrow-df4c5e7f.jpg",
    "004020-wide-a04968ee.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 205.9,
   "timestamp": "2026-09-17T21:08:34.210767+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.7,
    "duration_s": 10.0,
    "reason": "The outer cones sweep right before the black parked car, and the inside island is visible to the right. I am beginning the next right turn with space to clear both."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 211.35,
   "timestamp": "2026-09-17T21:08:39.666263+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.8168788552284241,
    "remaining_s": 5.6121165609999935,
    "steering_percent": -65.3,
    "timestamp": "2026-09-17T21:08:38.614609+00:00",
    "image_age_s": 1.061379536000004
   },
   "frames": [
    "004227-narrow-89a9d8c7.jpg",
    "004227-wide-a73bf531.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 217.8,
   "timestamp": "2026-09-17T21:08:46.079990+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.5,
    "duration_s": 10.0,
    "reason": "The outer yellow and green cones are approaching as the bend tightens right. I am reducing speed and maintaining maximum right steering to stay inside the corridor and clear the parked car."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 222.55,
   "timestamp": "2026-09-17T21:08:50.864709+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.2911301851272583,
    "remaining_s": 5.982363750000104,
    "steering_percent": -81.0,
    "timestamp": "2026-09-17T21:08:50.127886+00:00",
    "reason": "steering_unavailable",
    "image_age_s": 0.8239425340000253
   },
   "frames": [
    "004451-narrow-c59b686e.jpg",
    "004451-wide-4924cca3.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 227.7,
   "timestamp": "2026-09-17T21:08:55.986621+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.464180052280426,
    "remaining_s": 0.8293712610000057,
    "steering_percent": -74.5,
    "timestamp": "2026-09-17T21:08:55.261890+00:00",
    "image_age_s": 1.1355068809998556
   },
   "frames": [
    "004554-narrow-3d35be13.jpg",
    "004554-wide-c993976f.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 232.3,
   "timestamp": "2026-09-17T21:09:00.603908+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.5,
    "duration_s": 10.0,
    "reason": "The nearest green cone is moving left as the car rotates into the corridor. I am continuing the slow right turn to keep that boundary outside our left side."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 237.85,
   "timestamp": "2026-09-17T21:09:06.137360+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.3893710970878601,
    "remaining_s": 4.55713949699998,
    "steering_percent": -69.6,
    "timestamp": "2026-09-17T21:09:06.128529+00:00",
    "image_age_s": 0.641239983999867
   },
   "frames": [
    "004757-narrow-d03ed212.jpg",
    "004757-wide-360b1769.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 244.95,
   "timestamp": "2026-09-17T21:09:13.230213+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 10.0,
    "reason": "Blue cones are visible beyond the remaining rightward curve, while the outer yellow cones remain close on the left. I am continuing the turn slowly to align with the finishing approach."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 252.1,
   "timestamp": "2026-09-17T21:09:20.396096+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.4914868175983429,
    "remaining_s": 3.7235018090000267,
    "steering_percent": -57.5,
    "timestamp": "2026-09-17T21:09:19.594443+00:00",
    "image_age_s": 0.8474843379999584
   },
   "frames": [
    "005042-narrow-d05294cb.jpg",
    "005042-wide-cd4fd537.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 257.05,
   "timestamp": "2026-09-17T21:09:25.350659+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 10.0,
    "reason": "The blue parking enclosure is visible ahead to the right, beyond the final yellow and orange approach cones. I am continuing the right arc to face its open entrance."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 264.3,
   "timestamp": "2026-09-17T21:09:32.604347+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.4161059558391571,
    "remaining_s": 3.575832954000134,
    "steering_percent": -59.7,
    "timestamp": "2026-09-17T21:09:31.782944+00:00",
    "image_age_s": 1.022334324999747
   },
   "frames": [
    "005286-narrow-0397919e.jpg",
    "005286-wide-79ba1845.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 269.3,
   "timestamp": "2026-09-17T21:09:37.608687+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 10.0,
    "reason": "The blue-cone parking area is clearly defined, but its entrance remains right of our heading. I am continuing a slow right turn while keeping the left curb and cones clear."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 274.65,
   "timestamp": "2026-09-17T21:09:42.923798+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.31974565982818604,
    "remaining_s": 5.449451642999975,
    "steering_percent": -56.6,
    "timestamp": "2026-09-17T21:09:42.186119+00:00",
    "image_age_s": 0.7700348020000547
   },
   "frames": [
    "005493-narrow-87a65631.jpg",
    "005493-wide-59140806.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 281.95,
   "timestamp": "2026-09-17T21:09:50.236626+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "right",
    "steering_percent": 100.0,
    "speed_mps": 0.6,
    "duration_s": 10.0,
    "reason": "The blue enclosure is drawing nearer and remains offset right, with a clear entrance between its side rows. I am turning toward its center while maintaining clearance from the left curb."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 286.25,
   "timestamp": "2026-09-17T21:09:54.552666+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "executing",
    "speed_mps": 0.3091732859611511,
    "remaining_s": 5.7538512390001415,
    "steering_percent": -57.5,
    "timestamp": "2026-09-17T21:09:54.544805+00:00",
    "image_age_s": 0.65828084199984
   },
   "frames": [
    "005725-narrow-0fc05c9f.jpg",
    "005725-wide-273deae8.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 293.65,
   "timestamp": "2026-09-17T21:10:01.921253+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "stopping",
    "speed_mps": 0.29486924409866333,
    "remaining_s": 0,
    "steering_percent": -65.4,
    "timestamp": "2026-09-17T21:10:01.261833+00:00",
    "image_age_s": 0.7943645230000129
   },
   "frames": [
    "005873-narrow-e0b93fe3.jpg",
    "005873-wide-2aa6e4d4.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 300.15,
   "timestamp": "2026-09-17T21:10:08.454877+00:00",
   "tool": "set_motion",
   "client": "codex",
   "arguments": {
    "direction": "straight",
    "steering_percent": 0.0,
    "speed_mps": 0.5,
    "duration_s": 5.0,
    "reason": "The vehicle is aligned inside the blue-cone entrance, with the closed end still ahead. I am straightening and creeping forward briefly to place the whole car within the parking area."
   },
   "outcome": {
    "status": "accepted"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 307.7,
   "timestamp": "2026-09-17T21:10:16.006901+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "held",
    "speed_mps": 2.3189038529380923e-06,
    "remaining_s": 0,
    "steering_percent": -56.9,
    "timestamp": "2026-09-17T21:10:15.322259+00:00",
    "image_age_s": 0.6334299210000154
   },
   "frames": [
    "006154-narrow-cbb1f0ae.jpg",
    "006154-wide-a5d15a11.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 312.5,
   "timestamp": "2026-09-17T21:10:20.774789+00:00",
   "tool": "stop_now",
   "client": "codex",
   "arguments": {
    "reason": "The car is positioned within the blue-cone parking enclosure, with the closing row ahead and side cones clear. I am cancelling motion to finish parked and verify a complete standstill."
   },
   "outcome": {
    "status": "stopping"
   },
   "frames": [],
   "segment": "2026-09-17-5c4479"
  },
  {
   "t": 317.9,
   "timestamp": "2026-09-17T21:10:26.215531+00:00",
   "tool": "observe",
   "client": "codex",
   "arguments": {},
   "outcome": {
    "state": "held",
    "speed_mps": 2.802596928649634e-45,
    "remaining_s": 0,
    "steering_percent": -56.9,
    "timestamp": "2026-09-17T21:10:25.740036+00:00",
    "image_age_s": 0.7655534410000655
   },
   "frames": [
    "006358-narrow-a561eff0.jpg",
    "006358-wide-5afc5fcc.jpg"
   ],
   "segment": "2026-09-17-5c4479"
  }
 ],
 "telemetry": [
  {
   "t": 0.0,
   "speed_mps": -9.653709831525248e-09,
   "steering_deg": -10.673653364181519,
   "state": "held",
   "reason": "operator_brake",
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 8.509041804494188e-10,
   "steering_deg": -10.673815488815308,
   "state": "held",
   "reason": "operator_brake",
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -5.938202013444638e-11,
   "steering_deg": -10.674004316329956,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 4.8063944317611185e-12,
   "steering_deg": -10.674148321151733,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 7.573878590266814e-14,
   "steering_deg": -10.674267530441284,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -4.125198514487623e-14,
   "steering_deg": -10.674387693405151,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 8.302490952835748e-16,
   "steering_deg": -10.674582242965698,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 1.2042037124031853e-16,
   "steering_deg": -10.674672842025757,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -9.68119036760324e-18,
   "steering_deg": -10.67478060722351,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 8.179767806723033e-19,
   "steering_deg": -10.674926519393921,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -4.2959705892298187e-20,
   "steering_deg": -10.67496371269226,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 4.501686530162635e-21,
   "steering_deg": -10.675095319747925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -3.1493354393404847e-22,
   "steering_deg": -10.675226926803589,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 1.3240992428811233e-23,
   "steering_deg": -10.675324201583862,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -7.871408926247905e-25,
   "steering_deg": -10.675520658493042,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -9.599812444865754e-27,
   "steering_deg": -10.675703763961792,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 7.835009940375335e-28,
   "steering_deg": -10.675901174545288,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -5.856651849559504e-29,
   "steering_deg": -10.676042318344116,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 4.340042880750064e-30,
   "steering_deg": -10.676206350326538,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -2.216116006314278e-31,
   "steering_deg": -10.676323652267456,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -1.5921314257399542e-32,
   "steering_deg": -10.676448583602905,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 7.509774964606774e-33,
   "steering_deg": -10.676528692245483,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -1.2644145291547433e-33,
   "steering_deg": -10.676609754562378,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 1.2073153502410315e-34,
   "steering_deg": -10.6766517162323,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -9.522266906757528e-36,
   "steering_deg": -10.676846265792847,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 1.3119483111231524e-37,
   "steering_deg": -10.676999807357788,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -2.5545794318906276e-38,
   "steering_deg": -10.676971197128296,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 3.304417323007459e-39,
   "steering_deg": -10.677026510238647,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -1.5387518306904384e-40,
   "steering_deg": -10.677109479904175,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 2.2845368863887493e-41,
   "steering_deg": -10.677157163619995,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -1.6899659479757294e-42,
   "steering_deg": -10.677325010299683,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 1.0930128021733573e-43,
   "steering_deg": -10.677407026290894,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 4.203895392974451e-45,
   "steering_deg": -10.677550077438354,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -1.401298464324817e-45,
   "steering_deg": -10.67765498161316,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.677725553512573,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.677716970443726,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.67769980430603,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.677804708480835,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.677898168563843,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.677993535995483,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.678114652633667,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.678213834762573,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.678292989730835,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.67839789390564,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.678516149520874,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.678675413131714,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.678828954696655,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.678929090499878,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.678949117660522,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.679112195968628,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.679229497909546,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.67932677268982,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.679389715194702,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.67948031425476,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.679556608200073,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.679609060287476,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.679687261581421,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.679834127426147,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.680001020431519,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.680128812789917,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.680225133895874,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.680248022079468,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.680358648300171,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.680437803268433,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.680580854415894,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.68070673942566,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.680786848068237,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.680951833724976,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.681066274642944,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.68117880821228,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.681274175643921,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.681278944015503,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.681365728378296,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.68146014213562,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.68150782585144,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.681615591049194,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.681790113449097,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.681885480880737,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.68198275566101,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.681999921798706,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.682121992111206,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.682326078414917,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.682391881942749,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": 0.0,
   "steering_deg": -10.682518720626831,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.0,
   "speed_mps": -0.0,
   "steering_deg": -10.682637929916382,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.2,
   "speed_mps": 0.0,
   "steering_deg": -10.682727575302124,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.5,
   "speed_mps": -0.0,
   "steering_deg": -10.682819128036499,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 0.85,
   "speed_mps": -0.0,
   "steering_deg": -10.682960271835327,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 1.2,
   "speed_mps": 0.0,
   "steering_deg": -10.68304991722107,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 1.5,
   "speed_mps": -0.0,
   "steering_deg": -10.683154821395874,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 1.85,
   "speed_mps": 0.0,
   "steering_deg": -10.683287382125854,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 2.1,
   "speed_mps": -0.0,
   "steering_deg": -10.683357000350952,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 2.35,
   "speed_mps": 0.0,
   "steering_deg": -10.683394193649292,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 2.75,
   "speed_mps": 0.0,
   "steering_deg": -10.683530569076538,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 3.15,
   "speed_mps": 0.0,
   "steering_deg": -10.68363642692566,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 3.4,
   "speed_mps": -0.0,
   "steering_deg": -10.683671712875366,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 3.75,
   "speed_mps": 0.0,
   "steering_deg": -10.683765172958374,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 4.05,
   "speed_mps": -0.0,
   "steering_deg": -10.683917760848999,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 4.25,
   "speed_mps": 0.0,
   "steering_deg": -10.684018850326538,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 4.55,
   "speed_mps": -0.0,
   "steering_deg": -10.684102773666382,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 4.85,
   "speed_mps": 0.0,
   "steering_deg": -10.684219121932983,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 5.25,
   "speed_mps": -0.0,
   "steering_deg": -10.68430209159851,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 5.75,
   "speed_mps": 0.0,
   "steering_deg": -10.684443235397339,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 6.0,
   "speed_mps": -0.0,
   "steering_deg": -10.684565305709839,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 6.25,
   "speed_mps": 0.0,
   "steering_deg": -10.68464732170105,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 6.65,
   "speed_mps": -0.0,
   "steering_deg": -10.684760808944702,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 6.85,
   "speed_mps": 0.0,
   "steering_deg": -10.684824705123901,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 7.25,
   "speed_mps": 0.0,
   "steering_deg": -10.685020208358765,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.930875215000015
  },
  {
   "t": 7.55,
   "speed_mps": -0.0,
   "steering_deg": -10.685057401657104,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.599033340000005
  },
  {
   "t": 7.8,
   "speed_mps": -0.0,
   "steering_deg": -10.685120344161987,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.357299404999935
  },
  {
   "t": 8.1,
   "speed_mps": 0.0,
   "steering_deg": -10.685182332992554,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.056040072999963
  },
  {
   "t": 8.45,
   "speed_mps": 0.0,
   "steering_deg": -10.685260534286499,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.716868499999919
  },
  {
   "t": 8.75,
   "speed_mps": -0.0,
   "steering_deg": -10.685388326644897,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.413926822000008
  },
  {
   "t": 9.15,
   "speed_mps": 0.0,
   "steering_deg": -10.685497045516968,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.051142402999972
  },
  {
   "t": 9.45,
   "speed_mps": -0.0,
   "steering_deg": -10.68553900718689,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.691467935999981
  },
  {
   "t": 9.85,
   "speed_mps": 0.25091007351875305,
   "steering_deg": -10.685696363449097,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.308502550999947
  },
  {
   "t": 10.2,
   "speed_mps": 0.6635615825653076,
   "steering_deg": -9.712374448776245,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.977140624999947
  },
  {
   "t": 10.45,
   "speed_mps": 0.9613367915153503,
   "steering_deg": 1.1161434650421143,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.688195997999969
  },
  {
   "t": 10.75,
   "speed_mps": 1.2408984899520874,
   "steering_deg": 14.045236229896545,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.385660361999953
  },
  {
   "t": 11.35,
   "speed_mps": 1.5298668146133423,
   "steering_deg": 48.27919340133667,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.911936410999942
  },
  {
   "t": 11.7,
   "speed_mps": 1.6260478496551514,
   "steering_deg": 67.64727735519409,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.431236409000007
  },
  {
   "t": 12.0,
   "speed_mps": 1.5176265239715576,
   "steering_deg": 74.5819239616394,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.142421990999992
  },
  {
   "t": 12.35,
   "speed_mps": 1.2076101303100586,
   "steering_deg": 84.72720289230347,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.789807898999925
  },
  {
   "t": 12.65,
   "speed_mps": 1.0268269777297974,
   "steering_deg": 88.85447645187378,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.516355376999968
  },
  {
   "t": 12.95,
   "speed_mps": 0.9186634421348572,
   "steering_deg": 91.20378065109253,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.196961175999945
  },
  {
   "t": 13.35,
   "speed_mps": 0.8128939270973206,
   "steering_deg": 95.10017347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.8006143659999907
  },
  {
   "t": 13.75,
   "speed_mps": 0.7148095965385437,
   "steering_deg": 97.334876537323,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.5013918070000045
  },
  {
   "t": 14.0,
   "speed_mps": 0.6261528134346008,
   "steering_deg": 99.34037733078003,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.1202719460000026
  },
  {
   "t": 14.35,
   "speed_mps": 0.5761816501617432,
   "steering_deg": 100.14257764816284,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.799910971999907
  },
  {
   "t": 14.6,
   "speed_mps": 0.5580148696899414,
   "steering_deg": 101.34587812423706,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.555541617000017
  },
  {
   "t": 14.85,
   "speed_mps": 0.5425859093666077,
   "steering_deg": 104.4400782585144,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.28762196699995
  },
  {
   "t": 15.2,
   "speed_mps": 0.5372796058654785,
   "steering_deg": 106.84667921066284,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9645369279999159
  },
  {
   "t": 15.5,
   "speed_mps": 0.5444031953811646,
   "steering_deg": 108.56567335128784,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6454473100000087
  },
  {
   "t": 15.8,
   "speed_mps": 0.5578626990318298,
   "steering_deg": 109.76897382736206,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3719481219999352
  },
  {
   "t": 16.4,
   "speed_mps": 0.5852841734886169,
   "steering_deg": 112.34748029708862,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9313776029999872
  },
  {
   "t": 16.7,
   "speed_mps": 0.5938891172409058,
   "steering_deg": 116.30117750167847,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.45587635799995496
  },
  {
   "t": 16.9,
   "speed_mps": 0.5955798625946045,
   "steering_deg": 117.56177473068237,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.2792405359999748
  },
  {
   "t": 17.15,
   "speed_mps": 0.607391357421875,
   "steering_deg": 118.53588056564331,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.005231085999980678
  },
  {
   "t": 17.4,
   "speed_mps": 0.610318660736084,
   "steering_deg": 119.166175365448,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 17.75,
   "speed_mps": 0.519336998462677,
   "steering_deg": 119.68187665939331,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 18.0,
   "speed_mps": 0.364801824092865,
   "steering_deg": 119.739173412323,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 18.4,
   "speed_mps": -0.06400757282972336,
   "steering_deg": 114.52487897872925,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 18.65,
   "speed_mps": 0.0022148939315229654,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 18.95,
   "speed_mps": 0.0004277183033991605,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 19.2,
   "speed_mps": -1.3747344382863957e-05,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 19.5,
   "speed_mps": 3.965235464420402e-06,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 19.75,
   "speed_mps": -4.0720610172684246e-07,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 20.1,
   "speed_mps": 2.5834536288016352e-08,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 20.4,
   "speed_mps": -2.5826438765363946e-09,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 20.7,
   "speed_mps": 5.479259823637506e-10,
   "steering_deg": 114.52487897872925,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 21.0,
   "speed_mps": -1.6220778192854723e-11,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.818789431000027
  },
  {
   "t": 21.35,
   "speed_mps": 3.309789508437744e-13,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.465799661999995
  },
  {
   "t": 21.75,
   "speed_mps": 1.1142604918715389e-14,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.112326661999987
  },
  {
   "t": 22.1,
   "speed_mps": -1.8101553598198284e-15,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.72145642199996
  },
  {
   "t": 22.3,
   "speed_mps": 1.112759094208795e-16,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.48261624099996
  },
  {
   "t": 22.6,
   "speed_mps": 1.5275269075969147e-19,
   "steering_deg": 114.52487897872925,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.218633993000026
  },
  {
   "t": 22.95,
   "speed_mps": 6.472010522113031e-19,
   "steering_deg": 114.35297346115112,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.870365271999958
  },
  {
   "t": 23.2,
   "speed_mps": 0.00942827109247446,
   "steering_deg": 113.43617963790894,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.599828066999976
  },
  {
   "t": 23.45,
   "speed_mps": 0.30702030658721924,
   "steering_deg": 112.51937818527222,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.358796892999976
  },
  {
   "t": 23.8,
   "speed_mps": 0.3428442180156708,
   "steering_deg": 107.76348066329956,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.075368991999994
  },
  {
   "t": 24.05,
   "speed_mps": 0.32520461082458496,
   "steering_deg": 106.10177564620972,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.764232199000048
  },
  {
   "t": 24.3,
   "speed_mps": 0.3201291263103485,
   "steering_deg": 106.44557905197144,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.522238419000018
  },
  {
   "t": 24.55,
   "speed_mps": 0.36608123779296875,
   "steering_deg": 106.50287580490112,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.262470551999968
  },
  {
   "t": 24.9,
   "speed_mps": 0.4270007312297821,
   "steering_deg": 106.44557905197144,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.920547725000006
  },
  {
   "t": 25.15,
   "speed_mps": 0.45842185616493225,
   "steering_deg": 106.61747694015503,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.6396762350000245
  },
  {
   "t": 25.4,
   "speed_mps": 0.4863574504852295,
   "steering_deg": 107.24777936935425,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.399347926000019
  },
  {
   "t": 25.7,
   "speed_mps": 0.49474436044692993,
   "steering_deg": 109.02407789230347,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.116078516000016
  },
  {
   "t": 25.95,
   "speed_mps": 0.4982255697250366,
   "steering_deg": 111.48797559738159,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.856363930000043
  },
  {
   "t": 26.3,
   "speed_mps": 0.5220512747764587,
   "steering_deg": 112.34748029708862,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.495357170000034
  },
  {
   "t": 26.7,
   "speed_mps": 0.544612467288971,
   "steering_deg": 113.37887525558472,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.192220543999952
  },
  {
   "t": 27.0,
   "speed_mps": 0.593890905380249,
   "steering_deg": 115.09787702560425,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7806329830000323
  },
  {
   "t": 27.4,
   "speed_mps": 0.6300265789031982,
   "steering_deg": 117.67637586593628,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.390999254999997
  },
  {
   "t": 27.65,
   "speed_mps": 0.6465803384780884,
   "steering_deg": 119.4526743888855,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.1462846910000053
  },
  {
   "t": 27.9,
   "speed_mps": 0.6619759798049927,
   "steering_deg": 120.36947584152222,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.8992460609999853
  },
  {
   "t": 28.3,
   "speed_mps": 0.6955225467681885,
   "steering_deg": 124.15127515792847,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.4968553879999718
  },
  {
   "t": 28.7,
   "speed_mps": 0.7143275737762451,
   "steering_deg": 126.2713770866394,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.2365239780000365
  },
  {
   "t": 28.95,
   "speed_mps": 0.7255086898803711,
   "steering_deg": 128.50607252120972,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.8834249899999804
  },
  {
   "t": 29.3,
   "speed_mps": 0.7080782651901245,
   "steering_deg": 129.30827283859253,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.4812171300000045
  },
  {
   "t": 29.75,
   "speed_mps": 0.7226240038871765,
   "steering_deg": 129.59477186203003,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2203773859999956
  },
  {
   "t": 29.95,
   "speed_mps": 0.7452079057693481,
   "steering_deg": 130.05317640304565,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8577118739999605
  },
  {
   "t": 30.4,
   "speed_mps": 0.7162217497825623,
   "steering_deg": 131.3137812614441,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.4065258199999562
  },
  {
   "t": 31.05,
   "speed_mps": 0.7312831878662109,
   "steering_deg": 133.0327754020691,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 31.35,
   "speed_mps": 0.697736382484436,
   "steering_deg": 134.4652705192566,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 31.7,
   "speed_mps": 0.47585296630859375,
   "steering_deg": 134.86637830734253,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 31.95,
   "speed_mps": 0.25482603907585144,
   "steering_deg": 135.5539698600769,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 32.2,
   "speed_mps": -0.06632968038320541,
   "steering_deg": 129.88127088546753,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 32.45,
   "speed_mps": 0.005241789855062962,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 32.7,
   "speed_mps": 0.00030092382803559303,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 32.95,
   "speed_mps": -0.000132343455334194,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 33.25,
   "speed_mps": 3.2886835015233373e-06,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 33.55,
   "speed_mps": -8.146481036419573e-07,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 33.9,
   "speed_mps": 1.6001370894969114e-08,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 34.15,
   "speed_mps": -4.251599960980457e-09,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 34.35,
   "speed_mps": 6.913021266541364e-10,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 34.75,
   "speed_mps": -6.756020048959144e-11,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 35.15,
   "speed_mps": 9.532289237459968e-13,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 35.35,
   "speed_mps": -7.643612441122008e-14,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 35.7,
   "speed_mps": 9.05075032931954e-15,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 35.95,
   "speed_mps": -1.384943867386104e-15,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 36.3,
   "speed_mps": 7.57918960066615e-18,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 36.75,
   "speed_mps": -6.725890346681455e-19,
   "steering_deg": 129.88127088546753,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 37.0,
   "speed_mps": -6.456493647797302e-20,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.819427557999916
  },
  {
   "t": 37.25,
   "speed_mps": -7.28488029614578e-21,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.619658003999916
  },
  {
   "t": 37.5,
   "speed_mps": 1.2540169157919355e-21,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.347014858999955
  },
  {
   "t": 37.9,
   "speed_mps": 1.0351906903714155e-23,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.956264149999924
  },
  {
   "t": 38.2,
   "speed_mps": -1.0501725591896693e-24,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.645427670000004
  },
  {
   "t": 38.45,
   "speed_mps": -2.430160467281257e-25,
   "steering_deg": 129.88127088546753,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.4030857649999
  },
  {
   "t": 38.7,
   "speed_mps": 1.060504541636285e-25,
   "steering_deg": 129.65208387374878,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.202827304999914
  },
  {
   "t": 39.0,
   "speed_mps": -8.131549707255013e-27,
   "steering_deg": 129.02177381515503,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.901074117999997
  },
  {
   "t": 39.35,
   "speed_mps": 0.29912394285202026,
   "steering_deg": 127.93307447433472,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.482057587999975
  },
  {
   "t": 39.65,
   "speed_mps": 0.3061780035495758,
   "steering_deg": 124.95347547531128,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.259365866999929
  },
  {
   "t": 39.9,
   "speed_mps": 0.3006570637226105,
   "steering_deg": 122.60417890548706,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.956588876999945
  },
  {
   "t": 40.15,
   "speed_mps": 0.31702423095703125,
   "steering_deg": 122.08847761154175,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.728704596999933
  },
  {
   "t": 40.45,
   "speed_mps": 0.3905103802680969,
   "steering_deg": 121.68737745285034,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.414419204999945
  },
  {
   "t": 40.7,
   "speed_mps": 0.4240559935569763,
   "steering_deg": 121.05707502365112,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.195316603999913
  },
  {
   "t": 40.95,
   "speed_mps": 0.43874967098236084,
   "steering_deg": 121.22898054122925,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.912000942999953
  },
  {
   "t": 41.25,
   "speed_mps": 0.4432879090309143,
   "steering_deg": 121.74467420578003,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.629698564999899
  },
  {
   "t": 41.55,
   "speed_mps": 0.46497610211372375,
   "steering_deg": 122.14577436447144,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.291700378999963
  },
  {
   "t": 41.8,
   "speed_mps": 0.5055614709854126,
   "steering_deg": 122.14577436447144,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.056591556999933
  },
  {
   "t": 42.25,
   "speed_mps": 0.5428751707077026,
   "steering_deg": 122.08847761154175,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.7189348299999665
  },
  {
   "t": 42.5,
   "speed_mps": 0.5660746097564697,
   "steering_deg": 123.69287824630737,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.336698924999951
  },
  {
   "t": 42.75,
   "speed_mps": 0.5896323323249817,
   "steering_deg": 124.38047742843628,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.063439007999932
  },
  {
   "t": 43.05,
   "speed_mps": 0.6051127314567566,
   "steering_deg": 125.52647352218628,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7947895139999446
  },
  {
   "t": 43.4,
   "speed_mps": 0.5918493866920471,
   "steering_deg": 126.50057935714722,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.4321601469999905
  },
  {
   "t": 43.65,
   "speed_mps": 0.6009224653244019,
   "steering_deg": 126.95898389816284,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.192939964999937
  },
  {
   "t": 43.9,
   "speed_mps": 0.6313927173614502,
   "steering_deg": 127.1308741569519,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.930725167999981
  },
  {
   "t": 44.25,
   "speed_mps": 0.6553105711936951,
   "steering_deg": 127.18817090988159,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.638290379999944
  },
  {
   "t": 44.5,
   "speed_mps": 0.6421722769737244,
   "steering_deg": 127.76118421554565,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.317049560999976
  },
  {
   "t": 44.85,
   "speed_mps": 0.6459192037582397,
   "steering_deg": 128.73527479171753,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9958296279999104
  },
  {
   "t": 45.2,
   "speed_mps": 0.6705754399299622,
   "steering_deg": 130.11047315597534,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7460291189998998
  },
  {
   "t": 45.45,
   "speed_mps": 0.678284227848053,
   "steering_deg": 131.2564845085144,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3923611189999292
  },
  {
   "t": 45.7,
   "speed_mps": 0.6708877086639404,
   "steering_deg": 132.51707410812378,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1741099249999252
  },
  {
   "t": 45.95,
   "speed_mps": 0.6764270067214966,
   "steering_deg": 133.3192744255066,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8818619599999238
  },
  {
   "t": 46.35,
   "speed_mps": 0.6991956233978271,
   "steering_deg": 134.1214747428894,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5203083249999736
  },
  {
   "t": 46.7,
   "speed_mps": 0.7089579701423645,
   "steering_deg": 134.4079737663269,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.19937719399990783
  },
  {
   "t": 46.95,
   "speed_mps": 0.7085015773773193,
   "steering_deg": 134.52258253097534,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 47.35,
   "speed_mps": 0.6422977447509766,
   "steering_deg": 134.80908155441284,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 47.7,
   "speed_mps": 0.4845125675201416,
   "steering_deg": 134.80908155441284,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 47.95,
   "speed_mps": 0.295653373003006,
   "steering_deg": 135.38207960128784,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 48.25,
   "speed_mps": -0.04952770471572876,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 48.6,
   "speed_mps": 0.0037921243347227573,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 48.95,
   "speed_mps": -8.329204865731299e-05,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 49.25,
   "speed_mps": 4.106372671230929e-06,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 49.6,
   "speed_mps": -3.328689501813642e-07,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 49.8,
   "speed_mps": 6.848807032611148e-08,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 50.1,
   "speed_mps": -9.11929998181904e-09,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 50.35,
   "speed_mps": 8.623918801298203e-10,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 50.7,
   "speed_mps": -6.008794156686648e-11,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 50.95,
   "speed_mps": 4.755783006987757e-12,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 51.3,
   "speed_mps": -2.865349830235425e-13,
   "steering_deg": 129.76667737960815,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 51.55,
   "speed_mps": 2.5913595745673083e-14,
   "steering_deg": 129.70938062667847,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 51.9,
   "speed_mps": -1.415889474960211e-15,
   "steering_deg": 129.70938062667847,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 14.791940382999996
  },
  {
   "t": 52.15,
   "speed_mps": 1.4700101951387712e-16,
   "steering_deg": 129.70938062667847,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 14.542124822000005
  },
  {
   "t": 52.4,
   "speed_mps": -8.823853231458367e-18,
   "steering_deg": 129.70938062667847,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 14.299900990000083
  },
  {
   "t": 52.75,
   "speed_mps": 7.154377658802166e-19,
   "steering_deg": 129.70938062667847,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 13.986662318000072
  },
  {
   "t": 53.05,
   "speed_mps": -5.671498600249625e-20,
   "steering_deg": 129.25097608566284,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 13.67570734700007
  },
  {
   "t": 53.3,
   "speed_mps": 0.3747146427631378,
   "steering_deg": 127.58927869796753,
   "state": "executing",
   "reason": null,
   "remaining_s": 13.415055469000094
  },
  {
   "t": 53.5,
   "speed_mps": 0.4465598165988922,
   "steering_deg": 121.91657972335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 13.204044546000091
  },
  {
   "t": 53.85,
   "speed_mps": 0.5904865860939026,
   "steering_deg": 115.67087507247925,
   "state": "executing",
   "reason": null,
   "remaining_s": 12.88267294600007
  },
  {
   "t": 54.1,
   "speed_mps": 0.701585590839386,
   "steering_deg": 113.14968061447144,
   "state": "executing",
   "reason": null,
   "remaining_s": 12.593991027000015
  },
  {
   "t": 54.35,
   "speed_mps": 0.7836470007896423,
   "steering_deg": 113.32157850265503,
   "state": "executing",
   "reason": null,
   "remaining_s": 12.351187246999984
  },
  {
   "t": 54.75,
   "speed_mps": 0.8768839240074158,
   "steering_deg": 113.60807752609253,
   "state": "executing",
   "reason": null,
   "remaining_s": 12.069514400999992
  },
  {
   "t": 55.0,
   "speed_mps": 0.967352032661438,
   "steering_deg": 118.020179271698,
   "state": "executing",
   "reason": null,
   "remaining_s": 11.764920325000048
  },
  {
   "t": 55.25,
   "speed_mps": 0.9568140506744385,
   "steering_deg": 119.166175365448,
   "state": "executing",
   "reason": null,
   "remaining_s": 11.465863652000053
  },
  {
   "t": 55.5,
   "speed_mps": 0.8821252584457397,
   "steering_deg": 120.94247388839722,
   "state": "executing",
   "reason": null,
   "remaining_s": 11.264920190999987
  },
  {
   "t": 55.75,
   "speed_mps": 0.8253142237663269,
   "steering_deg": 124.49507856369019,
   "state": "executing",
   "reason": null,
   "remaining_s": 10.983755731000088
  },
  {
   "t": 56.15,
   "speed_mps": 0.8761484622955322,
   "steering_deg": 126.38597822189331,
   "state": "executing",
   "reason": null,
   "remaining_s": 10.624271942000064
  },
  {
   "t": 56.45,
   "speed_mps": 0.7926592826843262,
   "steering_deg": 128.39147901535034,
   "state": "executing",
   "reason": null,
   "remaining_s": 10.271448527000075
  },
  {
   "t": 56.75,
   "speed_mps": 0.7548500299453735,
   "steering_deg": 128.90718030929565,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.940268580000065
  },
  {
   "t": 57.1,
   "speed_mps": 0.7502860426902771,
   "steering_deg": 129.02177381515503,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.61858161500004
  },
  {
   "t": 57.35,
   "speed_mps": 0.7329409122467041,
   "steering_deg": 129.07907056808472,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.348512275000076
  },
  {
   "t": 57.65,
   "speed_mps": 0.7184910178184509,
   "steering_deg": 129.07907056808472,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.048441903000025
  },
  {
   "t": 57.95,
   "speed_mps": 0.7285335063934326,
   "steering_deg": 129.07907056808472,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.835361342000056
  },
  {
   "t": 58.2,
   "speed_mps": 0.7304320931434631,
   "steering_deg": 129.19367933273315,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.48648267200008
  },
  {
   "t": 58.45,
   "speed_mps": 0.7355153560638428,
   "steering_deg": 129.25097608566284,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.245144570000093
  },
  {
   "t": 58.85,
   "speed_mps": 0.7378565669059753,
   "steering_deg": 129.25097608566284,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.99448879900001
  },
  {
   "t": 59.1,
   "speed_mps": 0.7219937443733215,
   "steering_deg": 129.30827283859253,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.620231760000024
  },
  {
   "t": 59.35,
   "speed_mps": 0.725070059299469,
   "steering_deg": 129.36556959152222,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.368233071000077
  },
  {
   "t": 59.65,
   "speed_mps": 0.7415452599525452,
   "steering_deg": 129.36556959152222,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.070532598
  },
  {
   "t": 59.9,
   "speed_mps": 0.7371317148208618,
   "steering_deg": 129.42288160324097,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.838417062000076
  },
  {
   "t": 60.2,
   "speed_mps": 0.737191379070282,
   "steering_deg": 129.70938062667847,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.498318300000051
  },
  {
   "t": 60.5,
   "speed_mps": 0.727908194065094,
   "steering_deg": 129.93858289718628,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.207000440000002
  },
  {
   "t": 60.85,
   "speed_mps": 0.7082008719444275,
   "steering_deg": 129.99587965011597,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.854122754000059
  },
  {
   "t": 61.25,
   "speed_mps": 0.7035854458808899,
   "steering_deg": 129.99587965011597,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.5542959760000485
  },
  {
   "t": 61.5,
   "speed_mps": 0.6987007260322571,
   "steering_deg": 130.05317640304565,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.181866022999998
  },
  {
   "t": 61.75,
   "speed_mps": 0.7022231817245483,
   "steering_deg": 130.11047315597534,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.937707709000051
  },
  {
   "t": 62.05,
   "speed_mps": 0.703157365322113,
   "steering_deg": 130.11047315597534,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.660417578000079
  },
  {
   "t": 62.4,
   "speed_mps": 0.6950966715812683,
   "steering_deg": 130.16776990890503,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.286226424000006
  },
  {
   "t": 62.8,
   "speed_mps": 0.6830881834030151,
   "steering_deg": 130.16776990890503,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.9535862669999915
  },
  {
   "t": 63.05,
   "speed_mps": 0.7092464566230774,
   "steering_deg": 130.16776990890503,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.6454802580000205
  },
  {
   "t": 63.3,
   "speed_mps": 0.7364108562469482,
   "steering_deg": 130.16776990890503,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.393555111000069
  },
  {
   "t": 63.6,
   "speed_mps": 0.7422874569892883,
   "steering_deg": 130.16776990890503,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.1323422420000497
  },
  {
   "t": 63.85,
   "speed_mps": 0.7357491850852966,
   "steering_deg": 130.22508192062378,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.8415393310000354
  },
  {
   "t": 64.25,
   "speed_mps": 0.7368874549865723,
   "steering_deg": 130.39697217941284,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.5301548800000546
  },
  {
   "t": 64.5,
   "speed_mps": 0.7440415620803833,
   "steering_deg": 130.51158094406128,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.227557681999997
  },
  {
   "t": 64.9,
   "speed_mps": 0.7473377585411072,
   "steering_deg": 130.51158094406128,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.815884861000086
  },
  {
   "t": 65.15,
   "speed_mps": 0.7486653923988342,
   "steering_deg": 130.56887769699097,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5756447300000218
  },
  {
   "t": 65.35,
   "speed_mps": 0.7608475089073181,
   "steering_deg": 130.62617444992065,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3329174080000712
  },
  {
   "t": 65.8,
   "speed_mps": 0.7553996443748474,
   "steering_deg": 130.7407832145691,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9947607320000316
  },
  {
   "t": 66.0,
   "speed_mps": 0.7537937760353088,
   "steering_deg": 130.79807996749878,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.681095914000025
  },
  {
   "t": 66.45,
   "speed_mps": 0.7572442293167114,
   "steering_deg": 130.85537672042847,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.2478995720000512
  },
  {
   "t": 66.7,
   "speed_mps": 0.7658081650733948,
   "steering_deg": 130.85537672042847,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.010630227000092418
  },
  {
   "t": 66.95,
   "speed_mps": 0.7859076857566833,
   "steering_deg": 130.85537672042847,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 67.35,
   "speed_mps": 0.7635529041290283,
   "steering_deg": 130.68347120285034,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.9995093739999
  },
  {
   "t": 67.75,
   "speed_mps": 0.6420409083366394,
   "steering_deg": 130.4542841911316,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.711049278999894
  },
  {
   "t": 68.15,
   "speed_mps": 0.6840696334838867,
   "steering_deg": 130.68347120285034,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.287514044999966
  },
  {
   "t": 68.4,
   "speed_mps": 0.7296115756034851,
   "steering_deg": 130.68347120285034,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.907218299999954
  },
  {
   "t": 68.8,
   "speed_mps": 0.776597261428833,
   "steering_deg": 130.7407832145691,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.55314212199994
  },
  {
   "t": 69.15,
   "speed_mps": 0.8017977476119995,
   "steering_deg": 130.7407832145691,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.224946970999895
  },
  {
   "t": 69.35,
   "speed_mps": 0.8169300556182861,
   "steering_deg": 130.79807996749878,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.963265976000002
  },
  {
   "t": 69.75,
   "speed_mps": 0.8332058787345886,
   "steering_deg": 130.79807996749878,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.622542421999924
  },
  {
   "t": 70.1,
   "speed_mps": 0.8040589094161987,
   "steering_deg": 130.91267347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.281388710999977
  },
  {
   "t": 70.35,
   "speed_mps": 0.8003782629966736,
   "steering_deg": 130.91267347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.989277152
  },
  {
   "t": 70.75,
   "speed_mps": 0.8070071339607239,
   "steering_deg": 130.91267347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.617664803999901
  },
  {
   "t": 71.0,
   "speed_mps": 0.7895559072494507,
   "steering_deg": 130.91267347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.326622621999945
  },
  {
   "t": 71.4,
   "speed_mps": 0.7784308791160583,
   "steering_deg": 130.91267347335815,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.963791119999996
  },
  {
   "t": 71.9,
   "speed_mps": 0.7807343602180481,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.422818011999993
  },
  {
   "t": 72.15,
   "speed_mps": 0.7934481501579285,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.1817290249999814
  },
  {
   "t": 72.4,
   "speed_mps": 0.8044818043708801,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.9079372839999
  },
  {
   "t": 72.8,
   "speed_mps": 0.7769086956977844,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.517369544999951
  },
  {
   "t": 73.15,
   "speed_mps": 0.732748806476593,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.237119981999967
  },
  {
   "t": 73.4,
   "speed_mps": 0.7364451289176941,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.9328852289999077
  },
  {
   "t": 73.8,
   "speed_mps": 0.7630820870399475,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.6029627319999236
  },
  {
   "t": 74.1,
   "speed_mps": 0.7905269861221313,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.2503311399999575
  },
  {
   "t": 74.3,
   "speed_mps": 0.8188463449478149,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.019606021999948
  },
  {
   "t": 74.7,
   "speed_mps": 0.8208109140396118,
   "steering_deg": 130.96997022628784,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.771219578
  },
  {
   "t": 75.05,
   "speed_mps": 0.8216911554336548,
   "steering_deg": 131.0272822380066,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.437976606999996
  },
  {
   "t": 75.55,
   "speed_mps": 0.8364148139953613,
   "steering_deg": 131.08457899093628,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7855904249998957
  },
  {
   "t": 75.8,
   "speed_mps": 0.8390695452690125,
   "steering_deg": 131.14187574386597,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5449458139999024
  },
  {
   "t": 76.2,
   "speed_mps": 0.8278117179870605,
   "steering_deg": 131.14187574386597,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1924527109999872
  },
  {
   "t": 76.45,
   "speed_mps": 0.8203755021095276,
   "steering_deg": 131.14187574386597,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8703165789999048
  },
  {
   "t": 76.85,
   "speed_mps": 0.8004862666130066,
   "steering_deg": 131.14187574386597,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.4805621739999424
  },
  {
   "t": 77.2,
   "speed_mps": 0.792574942111969,
   "steering_deg": 131.2564845085144,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.24861288799991144
  },
  {
   "t": 77.45,
   "speed_mps": 0.782974362373352,
   "steering_deg": 131.37107801437378,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 77.7,
   "speed_mps": 0.7645769119262695,
   "steering_deg": 131.42837476730347,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 78.0,
   "speed_mps": 0.6419110894203186,
   "steering_deg": 131.42837476730347,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 78.35,
   "speed_mps": 0.35753554105758667,
   "steering_deg": 131.6002802848816,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 78.8,
   "speed_mps": -0.03955807909369469,
   "steering_deg": 125.92757368087769,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.68240106099995
  },
  {
   "t": 79.1,
   "speed_mps": 0.004361518193036318,
   "steering_deg": 125.870276927948,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.418271417000028
  },
  {
   "t": 79.35,
   "speed_mps": -0.0003808949259109795,
   "steering_deg": 125.870276927948,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.148475566999991
  },
  {
   "t": 79.75,
   "speed_mps": 0.04186313971877098,
   "steering_deg": 125.0107798576355,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 8.865355115000057
  },
  {
   "t": 80.0,
   "speed_mps": 0.3792405426502228,
   "steering_deg": 119.91107892990112,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.496194333000062
  },
  {
   "t": 80.3,
   "speed_mps": 0.5112033486366272,
   "steering_deg": 108.22187757492065,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.203783764000036
  },
  {
   "t": 80.7,
   "speed_mps": 0.6536263227462769,
   "steering_deg": 86.5628809928894,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.872846160999984
  },
  {
   "t": 80.95,
   "speed_mps": 0.7670350074768066,
   "steering_deg": 56.31006574630737,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.571141203000025
  },
  {
   "t": 81.2,
   "speed_mps": 0.8674370646476746,
   "steering_deg": 28.752171993255615,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.281587305000016
  },
  {
   "t": 81.5,
   "speed_mps": 0.9545201063156128,
   "steering_deg": 5.090341091156006,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.98920319399997
  },
  {
   "t": 81.8,
   "speed_mps": 1.0498106479644775,
   "steering_deg": -1.7523914277553558,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.689273759000002
  },
  {
   "t": 82.3,
   "speed_mps": 1.107879638671875,
   "steering_deg": -1.0768110752105713,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.396712355999966
  },
  {
   "t": 82.65,
   "speed_mps": 1.0326359272003174,
   "steering_deg": -0.7352060079574585,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.884217777999993
  },
  {
   "t": 82.95,
   "speed_mps": 0.9793422222137451,
   "steering_deg": -0.6814833283424377,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.530690403999984
  },
  {
   "t": 83.35,
   "speed_mps": 0.9415073394775391,
   "steering_deg": -0.6248226165771484,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.146161371000062
  },
  {
   "t": 83.7,
   "speed_mps": 0.92250657081604,
   "steering_deg": -0.6255549192428589,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.8583417449999615
  },
  {
   "t": 84.0,
   "speed_mps": 0.8674405217170715,
   "steering_deg": -0.6264340281486511,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.505681611999989
  },
  {
   "t": 84.3,
   "speed_mps": 0.8481256365776062,
   "steering_deg": -0.6271834373474121,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.206445146999954
  },
  {
   "t": 84.7,
   "speed_mps": 0.8412524461746216,
   "steering_deg": -0.6281521320343018,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.8143025100000614
  },
  {
   "t": 85.0,
   "speed_mps": 0.8008716106414795,
   "steering_deg": -0.5718082785606384,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.5000426389999575
  },
  {
   "t": 85.25,
   "speed_mps": 0.7769143581390381,
   "steering_deg": -0.5726602077484131,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.2515848919999826
  },
  {
   "t": 85.45,
   "speed_mps": 0.7780382633209229,
   "steering_deg": -0.5732713937759399,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.0701021349999564
  },
  {
   "t": 85.75,
   "speed_mps": 0.7594360709190369,
   "steering_deg": -0.5744545459747314,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7191678369999863
  },
  {
   "t": 86.05,
   "speed_mps": 0.7481001019477844,
   "steering_deg": -0.5754632353782654,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.416424232000054
  },
  {
   "t": 86.4,
   "speed_mps": 0.7186257839202881,
   "steering_deg": -0.5764668583869934,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1142589099999896
  },
  {
   "t": 86.65,
   "speed_mps": 0.7019003033638,
   "steering_deg": -0.5774654746055603,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.8146147879999717
  },
  {
   "t": 86.9,
   "speed_mps": 0.695712149143219,
   "steering_deg": -0.5782608389854431,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5732215310000583
  },
  {
   "t": 87.3,
   "speed_mps": 0.6983923316001892,
   "steering_deg": -0.5791517496109009,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2998072379999712
  },
  {
   "t": 87.55,
   "speed_mps": 0.6997268199920654,
   "steering_deg": -0.5803006887435913,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.949693410000009
  },
  {
   "t": 87.8,
   "speed_mps": 0.706098198890686,
   "steering_deg": -0.5810847282409668,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.7087973930000544
  },
  {
   "t": 88.05,
   "speed_mps": 0.713240385055542,
   "steering_deg": -0.58199542760849,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.4270003799999813
  },
  {
   "t": 88.45,
   "speed_mps": 0.727533757686615,
   "steering_deg": -0.5833213329315186,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.015319694000027084
  },
  {
   "t": 88.7,
   "speed_mps": 0.7246403694152832,
   "steering_deg": -0.5841253399848938,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.810159106000015
  },
  {
   "t": 89.0,
   "speed_mps": 0.7043918371200562,
   "steering_deg": -0.6992877125740051,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.558551771999987
  },
  {
   "t": 89.3,
   "speed_mps": 0.6921164393424988,
   "steering_deg": -3.045805811882019,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.2189679580000075
  },
  {
   "t": 89.7,
   "speed_mps": 0.6941846013069153,
   "steering_deg": -10.490754008293152,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.926309471999957
  },
  {
   "t": 89.95,
   "speed_mps": 0.6933465600013733,
   "steering_deg": -22.34845721721649,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.625761599000043
  },
  {
   "t": 90.25,
   "speed_mps": 0.6956467628479004,
   "steering_deg": -35.81062877178192,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.284960962000014
  },
  {
   "t": 90.5,
   "speed_mps": 0.6871075630187988,
   "steering_deg": -43.028554797172546,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.083186197000032
  },
  {
   "t": 90.95,
   "speed_mps": 0.6987312436103821,
   "steering_deg": -53.45331370830536,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.712080151999999
  },
  {
   "t": 91.2,
   "speed_mps": 0.6964206099510193,
   "steering_deg": -64.05034816265106,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.322948300000007
  },
  {
   "t": 91.45,
   "speed_mps": 0.6865706443786621,
   "steering_deg": -69.43347346782684,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.079252226999984
  },
  {
   "t": 91.9,
   "speed_mps": 0.6931279897689819,
   "steering_deg": -77.21924769878387,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.627419922000058
  },
  {
   "t": 92.2,
   "speed_mps": 0.676034688949585,
   "steering_deg": -81.22610652446747,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.3755074299999706
  },
  {
   "t": 92.45,
   "speed_mps": 0.6574826836585999,
   "steering_deg": -83.68549525737762,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.125382232999982
  },
  {
   "t": 92.8,
   "speed_mps": 0.6383245587348938,
   "steering_deg": -90.15336787700653,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7435265889999982
  },
  {
   "t": 93.2,
   "speed_mps": 0.6466138362884521,
   "steering_deg": -94.5603197813034,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.3427036269999917
  },
  {
   "t": 93.5,
   "speed_mps": 0.6718273162841797,
   "steering_deg": -99.88921535015106,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.048316960999955
  },
  {
   "t": 93.75,
   "speed_mps": 0.6495622992515564,
   "steering_deg": -103.21261775493622,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.780651323000029
  },
  {
   "t": 94.0,
   "speed_mps": 0.6386208534240723,
   "steering_deg": -104.30131709575653,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.568560971000011
  },
  {
   "t": 94.35,
   "speed_mps": 0.6315745115280151,
   "steering_deg": -110.48971736431122,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1970011749999685
  },
  {
   "t": 94.7,
   "speed_mps": 0.623640239238739,
   "steering_deg": -113.64121425151825,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.8266000789999453
  },
  {
   "t": 95.0,
   "speed_mps": 0.614335298538208,
   "steering_deg": -116.90731990337372,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5541655790000277
  },
  {
   "t": 95.3,
   "speed_mps": 0.6055858731269836,
   "steering_deg": -120.45991694927216,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2432040459999598
  },
  {
   "t": 95.55,
   "speed_mps": 0.6023569703102112,
   "steering_deg": -121.66321742534637,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9717216830000552
  },
  {
   "t": 95.9,
   "speed_mps": 0.5881688594818115,
   "steering_deg": -125.21581447124481,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6389352759999838
  },
  {
   "t": 96.35,
   "speed_mps": 0.5628748536109924,
   "steering_deg": -128.94031703472137,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.19759626699999444
  },
  {
   "t": 96.7,
   "speed_mps": 0.5723133087158203,
   "steering_deg": -129.34141719341278,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 96.95,
   "speed_mps": 0.5666947364807129,
   "steering_deg": -129.34141719341278,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 97.25,
   "speed_mps": 0.47433435916900635,
   "steering_deg": -129.11221492290497,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 97.65,
   "speed_mps": 0.2804642915725708,
   "steering_deg": -129.2841204404831,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 9.958480409999993
  },
  {
   "t": 97.9,
   "speed_mps": -0.027330782264471054,
   "steering_deg": -125.44501674175262,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.56699444100002
  },
  {
   "t": 98.25,
   "speed_mps": 0.0008647680515423417,
   "steering_deg": -125.33041560649872,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.217012643999965
  },
  {
   "t": 98.55,
   "speed_mps": -0.00014372103032656014,
   "steering_deg": -124.98661983013153,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.953240760999961
  },
  {
   "t": 98.95,
   "speed_mps": 0.33661773800849915,
   "steering_deg": -123.4395159482956,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.572361837000017
  },
  {
   "t": 99.2,
   "speed_mps": 0.4247772991657257,
   "steering_deg": -115.990518450737,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.312149594999937
  },
  {
   "t": 99.5,
   "speed_mps": 0.530928373336792,
   "steering_deg": -109.74482142925262,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.020197776000032
  },
  {
   "t": 99.9,
   "speed_mps": 0.6344173550605774,
   "steering_deg": -108.36961543560028,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.608701725999936
  },
  {
   "t": 100.25,
   "speed_mps": 0.7277551293373108,
   "steering_deg": -108.8853167295456,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.296976805999975
  },
  {
   "t": 100.5,
   "speed_mps": 0.8101169466972351,
   "steering_deg": -112.83902156352997,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.976588800999934
  },
  {
   "t": 100.85,
   "speed_mps": 0.8899276852607727,
   "steering_deg": -119.60041987895966,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.654396367000004
  },
  {
   "t": 101.25,
   "speed_mps": 0.9441534876823425,
   "steering_deg": -123.21032130718231,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.382155200999932
  },
  {
   "t": 101.65,
   "speed_mps": 0.9462824463844299,
   "steering_deg": -132.83672511577606,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.9223895510000375
  },
  {
   "t": 101.9,
   "speed_mps": 0.8435996174812317,
   "steering_deg": -140.40032374858856,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.58302594700001
  },
  {
   "t": 102.3,
   "speed_mps": 0.7887448072433472,
   "steering_deg": -144.98432338237762,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.339403467000011
  },
  {
   "t": 102.55,
   "speed_mps": 0.7618200778961182,
   "steering_deg": -150.31321132183075,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.937726545000032
  },
  {
   "t": 102.8,
   "speed_mps": 0.7466620206832886,
   "steering_deg": -152.54792201519012,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.696544538000012
  },
  {
   "t": 103.15,
   "speed_mps": 0.7115592956542969,
   "steering_deg": -157.53301417827606,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.395939268999996
  },
  {
   "t": 103.45,
   "speed_mps": 0.6765775680541992,
   "steering_deg": -160.39801967144012,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.11457532999998
  },
  {
   "t": 103.75,
   "speed_mps": 0.6755658388137817,
   "steering_deg": -162.28891932964325,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.742894387999968
  },
  {
   "t": 104.05,
   "speed_mps": 0.665612518787384,
   "steering_deg": -162.00242030620575,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.500148889000002
  },
  {
   "t": 104.45,
   "speed_mps": 0.6543868780136108,
   "steering_deg": -162.00242030620575,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.0183765939999603
  },
  {
   "t": 104.7,
   "speed_mps": 0.6319873929023743,
   "steering_deg": -162.00242030620575,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.768312022000032
  },
  {
   "t": 104.95,
   "speed_mps": 0.6207559704780579,
   "steering_deg": -162.11701381206512,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.5515870799999902
  },
  {
   "t": 105.25,
   "speed_mps": 0.611274242401123,
   "steering_deg": -162.11701381206512,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.2259546929999487
  },
  {
   "t": 105.5,
   "speed_mps": 0.6050024032592773,
   "steering_deg": -162.00242030620575,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.974380535000023
  },
  {
   "t": 105.95,
   "speed_mps": 0.6014590859413147,
   "steering_deg": -161.8878115415573,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6018793319999531
  },
  {
   "t": 106.25,
   "speed_mps": 0.5848942399024963,
   "steering_deg": -161.94512355327606,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2514105029999882
  },
  {
   "t": 106.5,
   "speed_mps": 0.5796617269515991,
   "steering_deg": -161.94512355327606,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.0092166719999796
  },
  {
   "t": 106.9,
   "speed_mps": 0.5700003504753113,
   "steering_deg": -161.8878115415573,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5988157269999874
  },
  {
   "t": 107.3,
   "speed_mps": 0.5373009443283081,
   "steering_deg": -161.94512355327606,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.20573574499996994
  },
  {
   "t": 107.6,
   "speed_mps": 0.5324649214744568,
   "steering_deg": -161.8878115415573,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 107.95,
   "speed_mps": 0.5269809365272522,
   "steering_deg": -161.42942225933075,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 108.3,
   "speed_mps": 0.3446311354637146,
   "steering_deg": -159.1374148130417,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 108.7,
   "speed_mps": -0.011056218296289444,
   "steering_deg": -157.76221644878387,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 108.95,
   "speed_mps": 0.0049807606264948845,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 109.35,
   "speed_mps": -0.0002556327381171286,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 110.05,
   "speed_mps": -1.5022790194052504e-06,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 110.3,
   "speed_mps": 8.492183667385689e-08,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 110.6,
   "speed_mps": -1.0121540938712315e-08,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 110.95,
   "speed_mps": 3.438121731758059e-10,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 111.25,
   "speed_mps": -1.3077557266261142e-11,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 111.5,
   "speed_mps": 2.088311077882987e-12,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 111.8,
   "speed_mps": -2.5406505241645783e-13,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 112.1,
   "speed_mps": 1.9454784869676542e-14,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 112.4,
   "speed_mps": -1.6078834684990278e-15,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 112.75,
   "speed_mps": 7.585096001112024e-17,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 113.0,
   "speed_mps": -6.5821474493253586e-18,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 113.35,
   "speed_mps": 3.5072990469767704e-19,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 113.65,
   "speed_mps": -3.5045551984120526e-20,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 113.85,
   "speed_mps": 4.276907872740236e-21,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 114.2,
   "speed_mps": -2.916485157135864e-22,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 114.5,
   "speed_mps": 2.2144346395565157e-23,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 114.75,
   "speed_mps": -1.8012074853977204e-24,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 114.95,
   "speed_mps": -2.8036703286853018e-25,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 115.3,
   "speed_mps": 6.749427749377387e-28,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 115.7,
   "speed_mps": -3.7937088415161296e-28,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 115.95,
   "speed_mps": 1.4759376165873734e-29,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 116.25,
   "speed_mps": 3.693138058758082e-30,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 116.5,
   "speed_mps": -4.5298626959361015e-32,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 116.8,
   "speed_mps": -5.596919456136559e-33,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 117.2,
   "speed_mps": -1.1123747122869463e-33,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 117.4,
   "speed_mps": -2.3047192236152943e-34,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 117.85,
   "speed_mps": -8.913055336513895e-36,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 118.2,
   "speed_mps": 7.274962722352868e-37,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 118.45,
   "speed_mps": -5.314116700809103e-38,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 118.85,
   "speed_mps": 3.6778759754362014e-39,
   "steering_deg": -157.59031093120575,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 119.15,
   "speed_mps": -1.2933564436178764e-40,
   "steering_deg": -157.59031093120575,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.756018612999924
  },
  {
   "t": 119.4,
   "speed_mps": 1.8712939692593607e-41,
   "steering_deg": -157.59031093120575,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.515732700999934
  },
  {
   "t": 119.8,
   "speed_mps": -1.5148036399351273e-42,
   "steering_deg": -157.59031093120575,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.22294478699996
  },
  {
   "t": 120.2,
   "speed_mps": 3.783505853677006e-44,
   "steering_deg": -157.53301417827606,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.821263177999981
  },
  {
   "t": 120.5,
   "speed_mps": 0.33623725175857544,
   "steering_deg": -156.90271937847137,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.410525826999901
  },
  {
   "t": 120.85,
   "speed_mps": 0.48548561334609985,
   "steering_deg": -146.70331752300262,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.04056978299991
  },
  {
   "t": 121.15,
   "speed_mps": 0.5845028758049011,
   "steering_deg": -132.60752284526825,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.78766218599992
  },
  {
   "t": 121.45,
   "speed_mps": 0.6962780356407166,
   "steering_deg": -107.96851527690887,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.467728087999944
  },
  {
   "t": 121.85,
   "speed_mps": 0.8504898548126221,
   "steering_deg": -68.54609858989716,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.054923442999893
  },
  {
   "t": 122.25,
   "speed_mps": 0.9431446194648743,
   "steering_deg": -41.386327624320984,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.783672850999892
  },
  {
   "t": 122.55,
   "speed_mps": 1.0083894729614258,
   "steering_deg": -1.1009149849414825,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.3592589179999095
  },
  {
   "t": 122.85,
   "speed_mps": 0.925528883934021,
   "steering_deg": 4.513158917427063,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.061125631999971
  },
  {
   "t": 123.1,
   "speed_mps": 0.8674575090408325,
   "steering_deg": 3.480915665626526,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.790020300999913
  },
  {
   "t": 123.35,
   "speed_mps": 0.8581362366676331,
   "steering_deg": 3.197619080543518,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.548755740999923
  },
  {
   "t": 123.6,
   "speed_mps": 0.8612908720970154,
   "steering_deg": 3.2006579637527466,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.327271417999896
  },
  {
   "t": 124.05,
   "speed_mps": 0.7955276966094971,
   "steering_deg": 3.20724880695343,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.845291986999996
  },
  {
   "t": 124.3,
   "speed_mps": 0.7604594230651855,
   "steering_deg": 3.2105246782302856,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.604087531999994
  },
  {
   "t": 124.55,
   "speed_mps": 0.7433476448059082,
   "steering_deg": 3.2131086587905884,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.4146010139999134
  },
  {
   "t": 124.9,
   "speed_mps": 0.7321380972862244,
   "steering_deg": 3.1619597673416138,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.983237539999891
  },
  {
   "t": 125.15,
   "speed_mps": 0.7243862748146057,
   "steering_deg": 3.1654163599014282,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7408787079999684
  },
  {
   "t": 125.4,
   "speed_mps": 0.7154274582862854,
   "steering_deg": 3.169002652168274,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.491387417999931
  },
  {
   "t": 125.75,
   "speed_mps": 0.6979743838310242,
   "steering_deg": 3.173000931739807,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.20742514199992
  },
  {
   "t": 126.05,
   "speed_mps": 0.6859538555145264,
   "steering_deg": 3.1781145334243774,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.844745409999973
  },
  {
   "t": 126.35,
   "speed_mps": 0.6846663355827332,
   "steering_deg": 3.1820708513259888,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.5639287119998926
  },
  {
   "t": 126.7,
   "speed_mps": 0.6660276055335999,
   "steering_deg": 3.1868497133255005,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.223584740999968
  },
  {
   "t": 127.0,
   "speed_mps": 0.670111358165741,
   "steering_deg": 3.191322922706604,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9026138189999529
  },
  {
   "t": 127.25,
   "speed_mps": 0.6905235052108765,
   "steering_deg": 3.19507896900177,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6302578089999997
  },
  {
   "t": 127.75,
   "speed_mps": 0.6873390674591064,
   "steering_deg": 3.2008877992630005,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2082399209999721
  },
  {
   "t": 128.0,
   "speed_mps": 0.6825973987579346,
   "steering_deg": 3.2054234743118286,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.878149662999931
  },
  {
   "t": 128.3,
   "speed_mps": 0.7010509371757507,
   "steering_deg": 3.2087069749832153,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6367541139999275
  },
  {
   "t": 128.65,
   "speed_mps": 0.7356947660446167,
   "steering_deg": 3.1565853357315063,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.2626642619999302
  },
  {
   "t": 128.9,
   "speed_mps": 0.7280490398406982,
   "steering_deg": 3.1602083444595337,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.012304584999924373
  },
  {
   "t": 129.25,
   "speed_mps": 0.7027163505554199,
   "steering_deg": 3.1653982400894165,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 129.6,
   "speed_mps": 0.5905904769897461,
   "steering_deg": 3.2263513803482056,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 129.85,
   "speed_mps": 0.36369070410728455,
   "steering_deg": 3.2306147813796997,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 130.25,
   "speed_mps": -0.06308022141456604,
   "steering_deg": 3.1783968210220337,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 130.5,
   "speed_mps": 0.0046404944732785225,
   "steering_deg": 3.125571846961975,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 130.75,
   "speed_mps": -0.00017801320063881576,
   "steering_deg": 3.129472851753235,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 131.1,
   "speed_mps": 1.6411115211667493e-05,
   "steering_deg": 3.1340523958206177,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.948198259999913
  },
  {
   "t": 131.45,
   "speed_mps": -2.003326017074869e-06,
   "steering_deg": 3.139299511909485,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.591054890999999
  },
  {
   "t": 131.85,
   "speed_mps": 7.053779427224072e-08,
   "steering_deg": 3.1452008485794067,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.178798005999965
  },
  {
   "t": 132.1,
   "speed_mps": -1.0165915220738952e-08,
   "steering_deg": 3.1484447717666626,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.94301110999993
  },
  {
   "t": 132.35,
   "speed_mps": 0.017649751156568527,
   "steering_deg": 3.1523395776748657,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 8.666137749999962
  },
  {
   "t": 132.7,
   "speed_mps": 0.3772982656955719,
   "steering_deg": 3.1557971239089966,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.413345934999938
  },
  {
   "t": 133.0,
   "speed_mps": 0.5055020451545715,
   "steering_deg": 3.046218991279602,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.042829421999954
  },
  {
   "t": 133.25,
   "speed_mps": 0.6034764051437378,
   "steering_deg": -1.3628092631697655,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.7989852229999315
  },
  {
   "t": 133.5,
   "speed_mps": 0.7031792402267456,
   "steering_deg": -6.4592918157577515,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.560336291999988
  },
  {
   "t": 133.85,
   "speed_mps": 0.8464170098304749,
   "steering_deg": -23.648309588432312,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.178200178999987
  },
  {
   "t": 134.1,
   "speed_mps": 0.9038702845573425,
   "steering_deg": -37.572452425956726,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.92746195999996
  },
  {
   "t": 134.35,
   "speed_mps": 0.8836647868156433,
   "steering_deg": -47.94186007976532,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.677308898999968
  },
  {
   "t": 134.75,
   "speed_mps": 0.788202702999115,
   "steering_deg": -58.53949725627899,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.3530918779999865
  },
  {
   "t": 135.1,
   "speed_mps": 0.790316641330719,
   "steering_deg": -71.42763888835907,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.911496045999911
  },
  {
   "t": 135.35,
   "speed_mps": 0.7761397957801819,
   "steering_deg": -75.95164096355438,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.661012566999943
  },
  {
   "t": 135.65,
   "speed_mps": 0.7320364117622375,
   "steering_deg": -81.9651449918747,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.408532938999997
  },
  {
   "t": 136.0,
   "speed_mps": 0.7055755853652954,
   "steering_deg": -84.30799472332001,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.058411923999984
  },
  {
   "t": 136.25,
   "speed_mps": 0.6970738768577576,
   "steering_deg": -84.30270755290985,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.778164287999971
  },
  {
   "t": 136.5,
   "speed_mps": 0.6833981871604919,
   "steering_deg": -84.29838168621063,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.546497241999987
  },
  {
   "t": 136.85,
   "speed_mps": 0.6640803217887878,
   "steering_deg": -84.29127109050751,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.166911809999988
  },
  {
   "t": 137.15,
   "speed_mps": 0.63935786485672,
   "steering_deg": -84.2868002653122,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.92329693399995
  },
  {
   "t": 137.45,
   "speed_mps": 0.5984398722648621,
   "steering_deg": -84.28087222576141,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.600591738999924
  },
  {
   "t": 137.75,
   "speed_mps": 0.5680498480796814,
   "steering_deg": -84.27663028240204,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.37229313499995
  },
  {
   "t": 138.0,
   "speed_mps": 0.5413827300071716,
   "steering_deg": -84.27057254314423,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.039373861999934
  },
  {
   "t": 138.3,
   "speed_mps": 0.5195181965827942,
   "steering_deg": -84.15098178386688,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7465945419999116
  },
  {
   "t": 138.6,
   "speed_mps": 0.5160990357398987,
   "steering_deg": -84.03163516521454,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.442980362999947
  },
  {
   "t": 138.9,
   "speed_mps": 0.5459674596786499,
   "steering_deg": -83.6270102262497,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1454694219999055
  },
  {
   "t": 139.25,
   "speed_mps": 0.5617136359214783,
   "steering_deg": -83.62479770183563,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.903046214999904
  },
  {
   "t": 139.7,
   "speed_mps": 0.5965874791145325,
   "steering_deg": -83.62038791179657,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.421142877999955
  },
  {
   "t": 139.95,
   "speed_mps": 0.6252205967903137,
   "steering_deg": -83.61756503582001,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.111013168999989
  },
  {
   "t": 140.4,
   "speed_mps": 0.6120027899742126,
   "steering_deg": -83.72751224040985,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6293398319999142
  },
  {
   "t": 140.85,
   "speed_mps": 0.6253474354743958,
   "steering_deg": -83.7228354215622,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.19588828199994168
  },
  {
   "t": 141.2,
   "speed_mps": 0.6324983835220337,
   "steering_deg": -83.71947848796844,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 141.45,
   "speed_mps": 0.6304236054420471,
   "steering_deg": -83.71635806560516,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 141.75,
   "speed_mps": 0.5077545642852783,
   "steering_deg": -83.31262576580048,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 142.1,
   "speed_mps": 0.2960481345653534,
   "steering_deg": -83.59645450115204,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 142.35,
   "speed_mps": -0.06504613161087036,
   "steering_deg": -82.4495199918747,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 142.75,
   "speed_mps": 0.0029461458325386047,
   "steering_deg": -82.33623111248016,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.99931833200003
  },
  {
   "t": 143.2,
   "speed_mps": -0.00011521058331709355,
   "steering_deg": -82.33760440349579,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.64850637799998
  },
  {
   "t": 143.45,
   "speed_mps": 3.852790541714057e-06,
   "steering_deg": -82.3389242887497,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.30915751300006
  },
  {
   "t": 143.7,
   "speed_mps": -1.0792864486575127e-06,
   "steering_deg": -82.28252017498016,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.07585124600007
  },
  {
   "t": 143.9,
   "speed_mps": 1.3755719407981815e-07,
   "steering_deg": -82.28327548503876,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.837790648999999
  },
  {
   "t": 144.3,
   "speed_mps": 0.3307873606681824,
   "steering_deg": -82.16991031169891,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.495280426000022
  },
  {
   "t": 144.6,
   "speed_mps": 0.4366811215877533,
   "steering_deg": -75.92572391033173,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.155571612000017
  },
  {
   "t": 144.85,
   "speed_mps": 0.528297483921051,
   "steering_deg": -75.87009036540985,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.91178684099998
  },
  {
   "t": 145.05,
   "speed_mps": 0.5818449258804321,
   "steering_deg": -76.09995639324188,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.720481518000042
  },
  {
   "t": 145.35,
   "speed_mps": 0.6815280914306641,
   "steering_deg": -76.90138614177704,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.411372280000023
  },
  {
   "t": 145.7,
   "speed_mps": 0.756615161895752,
   "steering_deg": -80.10862338542938,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.168285061000006
  },
  {
   "t": 145.95,
   "speed_mps": 0.8659279942512512,
   "steering_deg": -88.29880893230438,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.850031434000016
  },
  {
   "t": 146.35,
   "speed_mps": 0.9324377775192261,
   "steering_deg": -101.36081302165985,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.397378503000027
  },
  {
   "t": 146.75,
   "speed_mps": 0.8581447601318359,
   "steering_deg": -108.98170840740204,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.106115383000088
  },
  {
   "t": 146.95,
   "speed_mps": 0.8187635540962219,
   "steering_deg": -114.76900851726532,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.806525272000044
  },
  {
   "t": 147.3,
   "speed_mps": 0.7982543706893921,
   "steering_deg": -125.48411166667938,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.473003916000039
  },
  {
   "t": 147.55,
   "speed_mps": 0.763833224773407,
   "steering_deg": -130.69841372966766,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.232487691000074
  },
  {
   "t": 147.95,
   "speed_mps": 0.6878798007965088,
   "steering_deg": -138.89230716228485,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.829857694999987
  },
  {
   "t": 148.25,
   "speed_mps": 0.6426267623901367,
   "steering_deg": -144.90881717205048,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.5105285980000644
  },
  {
   "t": 148.75,
   "speed_mps": 0.6189894676208496,
   "steering_deg": -150.0085028409958,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.239087849000043
  },
  {
   "t": 149.0,
   "speed_mps": 0.6372287273406982,
   "steering_deg": -150.5242041349411,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7469514770000387
  },
  {
   "t": 149.35,
   "speed_mps": 0.6215038895606995,
   "steering_deg": -150.5242041349411,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.3960208250000505
  },
  {
   "t": 149.75,
   "speed_mps": 0.6250008940696716,
   "steering_deg": -150.69610965251923,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.0918990410000333
  },
  {
   "t": 150.0,
   "speed_mps": 0.6250162720680237,
   "steering_deg": -150.69610965251923,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.770680410000068
  },
  {
   "t": 150.35,
   "speed_mps": 0.608792245388031,
   "steering_deg": -150.69610965251923,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.389962319999995
  },
  {
   "t": 150.7,
   "speed_mps": 0.5900611281394958,
   "steering_deg": -150.69610965251923,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.167732110000088
  },
  {
   "t": 151.2,
   "speed_mps": 0.5892483592033386,
   "steering_deg": -150.69610965251923,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5556093700000702
  },
  {
   "t": 151.45,
   "speed_mps": 0.6091868877410889,
   "steering_deg": -150.40961062908173,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3559941920000256
  },
  {
   "t": 151.85,
   "speed_mps": 0.6472289562225342,
   "steering_deg": -149.9512060880661,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8932186950000869
  },
  {
   "t": 152.15,
   "speed_mps": 0.6639902591705322,
   "steering_deg": -149.9512060880661,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6427351120000822
  },
  {
   "t": 152.45,
   "speed_mps": 0.6726588606834412,
   "steering_deg": -150.12311160564423,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.3190453309999839
  },
  {
   "t": 152.8,
   "speed_mps": 0.6773059368133545,
   "steering_deg": -150.2377051115036,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.698803064000003
  },
  {
   "t": 153.2,
   "speed_mps": 0.6620692610740662,
   "steering_deg": -152.52971255779266,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.409443540999973
  },
  {
   "t": 153.45,
   "speed_mps": 0.6990925073623657,
   "steering_deg": -154.19140994548798,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.046520267999995
  },
  {
   "t": 153.8,
   "speed_mps": 0.7082666754722595,
   "steering_deg": -153.67570865154266,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.675357451999957
  },
  {
   "t": 154.15,
   "speed_mps": 0.7194601893424988,
   "steering_deg": -154.01950442790985,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.344587140000044
  },
  {
   "t": 154.45,
   "speed_mps": 0.7306061387062073,
   "steering_deg": -154.01950442790985,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.042478953
  },
  {
   "t": 154.7,
   "speed_mps": 0.724765956401825,
   "steering_deg": -154.1341131925583,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.780198947000031
  },
  {
   "t": 154.95,
   "speed_mps": 0.724551796913147,
   "steering_deg": -155.68121707439423,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.580416686000035
  },
  {
   "t": 155.3,
   "speed_mps": 0.7170747518539429,
   "steering_deg": -155.7385138273239,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.178525857000068
  },
  {
   "t": 155.55,
   "speed_mps": 0.7102677226066589,
   "steering_deg": -156.48341739177704,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.918178094000041
  },
  {
   "t": 155.85,
   "speed_mps": 0.7087198495864868,
   "steering_deg": -156.48341739177704,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.665813674999981
  },
  {
   "t": 156.1,
   "speed_mps": 0.7186062335968018,
   "steering_deg": -156.48341739177704,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.3767269639999995
  },
  {
   "t": 156.35,
   "speed_mps": 0.7160572409629822,
   "steering_deg": -156.4261053800583,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.121510249000039
  },
  {
   "t": 156.65,
   "speed_mps": 0.6971087455749512,
   "steering_deg": -156.5980108976364,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.8331577060000654
  },
  {
   "t": 157.0,
   "speed_mps": 0.6950161457061768,
   "steering_deg": -157.05641543865204,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.5093721970000615
  },
  {
   "t": 157.2,
   "speed_mps": 0.6965143084526062,
   "steering_deg": -157.05641543865204,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.2691471699999965
  },
  {
   "t": 157.45,
   "speed_mps": 0.7119652032852173,
   "steering_deg": -156.82721316814423,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.027928131000067
  },
  {
   "t": 157.85,
   "speed_mps": 0.7259625792503357,
   "steering_deg": -156.6553076505661,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.627660794999997
  },
  {
   "t": 158.15,
   "speed_mps": 0.7248794436454773,
   "steering_deg": -156.76991641521454,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.425412644000062
  },
  {
   "t": 158.45,
   "speed_mps": 0.7386768460273743,
   "steering_deg": -156.76991641521454,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.114050902000031
  },
  {
   "t": 158.85,
   "speed_mps": 0.7427237033843994,
   "steering_deg": -156.82721316814423,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.6725079870000172
  },
  {
   "t": 159.1,
   "speed_mps": 0.7321152687072754,
   "steering_deg": -156.9418066740036,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.3615170269999908
  },
  {
   "t": 159.35,
   "speed_mps": 0.7180486917495728,
   "steering_deg": -157.7440069913864,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.121103353999956
  },
  {
   "t": 159.65,
   "speed_mps": 0.7220634818077087,
   "steering_deg": -157.85861575603485,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.8396455079999896
  },
  {
   "t": 159.9,
   "speed_mps": 0.7243197560310364,
   "steering_deg": -157.8013037443161,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.6579961889999595
  },
  {
   "t": 160.1,
   "speed_mps": 0.7349299788475037,
   "steering_deg": -157.8013037443161,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.367603069999973
  },
  {
   "t": 160.45,
   "speed_mps": 0.7455586791038513,
   "steering_deg": -157.57211673259735,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1164823510000588
  },
  {
   "t": 160.8,
   "speed_mps": 0.7452037930488586,
   "steering_deg": -157.68671023845673,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6946676920000527
  },
  {
   "t": 161.1,
   "speed_mps": 0.7514776587486267,
   "steering_deg": -157.68671023845673,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.381428604000007
  },
  {
   "t": 161.35,
   "speed_mps": 0.7652441263198853,
   "steering_deg": -157.68671023845673,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1316208030000325
  },
  {
   "t": 161.75,
   "speed_mps": 0.7507749199867249,
   "steering_deg": -157.68671023845673,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.86022114900004
  },
  {
   "t": 162.0,
   "speed_mps": 0.7382866740226746,
   "steering_deg": -159.00461184978485,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5087150269999938
  },
  {
   "t": 162.3,
   "speed_mps": 0.7447857856750488,
   "steering_deg": -158.94731509685516,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.18816092800000206
  },
  {
   "t": 162.7,
   "speed_mps": 0.7552428245544434,
   "steering_deg": -158.94731509685516,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 162.95,
   "speed_mps": 0.7133526802062988,
   "steering_deg": -158.83270633220673,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 163.3,
   "speed_mps": 0.5199074745178223,
   "steering_deg": -158.8900030851364,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 163.55,
   "speed_mps": 0.31549957394599915,
   "steering_deg": -161.58310306072235,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 163.9,
   "speed_mps": -0.06867799907922745,
   "steering_deg": -157.4575079679489,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.938074755999992
  },
  {
   "t": 164.15,
   "speed_mps": 0.000440299540059641,
   "steering_deg": -157.4575079679489,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.719766531000005
  },
  {
   "t": 164.4,
   "speed_mps": -6.90336491970811e-07,
   "steering_deg": -157.4575079679489,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.418609178999986
  },
  {
   "t": 164.65,
   "speed_mps": -6.280856905505061e-05,
   "steering_deg": -157.4575079679489,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.169152471999951
  },
  {
   "t": 164.95,
   "speed_mps": 7.750327313260641e-06,
   "steering_deg": -157.40021121501923,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.886278321999953
  },
  {
   "t": 165.3,
   "speed_mps": 0.20643749833106995,
   "steering_deg": -156.8845099210739,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.513070711999944
  },
  {
   "t": 165.6,
   "speed_mps": 0.3424612879753113,
   "steering_deg": -155.5093115568161,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.264416402000052
  },
  {
   "t": 165.85,
   "speed_mps": 0.3537997603416443,
   "steering_deg": -148.34680545330048,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.963487070000042
  },
  {
   "t": 166.15,
   "speed_mps": 0.3032950162887573,
   "steering_deg": -148.63330447673798,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.7328617450000365
  },
  {
   "t": 166.45,
   "speed_mps": 0.29399779438972473,
   "steering_deg": -148.2895087003708,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.419566145999966
  },
  {
   "t": 166.7,
   "speed_mps": 0.3369298279285431,
   "steering_deg": -145.13800418376923,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.130540528999973
  },
  {
   "t": 167.0,
   "speed_mps": 0.37105053663253784,
   "steering_deg": -140.0956152677536,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.836639801000047
  },
  {
   "t": 167.45,
   "speed_mps": 0.3789566457271576,
   "steering_deg": -140.21020877361298,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.39328328900001
  },
  {
   "t": 167.8,
   "speed_mps": 0.4109898805618286,
   "steering_deg": -140.1529120206833,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.08377280000002
  },
  {
   "t": 168.1,
   "speed_mps": 0.4518752098083496,
   "steering_deg": -138.26201236248016,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7435349750001023
  },
  {
   "t": 168.55,
   "speed_mps": 0.4756929576396942,
   "steering_deg": -138.31930911540985,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.3700667909999993
  },
  {
   "t": 168.85,
   "speed_mps": 0.49325957894325256,
   "steering_deg": -138.4339178800583,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.9889272949999395
  },
  {
   "t": 169.25,
   "speed_mps": 0.5166211724281311,
   "steering_deg": -138.4339178800583,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.6491362940000727
  },
  {
   "t": 169.55,
   "speed_mps": 0.5172383189201355,
   "steering_deg": -138.54851138591766,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.325342293999938
  },
  {
   "t": 169.85,
   "speed_mps": 0.5207187533378601,
   "steering_deg": -138.7204169034958,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9947522959998878
  },
  {
   "t": 170.25,
   "speed_mps": 0.5454673767089844,
   "steering_deg": -138.7204169034958,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6834718039999643
  },
  {
   "t": 170.5,
   "speed_mps": 0.5638270974159241,
   "steering_deg": -138.7204169034958,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3133010730000478
  },
  {
   "t": 170.85,
   "speed_mps": 0.5672239065170288,
   "steering_deg": -139.17880618572235,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9624014619998889
  },
  {
   "t": 171.25,
   "speed_mps": 0.5844740271568298,
   "steering_deg": -139.17880618572235,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.7122070460000032
  },
  {
   "t": 171.45,
   "speed_mps": 0.6170285940170288,
   "steering_deg": -139.17880618572235,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.38086761999988994
  },
  {
   "t": 171.85,
   "speed_mps": 0.6249801516532898,
   "steering_deg": -139.46530520915985,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 172.15,
   "speed_mps": 0.6465635895729065,
   "steering_deg": -139.8664129972458,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 172.45,
   "speed_mps": 0.5709287524223328,
   "steering_deg": -139.46530520915985,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 172.75,
   "speed_mps": 0.37257328629493713,
   "steering_deg": -139.63721072673798,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 173.0,
   "speed_mps": 0.19403952360153198,
   "steering_deg": -138.89230716228485,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 173.45,
   "speed_mps": 0.0034061120823025703,
   "steering_deg": -137.63171756267548,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 173.85,
   "speed_mps": -0.0003377609245944768,
   "steering_deg": -137.63171756267548,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 174.05,
   "speed_mps": 1.6327187040587887e-05,
   "steering_deg": -137.63171756267548,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 174.45,
   "speed_mps": -1.4812439985689707e-06,
   "steering_deg": -137.63171756267548,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 174.7,
   "speed_mps": 1.532705198314943e-07,
   "steering_deg": -137.57440555095673,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 175.0,
   "speed_mps": 7.376145250148625e-10,
   "steering_deg": -137.57440555095673,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.920602126999938
  },
  {
   "t": 175.35,
   "speed_mps": 8.268480899964459e-10,
   "steering_deg": -137.57440555095673,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.506008519999796
  },
  {
   "t": 175.65,
   "speed_mps": -4.991268162668483e-11,
   "steering_deg": -137.57440555095673,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.265985993999948
  },
  {
   "t": 175.85,
   "speed_mps": 2.894234981884458e-12,
   "steering_deg": -137.57440555095673,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.974666415999991
  },
  {
   "t": 176.15,
   "speed_mps": -1.3121734330611562e-13,
   "steering_deg": -137.51710879802704,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.686099602000013
  },
  {
   "t": 176.4,
   "speed_mps": -3.732773571035568e-14,
   "steering_deg": -137.45981204509735,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.434098151999933
  },
  {
   "t": 176.65,
   "speed_mps": 7.834288197285013e-15,
   "steering_deg": -137.17331302165985,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.173293199999989
  },
  {
   "t": 176.95,
   "speed_mps": -1.0894706115383078e-15,
   "steering_deg": -136.82951724529266,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 5.908588867999924
  },
  {
   "t": 177.2,
   "speed_mps": 0.031041165813803673,
   "steering_deg": -136.4857062101364,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.641791875999843
  },
  {
   "t": 177.5,
   "speed_mps": 0.30853018164634705,
   "steering_deg": -135.79811465740204,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.348988753999947
  },
  {
   "t": 177.8,
   "speed_mps": 0.3008688986301422,
   "steering_deg": -129.15130984783173,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.055383911999797
  },
  {
   "t": 178.1,
   "speed_mps": 0.24207048118114471,
   "steering_deg": -128.97941195964813,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 4.785751707999907
  },
  {
   "t": 178.35,
   "speed_mps": 0.25194764137268066,
   "steering_deg": -128.86481082439423,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 4.504233497999849
  },
  {
   "t": 178.7,
   "speed_mps": 0.311735600233078,
   "steering_deg": -128.1199072599411,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.20253343599984
  },
  {
   "t": 179.0,
   "speed_mps": 0.31135621666908264,
   "steering_deg": -124.05160892009735,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.942948850999983
  },
  {
   "t": 179.35,
   "speed_mps": 0.3088080883026123,
   "steering_deg": -123.53590762615204,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.5083214139999654
  },
  {
   "t": 179.8,
   "speed_mps": 0.3460552990436554,
   "steering_deg": -123.36400973796844,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.279124943999932
  },
  {
   "t": 180.15,
   "speed_mps": 0.40813350677490234,
   "steering_deg": -121.24390780925751,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7569706639999367
  },
  {
   "t": 180.4,
   "speed_mps": 0.44179782271385193,
   "steering_deg": -121.41581332683563,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.447044705999815
  },
  {
   "t": 180.75,
   "speed_mps": 0.49097704887390137,
   "steering_deg": -121.41581332683563,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1261624289998053
  },
  {
   "t": 181.0,
   "speed_mps": 0.5172893404960632,
   "steering_deg": -121.47311007976532,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.8517263649998768
  },
  {
   "t": 181.25,
   "speed_mps": 0.5394999980926514,
   "steering_deg": -121.58771121501923,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6146962379998513
  },
  {
   "t": 181.45,
   "speed_mps": 0.5507513284683228,
   "steering_deg": -121.81691348552704,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3835450259998652
  },
  {
   "t": 181.8,
   "speed_mps": 0.5683721899986267,
   "steering_deg": -122.84830844402313,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.0684251010000025
  },
  {
   "t": 182.1,
   "speed_mps": 0.5831567645072937,
   "steering_deg": -124.33810794353485,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.7695907729998908
  },
  {
   "t": 182.35,
   "speed_mps": 0.5953958034515381,
   "steering_deg": -124.79651248455048,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.49873460899993916
  },
  {
   "t": 182.65,
   "speed_mps": 0.5995396375656128,
   "steering_deg": -126.8593100309372,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.23833361599986347
  },
  {
   "t": 183.0,
   "speed_mps": 0.6027124524116516,
   "steering_deg": -130.0681036710739,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 183.2,
   "speed_mps": 0.5842627882957458,
   "steering_deg": -131.38600528240204,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 183.5,
   "speed_mps": 0.49590209126472473,
   "steering_deg": -131.90170657634735,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 183.8,
   "speed_mps": 0.26218152046203613,
   "steering_deg": -133.27690494060516,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 184.25,
   "speed_mps": -0.020912636071443558,
   "steering_deg": -128.69291293621063,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 184.5,
   "speed_mps": 0.0011301269987598062,
   "steering_deg": -128.69291293621063,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 184.75,
   "speed_mps": -0.00019618426449596882,
   "steering_deg": -128.69291293621063,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 185.05,
   "speed_mps": 1.8730164811131544e-05,
   "steering_deg": -128.69291293621063,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 185.25,
   "speed_mps": -2.025441517616855e-06,
   "steering_deg": -128.69291293621063,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 185.5,
   "speed_mps": 1.4397329550774884e-08,
   "steering_deg": -128.69291293621063,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.810308116999977
  },
  {
   "t": 185.95,
   "speed_mps": -8.42279757051756e-09,
   "steering_deg": -128.69291293621063,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.357618467000066
  },
  {
   "t": 186.2,
   "speed_mps": 8.367717074797554e-10,
   "steering_deg": -128.69291293621063,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.108803428000101
  },
  {
   "t": 186.45,
   "speed_mps": -5.13363761223129e-11,
   "steering_deg": -128.6356085538864,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.856455415000028
  },
  {
   "t": 186.85,
   "speed_mps": 0.3362840414047241,
   "steering_deg": -127.7188071012497,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.528423702000055
  },
  {
   "t": 187.05,
   "speed_mps": 0.49019384384155273,
   "steering_deg": -121.1293066740036,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.225530201000083
  },
  {
   "t": 187.3,
   "speed_mps": 0.6263752579689026,
   "steering_deg": -109.03901278972626,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.981758346000106
  },
  {
   "t": 187.7,
   "speed_mps": 0.8033397197723389,
   "steering_deg": -81.07616794109344,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.610906989000114
  },
  {
   "t": 188.05,
   "speed_mps": 0.9609985947608948,
   "steering_deg": -47.55728900432587,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.230099784000004
  },
  {
   "t": 188.35,
   "speed_mps": 1.0142585039138794,
   "steering_deg": -15.312504768371582,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.93849249699997
  },
  {
   "t": 188.6,
   "speed_mps": 0.967816174030304,
   "steering_deg": -2.3723344802856445,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.728111783000031
  },
  {
   "t": 188.9,
   "speed_mps": 0.836506724357605,
   "steering_deg": 3.699169635772705,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.404505597000025
  },
  {
   "t": 189.2,
   "speed_mps": 0.8190723657608032,
   "steering_deg": 2.6109962463378906,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.153277429000127
  },
  {
   "t": 189.55,
   "speed_mps": 0.8143805861473083,
   "steering_deg": 2.6145405769348145,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.811665228000038
  },
  {
   "t": 190.05,
   "speed_mps": 0.7291067838668823,
   "steering_deg": 2.619123935699463,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.348956293000128
  },
  {
   "t": 190.35,
   "speed_mps": 0.6893391609191895,
   "steering_deg": 2.6231064796447754,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.9490191649999815
  },
  {
   "t": 190.65,
   "speed_mps": 0.6714120507240295,
   "steering_deg": 2.6257095336914062,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.687793275000104
  },
  {
   "t": 190.9,
   "speed_mps": 0.6436933875083923,
   "steering_deg": 2.6286535263061523,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.386905505999948
  },
  {
   "t": 191.2,
   "speed_mps": 0.6378859877586365,
   "steering_deg": 2.6314706802368164,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.096091502000036
  },
  {
   "t": 191.5,
   "speed_mps": 0.6380642056465149,
   "steering_deg": 2.634228229522705,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.813475789999984
  },
  {
   "t": 191.95,
   "speed_mps": 0.6459118723869324,
   "steering_deg": 2.6389002799987793,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.333043808999946
  },
  {
   "t": 192.3,
   "speed_mps": 0.6553807854652405,
   "steering_deg": 2.6423420906066895,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.969316211999967
  },
  {
   "t": 192.75,
   "speed_mps": 0.6738662123680115,
   "steering_deg": 2.6447958946228027,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7094836569999643
  },
  {
   "t": 193.0,
   "speed_mps": 0.7131266593933105,
   "steering_deg": 2.64902925491333,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.2667078750000655
  },
  {
   "t": 193.25,
   "speed_mps": 0.7261006832122803,
   "steering_deg": 2.65118408203125,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.047871627999939
  },
  {
   "t": 193.55,
   "speed_mps": 0.7050000429153442,
   "steering_deg": 2.653958797454834,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7546325680000336
  },
  {
   "t": 193.8,
   "speed_mps": 0.6811999082565308,
   "steering_deg": 2.6565537452697754,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.4867120330000034
  },
  {
   "t": 194.05,
   "speed_mps": 0.6109366416931152,
   "steering_deg": 2.6588711738586426,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2336272489999374
  },
  {
   "t": 194.35,
   "speed_mps": 0.5628431439399719,
   "steering_deg": 2.661451816558838,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9498321080000096
  },
  {
   "t": 194.75,
   "speed_mps": 0.6139735579490662,
   "steering_deg": 2.664431095123291,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6311847310000758
  },
  {
   "t": 195.0,
   "speed_mps": 0.6915816068649292,
   "steering_deg": 2.6675243377685547,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.28853445499999
  },
  {
   "t": 195.25,
   "speed_mps": 0.7267796397209167,
   "steering_deg": 2.669740676879883,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.04733531200008656
  },
  {
   "t": 195.5,
   "speed_mps": 0.7472094297409058,
   "steering_deg": 2.671914577484131,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 195.85,
   "speed_mps": 0.6970418095588684,
   "steering_deg": 2.6750869750976562,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 196.1,
   "speed_mps": 0.5527344346046448,
   "steering_deg": 2.734525203704834,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.919236032000072
  },
  {
   "t": 196.35,
   "speed_mps": 0.39370855689048767,
   "steering_deg": 2.7367701530456543,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.637497509000013
  },
  {
   "t": 196.75,
   "speed_mps": 0.4609415829181671,
   "steering_deg": 2.6814827919006348,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.388577885999894
  },
  {
   "t": 196.95,
   "speed_mps": 0.6521397233009338,
   "steering_deg": 2.6846842765808105,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.024348152999892
  },
  {
   "t": 197.45,
   "speed_mps": 0.8581668138504028,
   "steering_deg": 2.6881814002990723,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.62021310299997
  },
  {
   "t": 197.75,
   "speed_mps": 1.0170373916625977,
   "steering_deg": 2.634209632873535,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.273333602000093
  },
  {
   "t": 198.0,
   "speed_mps": 1.0574275255203247,
   "steering_deg": 2.569374203681946,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.051180318999968
  },
  {
   "t": 198.3,
   "speed_mps": 1.1205074787139893,
   "steering_deg": 2.558721899986267,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.700950658000011
  },
  {
   "t": 198.75,
   "speed_mps": 1.115403175354004,
   "steering_deg": 2.5020720958709717,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.267896764999932
  },
  {
   "t": 199.0,
   "speed_mps": 1.0701932907104492,
   "steering_deg": 2.448359727859497,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.005522487999997
  },
  {
   "t": 199.45,
   "speed_mps": 1.0541211366653442,
   "steering_deg": 2.4486212730407715,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.613884225999982
  },
  {
   "t": 199.75,
   "speed_mps": 1.0487470626831055,
   "steering_deg": 2.4443795680999756,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.2453406320000795
  },
  {
   "t": 200.0,
   "speed_mps": 1.007641077041626,
   "steering_deg": 2.449498772621155,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.021271461999959
  },
  {
   "t": 200.5,
   "speed_mps": 0.9179626703262329,
   "steering_deg": 2.454688787460327,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.55982122599994
  },
  {
   "t": 200.8,
   "speed_mps": 0.9339215755462646,
   "steering_deg": 2.458164930343628,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.221113456000012
  },
  {
   "t": 201.15,
   "speed_mps": 0.8937638401985168,
   "steering_deg": 2.4617228507995605,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.86893696900006
  },
  {
   "t": 201.5,
   "speed_mps": 0.8221010565757751,
   "steering_deg": 2.4649577140808105,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.547970213000099
  },
  {
   "t": 201.8,
   "speed_mps": 0.821094274520874,
   "steering_deg": 2.4684760570526123,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.198771647000058
  },
  {
   "t": 202.25,
   "speed_mps": 0.8370044827461243,
   "steering_deg": 2.471675157546997,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.8758204620000924
  },
  {
   "t": 202.75,
   "speed_mps": 0.817920982837677,
   "steering_deg": 2.4765403270721436,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.383651848999989
  },
  {
   "t": 203.15,
   "speed_mps": 0.8403508067131042,
   "steering_deg": 2.4807775020599365,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.951729989000114
  },
  {
   "t": 203.45,
   "speed_mps": 0.8040652275085449,
   "steering_deg": 2.484691858291626,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.550917444000106
  },
  {
   "t": 203.95,
   "speed_mps": 0.8361658453941345,
   "steering_deg": 2.489161252975464,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.088357988000098
  },
  {
   "t": 204.25,
   "speed_mps": 0.8296745419502258,
   "steering_deg": 2.4919612407684326,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7963508049999746
  },
  {
   "t": 204.5,
   "speed_mps": 0.7587365508079529,
   "steering_deg": 2.494939088821411,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.4863944809999339
  },
  {
   "t": 204.8,
   "speed_mps": 0.7447078824043274,
   "steering_deg": 2.497520685195923,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2135635750000802
  },
  {
   "t": 205.25,
   "speed_mps": 0.7574141025543213,
   "steering_deg": 2.5009443759918213,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8539023900000302
  },
  {
   "t": 205.55,
   "speed_mps": 0.7646909356117249,
   "steering_deg": 2.5046308040618896,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.4622526170001038
  },
  {
   "t": 205.8,
   "speed_mps": 0.7443085312843323,
   "steering_deg": 2.506887197494507,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.22077925500002493
  },
  {
   "t": 206.15,
   "speed_mps": 0.728367030620575,
   "steering_deg": 2.4529836177825928,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.760102682000024
  },
  {
   "t": 206.45,
   "speed_mps": 0.7078019380569458,
   "steering_deg": 2.054547071456909,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.496122830000104
  },
  {
   "t": 206.7,
   "speed_mps": 0.7193019390106201,
   "steering_deg": -3.213945984840393,
   "state": "executing",
   "reason": null,
   "remaining_s": 9.179201393000085
  },
  {
   "t": 206.95,
   "speed_mps": 0.7409698963165283,
   "steering_deg": -11.463420629501343,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.937104487999932
  },
  {
   "t": 207.2,
   "speed_mps": 0.7500156164169312,
   "steering_deg": -19.7710177898407,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.746290208000119
  },
  {
   "t": 207.5,
   "speed_mps": 0.732782244682312,
   "steering_deg": -34.03714632987976,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.393410699000015
  },
  {
   "t": 207.75,
   "speed_mps": 0.7107520699501038,
   "steering_deg": -41.141146421432495,
   "state": "executing",
   "reason": null,
   "remaining_s": 8.161914329999945
  },
  {
   "t": 208.0,
   "speed_mps": 0.7157386541366577,
   "steering_deg": -49.67782473564148,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.92159430300012
  },
  {
   "t": 208.25,
   "speed_mps": 0.7184655070304871,
   "steering_deg": -58.09992480278015,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.683009747000142
  },
  {
   "t": 208.55,
   "speed_mps": 0.7340229749679565,
   "steering_deg": -72.02346682548523,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.359331842000074
  },
  {
   "t": 208.8,
   "speed_mps": 0.7260965704917908,
   "steering_deg": -87.38127779960632,
   "state": "executing",
   "reason": null,
   "remaining_s": 7.117765771999984
  },
  {
   "t": 209.25,
   "speed_mps": 0.766152024269104,
   "steering_deg": -98.09612917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.736881951999976
  },
  {
   "t": 209.65,
   "speed_mps": 0.7649722695350647,
   "steering_deg": -108.5820300579071,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.324979287000133
  },
  {
   "t": 209.85,
   "speed_mps": 0.7680924534797668,
   "steering_deg": -110.75942873954773,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.025960426999973
  },
  {
   "t": 210.2,
   "speed_mps": 0.8064444661140442,
   "steering_deg": -113.96823000907898,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.771338296000067
  },
  {
   "t": 210.4,
   "speed_mps": 0.8159964680671692,
   "steering_deg": -118.95332980155945,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.522966591000113
  },
  {
   "t": 210.8,
   "speed_mps": 0.7639013528823853,
   "steering_deg": -123.59463381767273,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.188678879000008
  },
  {
   "t": 211.25,
   "speed_mps": 0.7200613021850586,
   "steering_deg": -131.96043276786804,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.698060945999941
  },
  {
   "t": 211.5,
   "speed_mps": 0.7061125040054321,
   "steering_deg": -140.03973269462585,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.375739970000041
  },
  {
   "t": 211.85,
   "speed_mps": 0.7078802585601807,
   "steering_deg": -142.10252261161804,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.154566792999958
  },
  {
   "t": 212.15,
   "speed_mps": 0.6988339424133301,
   "steering_deg": -149.09312319755554,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.764110252000137
  },
  {
   "t": 212.45,
   "speed_mps": 0.6974881291389465,
   "steering_deg": -150.35372805595398,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.4922346070000003
  },
  {
   "t": 212.85,
   "speed_mps": 0.6515846252441406,
   "steering_deg": -155.56802248954773,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.0534632060000604
  },
  {
   "t": 213.2,
   "speed_mps": 0.6516175270080566,
   "steering_deg": -155.79722476005554,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7490666300000157
  },
  {
   "t": 213.5,
   "speed_mps": 0.6829277276992798,
   "steering_deg": -155.16692996025085,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.416546576999963
  },
  {
   "t": 213.85,
   "speed_mps": 0.7263460159301758,
   "steering_deg": -152.07273745536804,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.057462214999987
  },
  {
   "t": 214.2,
   "speed_mps": 0.7153520584106445,
   "steering_deg": -152.13003420829773,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.786665947000074
  },
  {
   "t": 214.45,
   "speed_mps": 0.7251816391944885,
   "steering_deg": -152.5884234905243,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5044509649999327
  },
  {
   "t": 214.8,
   "speed_mps": 0.74201899766922,
   "steering_deg": -152.64573550224304,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.0844019860001026
  },
  {
   "t": 215.2,
   "speed_mps": 0.7604383826255798,
   "steering_deg": -152.5884234905243,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.7324682600001324
  },
  {
   "t": 215.4,
   "speed_mps": 0.739118754863739,
   "steering_deg": -152.70303225517273,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5201351470000191
  },
  {
   "t": 215.65,
   "speed_mps": 0.7195188999176025,
   "steering_deg": -156.6567370891571,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.23078010300014284
  },
  {
   "t": 215.9,
   "speed_mps": 0.7118939161300659,
   "steering_deg": -158.03193545341492,
   "state": "executing",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 216.15,
   "speed_mps": 0.7022249102592468,
   "steering_deg": -158.03193545341492,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 216.45,
   "speed_mps": 0.6368177533149719,
   "steering_deg": -158.03193545341492,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 216.65,
   "speed_mps": 0.5022743344306946,
   "steering_deg": -158.03193545341492,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 216.95,
   "speed_mps": 0.32778292894363403,
   "steering_deg": -160.20933413505554,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 217.25,
   "speed_mps": -0.06828266382217407,
   "steering_deg": -155.28152346611023,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 217.5,
   "speed_mps": 0.0020207809284329414,
   "steering_deg": -155.22422671318054,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 217.85,
   "speed_mps": -0.0003696013009175658,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.921822180999925
  },
  {
   "t": 218.25,
   "speed_mps": 2.6905629056273028e-05,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.608100436000086
  },
  {
   "t": 218.45,
   "speed_mps": -2.083720801238087e-06,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.315882783000006
  },
  {
   "t": 218.75,
   "speed_mps": 5.422905147156598e-08,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.096892004999972
  },
  {
   "t": 219.0,
   "speed_mps": -9.117072430342432e-09,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.763736222000034
  },
  {
   "t": 219.25,
   "speed_mps": -1.4254233349220158e-09,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.543984974000068
  },
  {
   "t": 219.55,
   "speed_mps": 2.805775611847139e-10,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.28057465400002
  },
  {
   "t": 219.85,
   "speed_mps": -9.48045808524256e-12,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.942489385000044
  },
  {
   "t": 220.15,
   "speed_mps": 2.3076141691946717e-12,
   "steering_deg": -155.22422671318054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.6966161729999385
  },
  {
   "t": 220.4,
   "speed_mps": -1.565849636368452e-13,
   "steering_deg": -155.10963320732117,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.389826416000005
  },
  {
   "t": 220.8,
   "speed_mps": 4.97636938709585e-15,
   "steering_deg": -154.53663516044617,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.037655918999917
  },
  {
   "t": 221.1,
   "speed_mps": -1.0296058697768405e-16,
   "steering_deg": -153.73443484306335,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.693588245000001
  },
  {
   "t": 221.35,
   "speed_mps": 0.24596677720546722,
   "steering_deg": -152.98953127861023,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.45342556200012
  },
  {
   "t": 221.6,
   "speed_mps": 0.3011203110218048,
   "steering_deg": -150.98402285575867,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.190801910000118
  },
  {
   "t": 221.85,
   "speed_mps": 0.27940142154693604,
   "steering_deg": -145.88433718681335,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.922776269999986
  },
  {
   "t": 222.35,
   "speed_mps": 0.23326268792152405,
   "steering_deg": -145.88433718681335,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.69977397599996
  },
  {
   "t": 222.65,
   "speed_mps": 0.29546669125556946,
   "steering_deg": -144.56643557548523,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.177859697000031
  },
  {
   "t": 222.85,
   "speed_mps": 0.3227856159210205,
   "steering_deg": -140.72732424736023,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.918470788999912
  },
  {
   "t": 223.25,
   "speed_mps": 0.2992514669895172,
   "steering_deg": -137.28933596611023,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 4.564495288999979
  },
  {
   "t": 223.7,
   "speed_mps": 0.3234642744064331,
   "steering_deg": -136.48713564872742,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.16137185499997
  },
  {
   "t": 223.95,
   "speed_mps": 0.35387200117111206,
   "steering_deg": -134.3097369670868,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.861995807000085
  },
  {
   "t": 224.3,
   "speed_mps": 0.37410879135131836,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.49834945900011
  },
  {
   "t": 224.55,
   "speed_mps": 0.38284844160079956,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.2686655929999233
  },
  {
   "t": 224.75,
   "speed_mps": 0.3867039978504181,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.046086736999996
  },
  {
   "t": 225.05,
   "speed_mps": 0.3895873725414276,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.7541553870000826
  },
  {
   "t": 225.35,
   "speed_mps": 0.4126588702201843,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.4262122669999826
  },
  {
   "t": 225.6,
   "speed_mps": 0.4251875877380371,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1629847080000673
  },
  {
   "t": 225.85,
   "speed_mps": 0.4373851716518402,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9242249960000208
  },
  {
   "t": 226.15,
   "speed_mps": 0.4522903263568878,
   "steering_deg": -133.90862917900085,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6602000909999788
  },
  {
   "t": 226.45,
   "speed_mps": 0.4538373351097107,
   "steering_deg": -133.96592593193054,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3506145500000457
  },
  {
   "t": 226.7,
   "speed_mps": 0.45024797320365906,
   "steering_deg": -134.13783144950867,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1076356129999567
  },
  {
   "t": 226.95,
   "speed_mps": 0.464180052280426,
   "steering_deg": -134.13783144950867,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8293712610000057
  },
  {
   "t": 227.35,
   "speed_mps": 0.48035454750061035,
   "steering_deg": -134.08053469657898,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.46713470800000323
  },
  {
   "t": 227.7,
   "speed_mps": 0.49223989248275757,
   "steering_deg": -134.08053469657898,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.20309001200007515
  },
  {
   "t": 228.0,
   "speed_mps": 0.5038918852806091,
   "steering_deg": -134.08053469657898,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 228.35,
   "speed_mps": 0.39645200967788696,
   "steering_deg": -134.3097369670868,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 228.75,
   "speed_mps": 0.22213180363178253,
   "steering_deg": -133.79403567314148,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 228.95,
   "speed_mps": -0.05452044680714607,
   "steering_deg": -132.24693179130554,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 229.25,
   "speed_mps": 0.004662980791181326,
   "steering_deg": -132.18963503837585,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 229.45,
   "speed_mps": -0.00023702238104306161,
   "steering_deg": -132.1323230266571,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 229.75,
   "speed_mps": 1.647854696784634e-05,
   "steering_deg": -132.1323230266571,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 230.0,
   "speed_mps": 2.3536949811386876e-06,
   "steering_deg": -132.07502627372742,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 230.4,
   "speed_mps": 1.4301964768037578e-07,
   "steering_deg": -132.07502627372742,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 230.75,
   "speed_mps": -1.2619831568638773e-10,
   "steering_deg": -132.07502627372742,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 231.0,
   "speed_mps": 5.915093415076456e-10,
   "steering_deg": -132.07502627372742,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 231.25,
   "speed_mps": -2.0887779353384595e-11,
   "steering_deg": -132.07502627372742,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 231.5,
   "speed_mps": -2.0452571927731533e-11,
   "steering_deg": -132.01772952079773,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 231.95,
   "speed_mps": -3.3234127797855673e-13,
   "steering_deg": -132.01772952079773,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 232.25,
   "speed_mps": 2.0319644472338756e-14,
   "steering_deg": -132.01772952079773,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 232.5,
   "speed_mps": -1.815528725078973e-15,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.787262928000018
  },
  {
   "t": 232.85,
   "speed_mps": 1.3150202387990774e-16,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.447833854999999
  },
  {
   "t": 233.25,
   "speed_mps": -9.527370342434717e-18,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.134256744999902
  },
  {
   "t": 233.45,
   "speed_mps": 6.767927148423517e-19,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.89567765799984
  },
  {
   "t": 233.8,
   "speed_mps": -5.303295952677837e-20,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.582195808999813
  },
  {
   "t": 234.25,
   "speed_mps": 2.7109222930839837e-21,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.168734963999896
  },
  {
   "t": 234.5,
   "speed_mps": -1.0986853315489676e-22,
   "steering_deg": -132.01772952079773,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.8206195769998885
  },
  {
   "t": 234.8,
   "speed_mps": 6.06140248631335e-24,
   "steering_deg": -131.90313601493835,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.499244799999815
  },
  {
   "t": 235.25,
   "speed_mps": 1.1710780653854663e-25,
   "steering_deg": -131.78852725028992,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.065509550999877
  },
  {
   "t": 235.5,
   "speed_mps": -2.6265503247532632e-27,
   "steering_deg": -131.67393374443054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.803864441999849
  },
  {
   "t": 235.8,
   "speed_mps": 1.4232394788546992e-28,
   "steering_deg": -131.44473147392273,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.503039016999992
  },
  {
   "t": 236.05,
   "speed_mps": 1.273766731793969e-28,
   "steering_deg": -131.2728259563446,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 6.263962012999855
  },
  {
   "t": 236.3,
   "speed_mps": 0.008823894895613194,
   "steering_deg": -130.9863269329071,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.021587920000002
  },
  {
   "t": 236.5,
   "speed_mps": 0.2760351896286011,
   "steering_deg": -130.4133288860321,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.789533164999966
  },
  {
   "t": 236.8,
   "speed_mps": 0.2599421739578247,
   "steering_deg": -129.5538318157196,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.489689303999967
  },
  {
   "t": 237.1,
   "speed_mps": 0.19946502149105072,
   "steering_deg": -128.8662326335907,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.238335198999948
  },
  {
   "t": 237.35,
   "speed_mps": 0.05845875293016434,
   "steering_deg": -128.40782809257507,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 4.975546389999863
  },
  {
   "t": 237.6,
   "speed_mps": 0.3294317126274109,
   "steering_deg": -127.49102663993835,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.697449850999874
  },
  {
   "t": 237.95,
   "speed_mps": 0.4845430552959442,
   "steering_deg": -118.43762850761414,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.3567813489999025
  },
  {
   "t": 238.2,
   "speed_mps": 0.578421950340271,
   "steering_deg": -110.93132662773132,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.09444686400002
  },
  {
   "t": 238.5,
   "speed_mps": 0.5870928168296814,
   "steering_deg": -111.04592776298523,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.814268498999809
  },
  {
   "t": 238.8,
   "speed_mps": 0.47458869218826294,
   "steering_deg": -111.33242678642273,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.5126124479997998
  },
  {
   "t": 239.1,
   "speed_mps": 0.4342409670352936,
   "steering_deg": -112.36382937431335,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.2389338839998345
  },
  {
   "t": 239.4,
   "speed_mps": 0.45411741733551025,
   "steering_deg": -114.65582919120789,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.9180959309999253
  },
  {
   "t": 239.7,
   "speed_mps": 0.45063117146492004,
   "steering_deg": -114.65582919120789,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.667009533999817
  },
  {
   "t": 240.05,
   "speed_mps": 0.41765373945236206,
   "steering_deg": -116.48943209648132,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.3080891309998606
  },
  {
   "t": 240.35,
   "speed_mps": 0.41259750723838806,
   "steering_deg": -116.48943209648132,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9561206129999391
  },
  {
   "t": 240.65,
   "speed_mps": 0.41931742429733276,
   "steering_deg": -116.48943209648132,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6640024399998765
  },
  {
   "t": 240.95,
   "speed_mps": 0.42725756764411926,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.380823185999816
  },
  {
   "t": 241.25,
   "speed_mps": 0.42532509565353394,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.06154705799986
  },
  {
   "t": 241.5,
   "speed_mps": 0.4206470251083374,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8510749370000212
  },
  {
   "t": 241.8,
   "speed_mps": 0.40521350502967834,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5381018909999966
  },
  {
   "t": 242.2,
   "speed_mps": 0.3935758173465729,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.1472497239999484
  },
  {
   "t": 242.45,
   "speed_mps": 0.39400890469551086,
   "steering_deg": -116.4321277141571,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 242.75,
   "speed_mps": 0.3668822944164276,
   "steering_deg": -116.37483096122742,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 243.0,
   "speed_mps": 0.2550375461578369,
   "steering_deg": -115.91642642021179,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 243.35,
   "speed_mps": -0.03986741974949837,
   "steering_deg": -114.48393130302429,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 243.8,
   "speed_mps": 0.002751803258433938,
   "steering_deg": -114.36933016777039,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 244.1,
   "speed_mps": -2.664748899405822e-05,
   "steering_deg": -114.36933016777039,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 244.35,
   "speed_mps": 3.2064026527223177e-06,
   "steering_deg": -114.3120334148407,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 244.65,
   "speed_mps": -2.626380819492624e-07,
   "steering_deg": -114.3120334148407,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 244.95,
   "speed_mps": 1.5738475411808395e-08,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.991041914000107
  },
  {
   "t": 245.2,
   "speed_mps": -3.943366966296935e-09,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.738178536000078
  },
  {
   "t": 245.4,
   "speed_mps": 8.369908099936652e-10,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.55736713500005
  },
  {
   "t": 245.8,
   "speed_mps": -3.179672497521935e-11,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.154321513000014
  },
  {
   "t": 246.05,
   "speed_mps": 3.91992471468483e-12,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.905310380000174
  },
  {
   "t": 246.25,
   "speed_mps": -3.3946150469581216e-13,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.663631549000002
  },
  {
   "t": 246.55,
   "speed_mps": 1.5228117567931895e-14,
   "steering_deg": -114.3120334148407,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.403833057000156
  },
  {
   "t": 246.95,
   "speed_mps": -1.2592586834527875e-15,
   "steering_deg": -114.25472903251648,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.9621597770001244
  },
  {
   "t": 247.2,
   "speed_mps": 1.4050410475486923e-16,
   "steering_deg": -114.14012789726257,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.720782925000094
  },
  {
   "t": 247.5,
   "speed_mps": -9.860752253434414e-18,
   "steering_deg": -113.91093325614929,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.460810631000186
  },
  {
   "t": 247.85,
   "speed_mps": 6.64897288947168e-19,
   "steering_deg": -113.28063082695007,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.07814785100004
  },
  {
   "t": 248.25,
   "speed_mps": 0.308339923620224,
   "steering_deg": -112.42113375663757,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.695599810000203
  },
  {
   "t": 248.65,
   "speed_mps": 0.3262386918067932,
   "steering_deg": -106.92033267021179,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.362803350000149
  },
  {
   "t": 248.95,
   "speed_mps": 0.26776620745658875,
   "steering_deg": -107.0349338054657,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 5.9720360790001905
  },
  {
   "t": 249.35,
   "speed_mps": 0.3037693202495575,
   "steering_deg": -106.63383364677429,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.6228658990000895
  },
  {
   "t": 249.6,
   "speed_mps": 0.3522907793521881,
   "steering_deg": -102.90933108329773,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.33919138300007
  },
  {
   "t": 249.85,
   "speed_mps": 0.364248126745224,
   "steering_deg": -100.50273013114929,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.098837971000194
  },
  {
   "t": 250.3,
   "speed_mps": 0.3896568715572357,
   "steering_deg": -100.9038302898407,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.718766340000002
  },
  {
   "t": 250.75,
   "speed_mps": 0.4580385982990265,
   "steering_deg": -100.96112704277039,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.235845917999995
  },
  {
   "t": 251.0,
   "speed_mps": 0.47408291697502136,
   "steering_deg": -101.4768283367157,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.933255542000097
  },
  {
   "t": 251.45,
   "speed_mps": 0.49815332889556885,
   "steering_deg": -104.97212862968445,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.542636866000066
  },
  {
   "t": 252.05,
   "speed_mps": 0.49120262265205383,
   "steering_deg": -112.59303164482117,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.940654244000143
  },
  {
   "t": 252.3,
   "speed_mps": 0.45716044306755066,
   "steering_deg": -117.29163241386414,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.656550508999999
  },
  {
   "t": 252.5,
   "speed_mps": 0.4298679828643799,
   "steering_deg": -120.04202914237976,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.41882449600007
  },
  {
   "t": 252.85,
   "speed_mps": 0.4257207214832306,
   "steering_deg": -120.38583254814148,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1463228090001394
  },
  {
   "t": 253.1,
   "speed_mps": 0.43460166454315186,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.8771507100000235
  },
  {
   "t": 253.35,
   "speed_mps": 0.443270206451416,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.6043253249999907
  },
  {
   "t": 253.55,
   "speed_mps": 0.45712926983833313,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.3845034520002173
  },
  {
   "t": 253.85,
   "speed_mps": 0.4729897677898407,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1713825780000207
  },
  {
   "t": 254.1,
   "speed_mps": 0.5085540413856506,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.8465462850001586
  },
  {
   "t": 254.35,
   "speed_mps": 0.5097296833992004,
   "steering_deg": -120.27123141288757,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.608441626000058
  },
  {
   "t": 254.75,
   "speed_mps": 0.49456411600112915,
   "steering_deg": -121.01612734794617,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.2769080840000697
  },
  {
   "t": 254.95,
   "speed_mps": 0.4969772696495056,
   "steering_deg": -121.53182864189148,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 255.25,
   "speed_mps": 0.5083503723144531,
   "steering_deg": -121.53182864189148,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 255.55,
   "speed_mps": 0.4284437298774719,
   "steering_deg": -121.24532961845398,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 255.85,
   "speed_mps": 0.2358555644750595,
   "steering_deg": -120.78693270683289,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 256.15,
   "speed_mps": -0.05628194659948349,
   "steering_deg": -118.03652834892273,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 256.35,
   "speed_mps": 0.004749936051666737,
   "steering_deg": -118.03652834892273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 256.7,
   "speed_mps": 0.00021863185975234956,
   "steering_deg": -118.03652834892273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 256.95,
   "speed_mps": 1.6149946532095782e-05,
   "steering_deg": -118.03652834892273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 257.3,
   "speed_mps": -1.9065751075686421e-06,
   "steering_deg": -118.03652834892273,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.776125465000177
  },
  {
   "t": 257.55,
   "speed_mps": 9.808157130919426e-08,
   "steering_deg": -118.03652834892273,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.50576503100001
  },
  {
   "t": 257.85,
   "speed_mps": -6.7955321370050115e-09,
   "steering_deg": -117.97923159599304,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.204272574000015
  },
  {
   "t": 258.15,
   "speed_mps": -3.7020400633913653e-10,
   "steering_deg": -117.97923159599304,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.94208366099997
  },
  {
   "t": 258.4,
   "speed_mps": 1.886720085719773e-10,
   "steering_deg": -117.97923159599304,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.692459455000062
  },
  {
   "t": 258.65,
   "speed_mps": -4.0591356664787526e-11,
   "steering_deg": -117.86463046073914,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.460797669000158
  },
  {
   "t": 258.95,
   "speed_mps": 3.4051938786056057e-12,
   "steering_deg": -117.69273257255554,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.169107620999966
  },
  {
   "t": 259.25,
   "speed_mps": -1.7315384965698594e-13,
   "steering_deg": -117.34892916679382,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.825030156000139
  },
  {
   "t": 259.45,
   "speed_mps": 0.09990368783473969,
   "steering_deg": -117.17703127861023,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.615431474000161
  },
  {
   "t": 259.95,
   "speed_mps": 0.29002079367637634,
   "steering_deg": -116.1456286907196,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.153504415000043
  },
  {
   "t": 260.15,
   "speed_mps": 0.25190120935440063,
   "steering_deg": -115.40073275566101,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.94088927100006
  },
  {
   "t": 260.4,
   "speed_mps": 0.2351951003074646,
   "steering_deg": -114.8850314617157,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.691851211000085
  },
  {
   "t": 260.75,
   "speed_mps": 0.3323456346988678,
   "steering_deg": -113.73902773857117,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.318166985000062
  },
  {
   "t": 261.0,
   "speed_mps": 0.3442038595676422,
   "steering_deg": -108.0090320110321,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.048497437000151
  },
  {
   "t": 261.4,
   "speed_mps": 0.3215975761413574,
   "steering_deg": -107.20683169364929,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.657219853000015
  },
  {
   "t": 261.65,
   "speed_mps": 0.3452136814594269,
   "steering_deg": -107.37872958183289,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.403570485000046
  },
  {
   "t": 261.9,
   "speed_mps": 0.3654630184173584,
   "steering_deg": -107.37872958183289,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.1637721250001505
  },
  {
   "t": 262.25,
   "speed_mps": 0.36632367968559265,
   "steering_deg": -107.43602633476257,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.891038406000007
  },
  {
   "t": 262.65,
   "speed_mps": 0.3452528417110443,
   "steering_deg": -107.66522860527039,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.511477870000135
  },
  {
   "t": 262.85,
   "speed_mps": 0.34695640206336975,
   "steering_deg": -107.66522860527039,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.190268822000007
  },
  {
   "t": 263.2,
   "speed_mps": 0.3926365077495575,
   "steering_deg": -107.55062747001648,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.925346938000075
  },
  {
   "t": 263.4,
   "speed_mps": 0.4158283770084381,
   "steering_deg": -107.49333071708679,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.6573173399999632
  },
  {
   "t": 263.8,
   "speed_mps": 0.41687312722206116,
   "steering_deg": -107.6079318523407,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.4465864170001623
  },
  {
   "t": 264.1,
   "speed_mps": 0.4712296426296234,
   "steering_deg": -107.8944308757782,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.0053555330000563
  },
  {
   "t": 264.5,
   "speed_mps": 0.48980966210365295,
   "steering_deg": -108.06632876396179,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.612347530000079
  },
  {
   "t": 264.9,
   "speed_mps": 0.48358291387557983,
   "steering_deg": -112.42113375663757,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.1400372269999934
  },
  {
   "t": 265.25,
   "speed_mps": 0.4948482811450958,
   "steering_deg": -112.42113375663757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7972875240000121
  },
  {
   "t": 265.55,
   "speed_mps": 0.5039826035499573,
   "steering_deg": -112.42113375663757,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5082718559999648
  },
  {
   "t": 265.8,
   "speed_mps": 0.5069336891174316,
   "steering_deg": -112.65032839775085,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2355713140000262
  },
  {
   "t": 266.2,
   "speed_mps": 0.5013479590415955,
   "steering_deg": -114.19743227958679,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9234669150000627
  },
  {
   "t": 266.4,
   "speed_mps": 0.5054188370704651,
   "steering_deg": -115.11423373222351,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.6332157750000533
  },
  {
   "t": 266.8,
   "speed_mps": 0.513280987739563,
   "steering_deg": -115.22882723808289,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.35946700299996337
  },
  {
   "t": 267.05,
   "speed_mps": 0.5243943929672241,
   "steering_deg": -115.68723177909851,
   "state": "executing",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 267.3,
   "speed_mps": 0.5349560976028442,
   "steering_deg": -115.97373080253601,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 267.55,
   "speed_mps": 0.5146722197532654,
   "steering_deg": -116.0310275554657,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 267.9,
   "speed_mps": 0.308977335691452,
   "steering_deg": -115.8591296672821,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 268.15,
   "speed_mps": -0.0035664159804582596,
   "steering_deg": -112.42113375663757,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 268.35,
   "speed_mps": -0.012855242006480694,
   "steering_deg": -111.96272921562195,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 268.75,
   "speed_mps": 0.003289995016530156,
   "steering_deg": -111.90543246269226,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 269.0,
   "speed_mps": -5.0481638027122244e-05,
   "steering_deg": -111.90543246269226,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 269.3,
   "speed_mps": 6.4919981923594605e-06,
   "steering_deg": -111.90543246269226,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 269.55,
   "speed_mps": -6.181972480590048e-07,
   "steering_deg": -111.90543246269226,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.749107562000063
  },
  {
   "t": 269.95,
   "speed_mps": 1.0129117100632357e-08,
   "steering_deg": -111.84812808036804,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.38439048500004
  },
  {
   "t": 270.4,
   "speed_mps": 7.453758166242608e-10,
   "steering_deg": -111.84812808036804,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.933050368000067
  },
  {
   "t": 270.95,
   "speed_mps": -1.9872142126287073e-11,
   "steering_deg": -111.73352694511414,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.530918080999982
  },
  {
   "t": 271.2,
   "speed_mps": -2.641037074365554e-13,
   "steering_deg": -111.67623019218445,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.101251223999952
  },
  {
   "t": 271.45,
   "speed_mps": -8.57725145791445e-14,
   "steering_deg": -111.56162905693054,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.9112367879999965
  },
  {
   "t": 271.8,
   "speed_mps": 8.12820693591636e-15,
   "steering_deg": -111.10323214530945,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.617687779999869
  },
  {
   "t": 272.2,
   "speed_mps": 0.2906205952167511,
   "steering_deg": -110.35832858085632,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.208781473000045
  },
  {
   "t": 272.45,
   "speed_mps": 0.2781476378440857,
   "steering_deg": -108.63932681083679,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.867139583999915
  },
  {
   "t": 272.85,
   "speed_mps": 0.22239667177200317,
   "steering_deg": -107.20683169364929,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.482542685999988
  },
  {
   "t": 273.15,
   "speed_mps": 0.27503013610839844,
   "steering_deg": -106.40463137626648,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.18352716000004
  },
  {
   "t": 273.5,
   "speed_mps": 0.311821848154068,
   "steering_deg": -104.91483187675476,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.852105337000012
  },
  {
   "t": 273.85,
   "speed_mps": 0.31974565982818604,
   "steering_deg": -101.8779284954071,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.449451642999975
  },
  {
   "t": 274.4,
   "speed_mps": 0.3783569931983948,
   "steering_deg": -101.93523287773132,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.046798887000023
  },
  {
   "t": 274.6,
   "speed_mps": 0.37892088294029236,
   "steering_deg": -102.0498263835907,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.765883697999925
  },
  {
   "t": 274.85,
   "speed_mps": 0.37740594148635864,
   "steering_deg": -102.4509265422821,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.465727179999931
  },
  {
   "t": 275.35,
   "speed_mps": 0.3995802104473114,
   "steering_deg": -102.4509265422821,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.043238511000027
  },
  {
   "t": 275.6,
   "speed_mps": 0.4296453595161438,
   "steering_deg": -102.4509265422821,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.7133609089999027
  },
  {
   "t": 275.85,
   "speed_mps": 0.4514041543006897,
   "steering_deg": -102.4509265422821,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.470613014000037
  },
  {
   "t": 276.15,
   "speed_mps": 0.4746303856372833,
   "steering_deg": -102.62283205986023,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.2278131400000802
  },
  {
   "t": 276.45,
   "speed_mps": 0.46230772137641907,
   "steering_deg": -104.28452944755554,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.8882266699999946
  },
  {
   "t": 276.7,
   "speed_mps": 0.45375317335128784,
   "steering_deg": -107.37872958183289,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.6372296489998917
  },
  {
   "t": 277.0,
   "speed_mps": 0.440570205450058,
   "steering_deg": -107.77982974052429,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.35633216899987
  },
  {
   "t": 277.25,
   "speed_mps": 0.44683706760406494,
   "steering_deg": -108.2955310344696,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.0531455420000384
  },
  {
   "t": 277.55,
   "speed_mps": 0.48128312826156616,
   "steering_deg": -108.23822665214539,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.7534564210000099
  },
  {
   "t": 277.8,
   "speed_mps": 0.48799511790275574,
   "steering_deg": -108.23822665214539,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5107808699999623
  },
  {
   "t": 278.2,
   "speed_mps": 0.4684286117553711,
   "steering_deg": -111.90543246269226,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.1712062229998992
  },
  {
   "t": 278.5,
   "speed_mps": 0.481227308511734,
   "steering_deg": -112.59303164482117,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9184579499999472
  },
  {
   "t": 278.75,
   "speed_mps": 0.5211994647979736,
   "steering_deg": -112.59303164482117,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5677103190000707
  },
  {
   "t": 279.05,
   "speed_mps": 0.5200426578521729,
   "steering_deg": -112.59303164482117,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.3060730219999641
  },
  {
   "t": 279.35,
   "speed_mps": 0.48753389716148376,
   "steering_deg": -116.48943209648132,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 279.75,
   "speed_mps": 0.5064672231674194,
   "steering_deg": -117.92192721366882,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 280.1,
   "speed_mps": 0.3497783839702606,
   "steering_deg": -117.17703127861023,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 280.35,
   "speed_mps": 0.04499226436018944,
   "steering_deg": -115.11423373222351,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 280.7,
   "speed_mps": -0.006071151699870825,
   "steering_deg": -113.85362887382507,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 281.0,
   "speed_mps": -3.272445246693678e-05,
   "steering_deg": -113.79633212089539,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 281.35,
   "speed_mps": 2.6973566491506062e-05,
   "steering_deg": -113.79633212089539,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 281.7,
   "speed_mps": -2.04171351469995e-06,
   "steering_deg": -113.79633212089539,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 282.0,
   "speed_mps": 1.530112001546513e-07,
   "steering_deg": -113.79633212089539,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.950938159000088
  },
  {
   "t": 282.2,
   "speed_mps": -3.123756808776079e-09,
   "steering_deg": -113.79633212089539,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.720440542000006
  },
  {
   "t": 282.45,
   "speed_mps": -1.8417770641931952e-09,
   "steering_deg": -113.79633212089539,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.4816083300002
  },
  {
   "t": 282.8,
   "speed_mps": 2.284240296912543e-10,
   "steering_deg": -113.79633212089539,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 9.197387720000052
  },
  {
   "t": 283.1,
   "speed_mps": -2.8949849462112098e-11,
   "steering_deg": -113.73902773857117,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.927744995000012
  },
  {
   "t": 283.35,
   "speed_mps": 1.4217478106273718e-12,
   "steering_deg": -113.68173098564148,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.596532496000009
  },
  {
   "t": 283.65,
   "speed_mps": -1.3165792241143226e-13,
   "steering_deg": -113.62442660331726,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.306623024000146
  },
  {
   "t": 283.9,
   "speed_mps": 1.5196094640328e-14,
   "steering_deg": -113.56712985038757,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 8.035671911999998
  },
  {
   "t": 284.2,
   "speed_mps": -1.0455747172336298e-15,
   "steering_deg": -113.45252871513367,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.725571369000136
  },
  {
   "t": 284.5,
   "speed_mps": 9.0240507920309e-17,
   "steering_deg": -113.28063082695007,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 7.433364133000168
  },
  {
   "t": 284.75,
   "speed_mps": 0.04303194209933281,
   "steering_deg": -112.76492953300476,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 7.160933280000108
  },
  {
   "t": 285.0,
   "speed_mps": 0.3140814006328583,
   "steering_deg": -111.84812808036804,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.920771326000022
  },
  {
   "t": 285.25,
   "speed_mps": 0.3211820721626282,
   "steering_deg": -107.77982974052429,
   "state": "executing",
   "reason": null,
   "remaining_s": 6.720429428000216
  },
  {
   "t": 285.6,
   "speed_mps": 0.283071905374527,
   "steering_deg": -105.54512667655945,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.397125378000055
  },
  {
   "t": 285.85,
   "speed_mps": 0.24981266260147095,
   "steering_deg": -104.80023074150085,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 6.086095980000209
  },
  {
   "t": 286.2,
   "speed_mps": 0.3091732859611511,
   "steering_deg": -103.53963351249695,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.7538512390001415
  },
  {
   "t": 286.5,
   "speed_mps": 0.3289693295955658,
   "steering_deg": -96.60632967948914,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.434209382000063
  },
  {
   "t": 286.8,
   "speed_mps": 0.31973084807395935,
   "steering_deg": -96.77822756767273,
   "state": "executing",
   "reason": null,
   "remaining_s": 5.149776480000128
  },
  {
   "t": 287.05,
   "speed_mps": 0.3333181142807007,
   "steering_deg": -97.00742983818054,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.899236126000005
  },
  {
   "t": 287.35,
   "speed_mps": 0.36274054646492004,
   "steering_deg": -97.00742983818054,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.587173393000057
  },
  {
   "t": 287.7,
   "speed_mps": 0.36048829555511475,
   "steering_deg": -97.17932772636414,
   "state": "executing",
   "reason": null,
   "remaining_s": 4.230663202000187
  },
  {
   "t": 288.05,
   "speed_mps": 0.36656174063682556,
   "steering_deg": -97.23663210868835,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.9862748880000254
  },
  {
   "t": 288.35,
   "speed_mps": 0.41001462936401367,
   "steering_deg": -97.23663210868835,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.6046224210001583
  },
  {
   "t": 288.6,
   "speed_mps": 0.4179918169975281,
   "steering_deg": -97.35123324394226,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.352577169000142
  },
  {
   "t": 288.85,
   "speed_mps": 0.42786240577697754,
   "steering_deg": -98.15343356132507,
   "state": "executing",
   "reason": null,
   "remaining_s": 3.082683610999993
  },
  {
   "t": 289.1,
   "speed_mps": 0.4462434947490692,
   "steering_deg": -98.15343356132507,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.873044721000042
  },
  {
   "t": 289.4,
   "speed_mps": 0.48223525285720825,
   "steering_deg": -98.21073031425476,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.5109281680001914
  },
  {
   "t": 289.7,
   "speed_mps": 0.4962778687477112,
   "steering_deg": -100.56002688407898,
   "state": "executing",
   "reason": null,
   "remaining_s": 2.2316914190000716
  },
  {
   "t": 290.0,
   "speed_mps": 0.5030634999275208,
   "steering_deg": -101.82063174247742,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.9481132580001486
  },
  {
   "t": 290.35,
   "speed_mps": 0.5171432495117188,
   "steering_deg": -104.68562960624695,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.5867962890001763
  },
  {
   "t": 290.65,
   "speed_mps": 0.5251848101615906,
   "steering_deg": -106.46192812919617,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.2949647830000686
  },
  {
   "t": 291.0,
   "speed_mps": 0.5361248850822449,
   "steering_deg": -110.75942873954773,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.9530863830000271
  },
  {
   "t": 291.25,
   "speed_mps": 0.5520182847976685,
   "steering_deg": -111.10323214530945,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.7039200940000683
  },
  {
   "t": 291.45,
   "speed_mps": 0.55597323179245,
   "steering_deg": -111.79083132743835,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.5133535740001207
  },
  {
   "t": 291.95,
   "speed_mps": 0.5391227006912231,
   "steering_deg": -116.4321277141571,
   "state": "executing",
   "reason": null,
   "remaining_s": 0.049272919000031834
  },
  {
   "t": 292.3,
   "speed_mps": 0.5426974296569824,
   "steering_deg": -117.92192721366882,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 292.65,
   "speed_mps": 0.4363410472869873,
   "steering_deg": -117.75002932548523,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 292.95,
   "speed_mps": 0.19631995260715485,
   "steering_deg": -116.89053225517273,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 293.4,
   "speed_mps": -0.009483891539275646,
   "steering_deg": -114.02552676200867,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 293.75,
   "speed_mps": -0.00034923182101920247,
   "steering_deg": -113.96823000907898,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 293.95,
   "speed_mps": 3.659019739643554e-06,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 294.3,
   "speed_mps": 1.9453138975222828e-06,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 294.55,
   "speed_mps": -3.121428164831741e-07,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 294.8,
   "speed_mps": 3.9034812715499356e-08,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 295.1,
   "speed_mps": -4.98022956207933e-09,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 295.4,
   "speed_mps": 3.8697561821621207e-10,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 295.65,
   "speed_mps": -4.953184043476888e-11,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 295.95,
   "speed_mps": 4.527447427377096e-12,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 296.35,
   "speed_mps": -6.612542951351871e-14,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 296.65,
   "speed_mps": 4.168154689264793e-15,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 296.9,
   "speed_mps": -9.549330862732366e-16,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 297.3,
   "speed_mps": 7.394772991819903e-17,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 297.55,
   "speed_mps": -3.20273703909661e-18,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 297.8,
   "speed_mps": 5.433576769907968e-19,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 298.2,
   "speed_mps": -1.3673460315389205e-20,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 298.45,
   "speed_mps": 1.5497969926778647e-21,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 298.75,
   "speed_mps": -1.606881391160358e-22,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 299.05,
   "speed_mps": 1.4003052573638266e-23,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 299.3,
   "speed_mps": -1.1964691806456216e-24,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 299.75,
   "speed_mps": 4.2128753027754635e-26,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 300.0,
   "speed_mps": -3.309800742950862e-27,
   "steering_deg": -113.91093325614929,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 300.3,
   "speed_mps": 2.1880490098183387e-28,
   "steering_deg": -113.91093325614929,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 4.868254292999836
  },
  {
   "t": 300.6,
   "speed_mps": -2.7033285571736055e-29,
   "steering_deg": -113.91093325614929,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 4.596984221999946
  },
  {
   "t": 300.8,
   "speed_mps": 2.8955845138720613e-30,
   "steering_deg": -113.91093325614929,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 4.326169776999905
  },
  {
   "t": 301.2,
   "speed_mps": -1.0623129351982793e-31,
   "steering_deg": -113.85362887382507,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 3.9632915029999367
  },
  {
   "t": 301.45,
   "speed_mps": 2.0825685339277397e-32,
   "steering_deg": -113.85362887382507,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 3.750779067999929
  },
  {
   "t": 301.75,
   "speed_mps": -1.1905629945383792e-33,
   "steering_deg": -113.79633212089539,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 3.4122811419999834
  },
  {
   "t": 302.05,
   "speed_mps": 1.0658751404220417e-34,
   "steering_deg": -113.73902773857117,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 3.131529702999842
  },
  {
   "t": 302.35,
   "speed_mps": -6.379476144562822e-36,
   "steering_deg": -113.68173098564148,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 2.80015314100001
  },
  {
   "t": 302.75,
   "speed_mps": 1.5443491772763374e-37,
   "steering_deg": -113.56712985038757,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 2.4181833830000414
  },
  {
   "t": 303.0,
   "speed_mps": -1.7785956936368847e-38,
   "steering_deg": -113.33792757987976,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 2.1380978830000004
  },
  {
   "t": 303.3,
   "speed_mps": 1.8646153807783886e-39,
   "steering_deg": -112.93682742118835,
   "state": "executing",
   "reason": "waiting_for_res",
   "remaining_s": 1.856430921999845
  },
  {
   "t": 303.7,
   "speed_mps": 0.16637086868286133,
   "steering_deg": -112.42113375663757,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 1.5153275239999857
  },
  {
   "t": 303.95,
   "speed_mps": 0.30071601271629333,
   "steering_deg": -111.44702792167664,
   "state": "executing",
   "reason": null,
   "remaining_s": 1.203400259999853
  },
  {
   "t": 304.3,
   "speed_mps": 0.2897891700267792,
   "steering_deg": -106.34732699394226,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 0.8310687440000493
  },
  {
   "t": 304.6,
   "speed_mps": 0.24429725110530853,
   "steering_deg": -106.29003024101257,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 0.6006390959998953
  },
  {
   "t": 304.95,
   "speed_mps": 0.27337315678596497,
   "steering_deg": -105.54512667655945,
   "state": "executing",
   "reason": "steering_unavailable",
   "remaining_s": 0.23876613699985683
  },
  {
   "t": 305.25,
   "speed_mps": 0.29184749722480774,
   "steering_deg": -104.16992831230164,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 305.45,
   "speed_mps": 0.2808353900909424,
   "steering_deg": -103.76882815361023,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 305.75,
   "speed_mps": 0.17066502571105957,
   "steering_deg": -103.08122897148132,
   "state": "stopping",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 306.05,
   "speed_mps": -0.015786390751600266,
   "steering_deg": -102.62283205986023,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 306.35,
   "speed_mps": 0.00047545539564453065,
   "steering_deg": -102.50823092460632,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 306.65,
   "speed_mps": -0.00013517097977455705,
   "steering_deg": -102.50823092460632,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 306.85,
   "speed_mps": 1.8218317563878372e-05,
   "steering_deg": -102.4509265422821,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 307.15,
   "speed_mps": -1.5931173038552515e-06,
   "steering_deg": -102.4509265422821,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 307.45,
   "speed_mps": 1.3084039096611377e-07,
   "steering_deg": -102.4509265422821,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 307.85,
   "speed_mps": -8.096971981785828e-09,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 308.15,
   "speed_mps": 7.366088294880058e-10,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 308.45,
   "speed_mps": -3.3164103407923307e-11,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 308.8,
   "speed_mps": 2.467505637749473e-13,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 309.15,
   "speed_mps": -3.147505314108484e-14,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 309.35,
   "speed_mps": 7.963315032074366e-15,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 309.75,
   "speed_mps": -3.569088996192854e-16,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 310.1,
   "speed_mps": -6.543836579254965e-18,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 310.35,
   "speed_mps": -1.052928024488523e-18,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 310.6,
   "speed_mps": 2.9687000366524146e-19,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 310.85,
   "speed_mps": -3.9899606146120813e-20,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 311.1,
   "speed_mps": 3.485019761127093e-21,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 311.4,
   "speed_mps": -2.919957407296285e-22,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 311.6,
   "speed_mps": -7.860757529090385e-24,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 311.9,
   "speed_mps": 7.596655082454282e-25,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 312.15,
   "speed_mps": -3.7655099414938153e-25,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 312.5,
   "speed_mps": 1.8933291889582087e-26,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 312.8,
   "speed_mps": -2.9859808043361713e-28,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 313.05,
   "speed_mps": 1.2285229059110457e-28,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 313.35,
   "speed_mps": -9.845110877515348e-30,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 313.75,
   "speed_mps": 7.865774839346525e-31,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 314.0,
   "speed_mps": -3.852439701363015e-32,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 314.3,
   "speed_mps": 2.331453454901847e-33,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 314.75,
   "speed_mps": 1.0555132265961653e-34,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 315.0,
   "speed_mps": 7.641021790214775e-36,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 315.3,
   "speed_mps": 3.078695549802693e-37,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 315.6,
   "speed_mps": -4.0285018706872355e-38,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 315.95,
   "speed_mps": 3.394803876553338e-39,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 316.25,
   "speed_mps": -2.490836046306649e-40,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 316.55,
   "speed_mps": 1.822248523007992e-41,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 316.85,
   "speed_mps": -1.4083049566464412e-42,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 317.25,
   "speed_mps": 1.0369608636003646e-43,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 317.5,
   "speed_mps": -7.006492321624085e-45,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 317.8,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 318.05,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 318.45,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 318.7,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 318.95,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 319.25,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 319.45,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 319.7,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 320.0,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 320.35,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 320.7,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 320.95,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 321.2,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 321.45,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 321.85,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 322.1,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 322.35,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 322.65,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 322.85,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 323.1,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 323.35,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 323.75,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 324.2,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 324.45,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 324.75,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 325.0,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 325.25,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 325.5,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 325.85,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 326.2,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 326.5,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 326.85,
   "speed_mps": 0.0,
   "steering_deg": -102.33633303642273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 327.15,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 327.4,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 327.65,
   "speed_mps": 0.0,
   "steering_deg": -102.33633303642273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 328.0,
   "speed_mps": -0.0,
   "steering_deg": -102.33633303642273,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 328.35,
   "speed_mps": -0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 328.65,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  },
  {
   "t": 328.9,
   "speed_mps": 0.0,
   "steering_deg": -102.39362978935242,
   "state": "held",
   "reason": null,
   "remaining_s": 0
  }
 ]
}