diff --git a/src/control_parser.c b/src/control_parser.c
index 1a70060..68e0e68 100644
--- a/src/control_parser.c
+++ b/src/control_parser.c
@@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 	return atoi(ctx->tmp->str);
 }
 
-#line 113 "control_parser.rl"
+#line 114 "control_parser.rl"
 
 
 
@@ -240,7 +240,7 @@ static const int control_parser_error = 0;
 
 static const int control_parser_en_main = 1;
 
-#line 116 "control_parser.rl"
+#line 117 "control_parser.rl"
 
 static int control_parser_has_error(context *ctx) {
 	return ctx->cs == control_parser_error;
@@ -257,7 +257,7 @@ void control_parser_new(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 128 "control_parser.rl"
+#line 129 "control_parser.rl"
 	ctx->buffer = g_string_sized_new(0);
 	ctx->tmp = g_string_sized_new(0);
 	ctx->mark = -1;
@@ -271,7 +271,7 @@ void control_parser_reset(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 137 "control_parser.rl"
+#line 138 "control_parser.rl"
 	g_string_truncate(ctx->tmp, 0);
 	ctx->mark = -1;
 	ctx->pos = 0;
@@ -384,131 +384,132 @@ _match:
 #line 37 "control_parser.rl"
 	{
 		g_queue_push_tail(&t->telemetry, ctx->tm);
+		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
 		t->alive = 1;
 	}
 	break;
 	case 4:
-#line 42 "control_parser.rl"
+#line 43 "control_parser.rl"
 	{
 		ctx->tm->ts = ctx->ts;
 		t->vehicle.x = ctx->x;
 		t->vehicle.y = ctx->y;
 		t->vehicle.dir = ctx->dir;
 		t->vehicle.speed = ctx->speed;
-		printf("Vehicle at %f / %f\n", ctx->x, ctx->y);
+		/* printf("Vehicle at %f / %f\n", ctx->x, ctx->y); */
 	}
 	break;
 	case 5:
-#line 55 "control_parser.rl"
+#line 56 "control_parser.rl"
 	{ t->map.dx = extract_double(ctx, p); }
 	break;
 	case 6:
-#line 56 "control_parser.rl"
+#line 57 "control_parser.rl"
 	{ t->map.dy = extract_double(ctx, p); }
 	break;
 	case 7:
-#line 57 "control_parser.rl"
+#line 58 "control_parser.rl"
 	{ t->map.min_sensor = extract_double(ctx, p); }
 	break;
 	case 8:
-#line 58 "control_parser.rl"
+#line 59 "control_parser.rl"
 	{ t->map.max_sensor = extract_double(ctx, p); }
 	break;
 	case 9:
-#line 59 "control_parser.rl"
+#line 60 "control_parser.rl"
 	{ t->map.max_speed = extract_double(ctx, p); }
 	break;
 	case 10:
-#line 60 "control_parser.rl"
+#line 61 "control_parser.rl"
 	{ t->map.max_turn = extract_double(ctx, p); }
 	break;
 	case 11:
-#line 61 "control_parser.rl"
+#line 62 "control_parser.rl"
 	{ t->map.max_hard_turn = extract_double(ctx, p); }
 	break;
 	case 12:
-#line 65 "control_parser.rl"
+#line 66 "control_parser.rl"
 	{ ctx->x = extract_double(ctx, p); }
 	break;
 	case 13:
-#line 66 "control_parser.rl"
+#line 67 "control_parser.rl"
 	{ ctx->y = extract_double(ctx, p); }
 	break;
 	case 14:
-#line 67 "control_parser.rl"
+#line 68 "control_parser.rl"
 	{ ctx->r = extract_double(ctx, p); }
 	break;
 	case 15:
-#line 68 "control_parser.rl"
+#line 69 "control_parser.rl"
 	{ ctx->dir = extract_double(ctx, p); }
 	break;
 	case 16:
-#line 69 "control_parser.rl"
+#line 70 "control_parser.rl"
 	{ ctx->speed = extract_double(ctx, p); }
 	break;
 	case 17:
-#line 71 "control_parser.rl"
+#line 72 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ACCEL; }
 	break;
 	case 18:
-#line 72 "control_parser.rl"
+#line 73 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ROLL; }
 	break;
 	case 19:
-#line 73 "control_parser.rl"
+#line 74 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = BREAK; }
 	break;
 	case 20:
-#line 75 "control_parser.rl"
+#line 76 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
 	break;
 	case 21:
-#line 76 "control_parser.rl"
+#line 77 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_LEFT; }
 	break;
 	case 22:
-#line 77 "control_parser.rl"
+#line 78 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
 	break;
 	case 23:
-#line 78 "control_parser.rl"
+#line 79 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_RIGHT; }
 	break;
 	case 24:
-#line 79 "control_parser.rl"
+#line 80 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
 	break;
 	case 25:
-#line 81 "control_parser.rl"
+#line 82 "control_parser.rl"
 	{ ctx->ts = extract_ts(ctx, p); }
 	break;
 	case 26:
-#line 82 "control_parser.rl"
+#line 83 "control_parser.rl"
 	{ printf("Score %u\n", extract_ts(ctx, p)); }
 	break;
 	case 27:
-#line 84 "control_parser.rl"
+#line 85 "control_parser.rl"
 	{
 		object o = { BOLDER, ctx->x, ctx->y, ctx->r, 0, 0 };
 		g_array_append_val(ctx->tm->objects, o);
 	}
 	break;
 	case 28:
-#line 88 "control_parser.rl"
+#line 89 "control_parser.rl"
 	{
 		object o = { CRATER, ctx->x, ctx->y, ctx->r, 0, 0 };
 		g_array_append_val(ctx->tm->objects, o);
 	}
 	break;
 	case 29:
-#line 93 "control_parser.rl"
+#line 94 "control_parser.rl"
 	{
 		object o = { MARTIAN, ctx->x, ctx->y, ctx->r, ctx->dir, ctx->speed };
 		g_array_append_val(ctx->tm->objects, o);
 	}
 	break;
-#line 512 "control_parser.c"
+#line 513 "control_parser.c"
 		}
 	}
 
@@ -520,7 +521,7 @@ _again:
 	_test_eof: {}
 	_out: {}
 	}
-#line 160 "control_parser.rl"
+#line 161 "control_parser.rl"
 
 		ctx->pos = p - ctx->buffer->str;
 		if (ctx->mark == -1) {
diff --git a/src/control_parser.rl b/src/control_parser.rl
index f3c2a1a..966ee41 100644
--- a/src/control_parser.rl
+++ b/src/control_parser.rl
@@ -36,6 +36,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 	action telemetrystart { ctx->tm = telemetry_new(); }
 	action telemetrystop {
 		g_queue_push_tail(&t->telemetry, ctx->tm);
+		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
 		t->alive = 1;
 	}
@@ -45,7 +46,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 		t->vehicle.y = ctx->y;
 		t->vehicle.dir = ctx->dir;
 		t->vehicle.speed = ctx->speed;
-		printf("Vehicle at %f / %f\n", ctx->x, ctx->y);
+		/* printf("Vehicle at %f / %f\n", ctx->x, ctx->y); */
 	}
 
 	SP = " ";
diff --git a/src/main.c b/src/main.c
index 505174c..664c7fd 100644
--- a/src/main.c
+++ b/src/main.c
@@ -22,8 +22,8 @@ int main(int argc, char **argv) {
 	trial_wait_for_start(t);
 	p = path_new(&t->map,&t->vehicle);	
 	while(t->alive){
-		trial_wait_for_input(t);
 		path_execute(t,p);
+		trial_wait_for_input(t);
 	}
 
 	path_free(p);