diff --git a/src/control.h b/src/control.h
index 8d7fbc3..1cd3190 100644
--- a/src/control.h
+++ b/src/control.h
@@ -66,6 +66,7 @@ struct trial {
 	timestamp last_ts;
 	GQueue telemetry;
 	vehicle vehicle; /* our view */
+	int alive;
 	
 	/* internal */
 	int socket;
diff --git a/src/control_parser.c b/src/control_parser.c
new file mode 100644
index 0000000..cc31bf0
--- /dev/null
+++ b/src/control_parser.c
@@ -0,0 +1,285 @@
+#line 1 "control_parser.rl"
+
+#include "control_parser.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+
+typedef control_parser_ctx context;
+
+static void extract(context *ctx, char *fpc) {
+	gsize len = (fpc - ctx->buffer->str) - ctx->mark;
+	g_string_truncate(ctx->tmp, 0);
+	g_string_append_len(ctx->tmp, ctx->buffer->str + ctx->mark, len);
+	ctx->read += len;
+}
+
+static double extract_double(context *ctx, char *fpc) {
+	extract(ctx, fpc);
+	return strtod(ctx->tmp->str, NULL);
+}
+
+#line 45 "control_parser.rl"
+
+
+
+#line 27 "control_parser.c"
+static const char _control_parser_actions[] = {
+	0, 1, 1, 1, 2, 1, 3, 1, 
+	4, 1, 5, 1, 6, 1, 7, 2, 
+	1, 2, 2, 1, 3, 2, 1, 4, 
+	2, 1, 5, 2, 1, 6, 2, 1, 
+	7, 2, 8, 0, 3, 1, 8, 0
+	
+};
+
+static const char _control_parser_key_offsets[] = {
+	0, 0, 1, 2, 6, 10, 14, 18, 
+	22, 26, 30, 34, 38, 42, 46, 50, 
+	54, 58, 62
+};
+
+static const char _control_parser_trans_keys[] = {
+	73, 32, 32, 46, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 46, 59, 
+	48, 57, 46, 59, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 32, 46, 
+	48, 57, 32, 46, 48, 57, 0
+};
+
+static const char _control_parser_single_lengths[] = {
+	0, 1, 1, 2, 2, 2, 2, 2, 
+	2, 2, 2, 2, 2, 2, 2, 2, 
+	2, 2, 0
+};
+
+static const char _control_parser_range_lengths[] = {
+	0, 0, 0, 1, 1, 1, 1, 1, 
+	1, 1, 1, 1, 1, 1, 1, 1, 
+	1, 1, 0
+};
+
+static const char _control_parser_index_offsets[] = {
+	0, 0, 2, 4, 8, 12, 16, 20, 
+	24, 28, 32, 36, 40, 44, 48, 52, 
+	56, 60, 64
+};
+
+static const char _control_parser_trans_targs[] = {
+	2, 0, 3, 0, 4, 17, 17, 0, 
+	5, 16, 16, 0, 6, 5, 5, 0, 
+	7, 15, 15, 0, 8, 14, 14, 0, 
+	9, 13, 13, 0, 10, 12, 12, 0, 
+	11, 18, 11, 0, 11, 18, 11, 0, 
+	10, 12, 12, 0, 9, 13, 13, 0, 
+	8, 14, 14, 0, 7, 15, 15, 0, 
+	5, 16, 16, 0, 4, 17, 17, 0, 
+	0, 0
+};
+
+static const char _control_parser_trans_actions[] = {
+	0, 0, 0, 0, 15, 1, 1, 0, 
+	18, 1, 1, 0, 0, 0, 0, 0, 
+	21, 1, 1, 0, 24, 1, 1, 0, 
+	27, 1, 1, 0, 30, 1, 1, 0, 
+	1, 36, 1, 0, 0, 33, 0, 0, 
+	13, 0, 0, 0, 11, 0, 0, 0, 
+	9, 0, 0, 0, 7, 0, 0, 0, 
+	5, 0, 0, 0, 3, 0, 0, 0, 
+	0, 0
+};
+
+static const int control_parser_start = 1;
+static const int control_parser_first_final = 18;
+static const int control_parser_error = 0;
+
+static const int control_parser_en_main = 1;
+
+#line 48 "control_parser.rl"
+
+static int control_parser_has_error(context *ctx) {
+	return ctx->cs == control_parser_error;
+}
+
+static int control_parser_is_finished(context *ctx) {
+	return ctx->cs >= control_parser_first_final;
+}
+
+void control_parser_new(trial *t) {
+	context *ctx = t->parse_ctx = g_slice_new(context);
+	
+#line 115 "control_parser.c"
+	{
+	( ctx->cs) = control_parser_start;
+	}
+#line 60 "control_parser.rl"
+	ctx->buffer = g_string_sized_new(0);
+	ctx->tmp = g_string_sized_new(0);
+}
+
+void control_parser_reset(trial *t) {
+	context *ctx = t->parse_ctx;
+	
+#line 127 "control_parser.c"
+	{
+	( ctx->cs) = control_parser_start;
+	}
+#line 67 "control_parser.rl"
+	g_string_truncate(ctx->tmp, 0);
+}
+
+void control_parser_free(trial *t) {
+	g_string_free(t->parse_ctx->buffer, TRUE);
+	g_string_free(t->parse_ctx->tmp, TRUE);
+	g_slice_free(context, t->parse_ctx);
+}
+
+run_t control_parse(trial *t) {
+	context *ctx = t->parse_ctx;
+	gsize wehave;
+
+	if (0 < (wehave = ctx->buffer->len - ctx->read)) {
+		char *p, *pe;
+
+		p = ctx->buffer->str + ctx->read;
+		pe = p + wehave;
+
+		
+#line 152 "control_parser.c"
+	{
+	int _klen;
+	unsigned int _trans;
+	const char *_acts;
+	unsigned int _nacts;
+	const char *_keys;
+
+	if ( p == pe )
+		goto _test_eof;
+	if ( ( ctx->cs) == 0 )
+		goto _out;
+_resume:
+	_keys = _control_parser_trans_keys + _control_parser_key_offsets[( ctx->cs)];
+	_trans = _control_parser_index_offsets[( ctx->cs)];
+
+	_klen = _control_parser_single_lengths[( ctx->cs)];
+	if ( _klen > 0 ) {
+		const char *_lower = _keys;
+		const char *_mid;
+		const char *_upper = _keys + _klen - 1;
+		while (1) {
+			if ( _upper < _lower )
+				break;
+
+			_mid = _lower + ((_upper-_lower) >> 1);
+			if ( (*p) < *_mid )
+				_upper = _mid - 1;
+			else if ( (*p) > *_mid )
+				_lower = _mid + 1;
+			else {
+				_trans += (_mid - _keys);
+				goto _match;
+			}
+		}
+		_keys += _klen;
+		_trans += _klen;
+	}
+
+	_klen = _control_parser_range_lengths[( ctx->cs)];
+	if ( _klen > 0 ) {
+		const char *_lower = _keys;
+		const char *_mid;
+		const char *_upper = _keys + (_klen<<1) - 2;
+		while (1) {
+			if ( _upper < _lower )
+				break;
+
+			_mid = _lower + (((_upper-_lower) >> 1) & ~1);
+			if ( (*p) < _mid[0] )
+				_upper = _mid - 2;
+			else if ( (*p) > _mid[1] )
+				_lower = _mid + 2;
+			else {
+				_trans += ((_mid - _keys)>>1);
+				goto _match;
+			}
+		}
+		_trans += _klen;
+	}
+
+_match:
+	( ctx->cs) = _control_parser_trans_targs[_trans];
+
+	if ( _control_parser_trans_actions[_trans] == 0 )
+		goto _again;
+
+	_acts = _control_parser_actions + _control_parser_trans_actions[_trans];
+	_nacts = (unsigned int) *_acts++;
+	while ( _nacts-- > 0 )
+	{
+		switch ( *_acts++ )
+		{
+	case 0:
+#line 26 "control_parser.rl"
+	{ {p++; goto _out; } }
+	break;
+	case 1:
+#line 27 "control_parser.rl"
+	{ ctx->mark = p - ctx->buffer->str; }
+	break;
+	case 2:
+#line 34 "control_parser.rl"
+	{ t->map.dx = extract_double(ctx, p); }
+	break;
+	case 3:
+#line 35 "control_parser.rl"
+	{ t->map.dy = extract_double(ctx, p); }
+	break;
+	case 4:
+#line 36 "control_parser.rl"
+	{ t->map.min_sensor = extract_double(ctx, p); }
+	break;
+	case 5:
+#line 37 "control_parser.rl"
+	{ t->map.max_sensor = extract_double(ctx, p); }
+	break;
+	case 6:
+#line 38 "control_parser.rl"
+	{ t->map.max_speed = extract_double(ctx, p); }
+	break;
+	case 7:
+#line 39 "control_parser.rl"
+	{ t->map.max_turn = extract_double(ctx, p); }
+	break;
+	case 8:
+#line 40 "control_parser.rl"
+	{ t->map.max_hard_turn = extract_double(ctx, p); }
+	break;
+#line 261 "control_parser.c"
+		}
+	}
+
+_again:
+	if ( ( ctx->cs) == 0 )
+		goto _out;
+	if ( ++p != pe )
+		goto _resume;
+	_test_eof: {}
+	_out: {}
+	}
+#line 87 "control_parser.rl"
+
+		g_string_erase(ctx->buffer, 0, ctx->read);
+		ctx->mark -= ctx->read;
+		ctx->read = 0;
+	}
+
+	if (control_parser_has_error(ctx)) {
+		fprintf(stderr, "Parse error\n");
+		return RUN_ERROR;
+	}
+	if (control_parser_is_finished(ctx)) return RUN_DONE;
+	return RUN_GO_ON;
+}
diff --git a/src/control_parser.rl b/src/control_parser.rl
index 500f00a..483c861 100644
--- a/src/control_parser.rl
+++ b/src/control_parser.rl
@@ -13,6 +13,11 @@ static void extract(context *ctx, char *fpc) {
 	ctx->read += len;
 }
 
+static double extract_double(context *ctx, char *fpc) {
+	extract(ctx, fpc);
+	return strtod(ctx->tmp->str, NULL);
+}
+
 %%{
 
 	machine control_parser;
@@ -20,16 +25,21 @@ static void extract(context *ctx, char *fpc) {
 
 	action done { fbreak; }
 	action mark { ctx->mark = fpc - ctx->buffer->str; }
-	action parsedouble {
-		extract(ctx, fpc);
-		ctx->d = strtod(ctx->tmp->str, NULL);
-	}
+	action parsedouble { ctx->d = extract_double(ctx, fpc); }
 
 	sp = " ";
 
-	double = ( (digit | '.')* ) >mark %parsedouble;
-
-	init = "I" sp double sp double sp double sp double sp double sp double sp double sp double ";";
+	double = (digit | '.')*;
+	
+	dx = double >mark % { t->map.dx = extract_double(ctx, fpc); };
+	dy = double >mark % { t->map.dy = extract_double(ctx, fpc); };
+	min_sensor = double >mark % { t->map.min_sensor = extract_double(ctx, fpc); };
+	max_sensor = double >mark % { t->map.max_sensor = extract_double(ctx, fpc); };
+	max_speed = double >mark % { t->map.max_speed = extract_double(ctx, fpc); };
+	max_turn = double >mark % { t->map.max_turn = extract_double(ctx, fpc); };
+	max_hard_turn = double >mark % { t->map.max_hard_turn = extract_double(ctx, fpc); };
+# I dx dy time_limit min_sensor max_sensor max_speed max_turn max_hard_turn ;
+	init = "I" sp dx sp dy sp double sp min_sensor sp max_sensor sp max_speed sp max_turn sp max_hard_turn ";";
 
 	main := init @ done;
 }%%
diff --git a/src/wscript b/src/wscript
index be103bc..901738f 100644
--- a/src/wscript
+++ b/src/wscript
@@ -6,7 +6,7 @@
 main_source = '''
 	main.c
 	control.c
-	control_parser.rl
+	control_parser.c
 	path.c
 '''
 
diff --git a/wscript b/wscript
index a40f3da..6a2c943 100644
--- a/wscript
+++ b/wscript
@@ -62,17 +62,18 @@ def PKGCONFIG(conf, name, uselib = None, define = '', version = '', mandatory =
 
 def set_options(opt):
 	opt.tool_options('compiler_cc')
-	opt.tool_options('ragel', tooldir = '.')
+	#opt.tool_options('ragel', tooldir = '.')
 
 def configure(conf):
 	conf.check_tool('compiler_cc')
-	conf.check_tool('ragel', tooldir = '.')
+	#conf.check_tool('ragel', tooldir = '.')
 	
 	common_ccflags = [
 		'-std=gnu99', '-Wall', '-g', '-Wshadow', '-W', '-pedantic',
 #		'-fPIC', '-D_GNU_SOURCE',
 		]
 	conf.env['CCFLAGS'] += common_ccflags
+	conf.env['LIB'] += ['m']
 	
 	PKGCONFIG(conf, "glib-2.0", uselib = 'glib', mandatory = 1)
 	incdir = conf.env['CPPPATH_glib'][0]