diff --git a/src/control.c b/src/control.c
index ab14c3e..6dff617 100644
--- a/src/control.c
+++ b/src/control.c
@@ -207,15 +207,13 @@ void trial_print(trial *t){
 }
 
 void telemetry_matlab(gpointer tele, gpointer file){
-	FILE* outfile;
 	telemetry* t;
-	vehicle * v;
-	
-	outfile = (FILE*) file;
 	t = (telemetry*) tele;
-	v = &t->vehicle;
+	vehicle_matlab((FILE*) file,t->ts,&t->vehicle);
+}
 
-	fprintf(outfile,"v(end+1,:) = [%d %f, %f, %f, %f];\n",t->ts,v->x,v->y,v->dir,v->speed);
+void vehicle_matlab(FILE* out, timestamp ts, vehicle* v){
+	fprintf(out,"v(end+1,:) = [%d %f, %f, %f, %f];\n",ts,v->x,v->y,v->dir,v->speed);
 }
 
 /*prints coordinate history to matlab compatible file*/
diff --git a/src/control.h b/src/control.h
index 6a03530..8b9ec30 100644
--- a/src/control.h
+++ b/src/control.h
@@ -115,6 +115,7 @@ object* object_new(object_t type, double x, double y, double rad, double dir, do
 /* debugging stuff */
 void object_print(object *o);
 void vehicle_print(vehicle *v);
+void vehicle_matlab(FILE* out,timestamp ts, vehicle* v);
 void telemetry_print(telemetry *t);
 void trial_print(trial *t);
 void trial_matlab(trial *t);
diff --git a/src/radar_main.c b/src/radar_main.c
index 8484dbb..104f8c6 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -7,7 +7,11 @@
 #define LATENCY 2
 
 void trial_loop(trial *t) {
+	FILE* sim;
+	char name[80];
 	do {
+		sprintf(name,"simulation%d.m",t->runcnt);
+		sim = fopen(name,"w");
 		if (-1 == trial_wait_for_start(t)) return;
 		if (t->finished) break;
 		if (t->runcnt == 0) {
@@ -33,6 +37,7 @@ void trial_loop(trial *t) {
 		}
 		while (t->alive) {
 			radar_dgl(t, getcurts(t) + LATENCY);
+			vehicle_matlab(sim,t->sim.tm.ts,&t->sim.tm.vehicle);
 // 			goradar(t);
 			vehicle_break(t);
 			vehicle_hard_right(t);
@@ -40,6 +45,7 @@ void trial_loop(trial *t) {
 // 			if (-1 == trial_wait_for_input(t)) return;
 		}
 		trial_reset_run(t);
+		fclose(sim);
 	} while (!t->finished);
 }