diff --git a/src/control_parser.c b/src/control_parser.c
index cc326de..1636642 100644
--- a/src/control_parser.c
+++ b/src/control_parser.c
@@ -389,7 +389,7 @@ _match:
 			t->vehicle.turn = ctx->tm->vehicle.turn;
 			gettimeofday(&t->started, NULL);
 		} else {
-			fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts);
+			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
 		}
 		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
diff --git a/src/control_parser.rl b/src/control_parser.rl
index 64d13f7..5337432 100644
--- a/src/control_parser.rl
+++ b/src/control_parser.rl
@@ -41,7 +41,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 			t->vehicle.turn = ctx->tm->vehicle.turn;
 			gettimeofday(&t->started, NULL);
 		} else {
-			fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts);
+			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
 		}
 		t->last_ts = ctx->tm->ts;
 		ctx->tm = NULL;
diff --git a/src/path.c b/src/path.c
index b5af1b4..22491a6 100644
--- a/src/path.c
+++ b/src/path.c
@@ -61,7 +61,8 @@ void path_execute(trial* t,path* p){
 
 	now = getcurts(t);
 	/*magic number for latency, send messages that much earlier*/
-	while(tmp != NULL && now - 20 > tmp->ts){
+	while(tmp != NULL && now > tmp->ts + 20){
+		fprintf(stderr, "now: %u, ts: %u, turn: %i, accel: %i\n", now, tmp->ts, tmp->turn, tmp->accel);
 		tmp = (command*) g_queue_pop_head(p->commands);
 		switch(tmp->turn){
 			case TURN_HARD_LEFT: vehicle_hard_left(t); break;