diff --git a/src/control.h b/src/control.h
index b00be7b..6f33db0 100644
--- a/src/control.h
+++ b/src/control.h
@@ -94,7 +94,7 @@ struct trial {
 };
 
 /* extern */
-void simulate(trial *t);
+void simulate(trial *t, timestamp ts);
 void godown(trial *t);
 
 /* trial */
diff --git a/src/control_parser.c b/src/control_parser.c
index cc210a3..c52112e 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 134 "control_parser.rl"
+#line 138 "control_parser.rl"
 
 
 
@@ -243,7 +243,7 @@ static const int control_parser_error = 0;
 
 static const int control_parser_en_main = 1;
 
-#line 137 "control_parser.rl"
+#line 141 "control_parser.rl"
 
 static int control_parser_has_error(context *ctx) {
 	return ctx->cs == control_parser_error;
@@ -260,7 +260,7 @@ void control_parser_new(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 149 "control_parser.rl"
+#line 153 "control_parser.rl"
 	ctx->buffer = g_string_sized_new(0);
 	ctx->tmp = g_string_sized_new(0);
 	ctx->mark = -1;
@@ -274,7 +274,7 @@ void control_parser_reset(trial *t) {
 	{
 	( ctx->cs) = control_parser_start;
 	}
-#line 158 "control_parser.rl"
+#line 162 "control_parser.rl"
 	g_string_truncate(ctx->tmp, 0);
 	ctx->mark = -1;
 	/* fprintf(stderr, "Parser reset\n"); */
@@ -398,6 +398,10 @@ _match:
 			/* fprintf(stderr, "New run\n"); */
 		} else {
 			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
+			fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f\n",
+				t->sim.vehicle.x - t->vehicle.x,
+				t->sim.vehicle.y - t->vehicle.y,
+				t->sim.vehicle.dir - t->vehicle.dir);
 		}
 		/* Reset simulation */
 		t->sim.ts = ctx->tm->ts;
@@ -409,7 +413,7 @@ _match:
 	}
 	break;
 	case 4:
-#line 59 "control_parser.rl"
+#line 63 "control_parser.rl"
 	{
 		ctx->tm->ts = ctx->ts;
 		ctx->tm->vehicle.x = ctx->x;
@@ -424,115 +428,115 @@ _match:
 	}
 	break;
 	case 5:
-#line 76 "control_parser.rl"
+#line 80 "control_parser.rl"
 	{ t->map.dx = extract_double(ctx, p); }
 	break;
 	case 6:
-#line 77 "control_parser.rl"
+#line 81 "control_parser.rl"
 	{ t->map.dy = extract_double(ctx, p); }
 	break;
 	case 7:
-#line 78 "control_parser.rl"
+#line 82 "control_parser.rl"
 	{ t->map.min_sensor = extract_double(ctx, p); }
 	break;
 	case 8:
-#line 79 "control_parser.rl"
+#line 83 "control_parser.rl"
 	{ t->map.max_sensor = extract_double(ctx, p); }
 	break;
 	case 9:
-#line 80 "control_parser.rl"
+#line 84 "control_parser.rl"
 	{ t->map.max_speed = extract_double(ctx, p); }
 	break;
 	case 10:
-#line 81 "control_parser.rl"
+#line 85 "control_parser.rl"
 	{ t->map.max_turn = extract_double(ctx, p); }
 	break;
 	case 11:
-#line 82 "control_parser.rl"
+#line 86 "control_parser.rl"
 	{ t->map.max_hard_turn = extract_double(ctx, p); }
 	break;
 	case 12:
-#line 86 "control_parser.rl"
+#line 90 "control_parser.rl"
 	{ ctx->x = extract_double(ctx, p); }
 	break;
 	case 13:
-#line 87 "control_parser.rl"
+#line 91 "control_parser.rl"
 	{ ctx->y = extract_double(ctx, p); }
 	break;
 	case 14:
-#line 88 "control_parser.rl"
+#line 92 "control_parser.rl"
 	{ ctx->r = extract_double(ctx, p); }
 	break;
 	case 15:
-#line 89 "control_parser.rl"
+#line 93 "control_parser.rl"
 	{ ctx->dir = extract_double(ctx, p); }
 	break;
 	case 16:
-#line 90 "control_parser.rl"
+#line 94 "control_parser.rl"
 	{ ctx->speed = extract_double(ctx, p); }
 	break;
 	case 17:
-#line 92 "control_parser.rl"
+#line 96 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ACCEL; }
 	break;
 	case 18:
-#line 93 "control_parser.rl"
+#line 97 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = ROLL; }
 	break;
 	case 19:
-#line 94 "control_parser.rl"
+#line 98 "control_parser.rl"
 	{ ctx->tm->vehicle.accel = BRAKE; }
 	break;
 	case 20:
-#line 96 "control_parser.rl"
+#line 100 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
 	break;
 	case 21:
-#line 97 "control_parser.rl"
+#line 101 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_LEFT; }
 	break;
 	case 22:
-#line 98 "control_parser.rl"
+#line 102 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
 	break;
 	case 23:
-#line 99 "control_parser.rl"
+#line 103 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_RIGHT; }
 	break;
 	case 24:
-#line 100 "control_parser.rl"
+#line 104 "control_parser.rl"
 	{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
 	break;
 	case 25:
-#line 102 "control_parser.rl"
+#line 106 "control_parser.rl"
 	{ ctx->ts = extract_ts(ctx, p); }
 	break;
 	case 26:
-#line 103 "control_parser.rl"
+#line 107 "control_parser.rl"
 	{ printf("Score %u\n", extract_ts(ctx, p)); }
 	break;
 	case 27:
-#line 105 "control_parser.rl"
+#line 109 "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 109 "control_parser.rl"
+#line 113 "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 114 "control_parser.rl"
+#line 118 "control_parser.rl"
 	{
 		object o = { MARTIAN, ctx->x, ctx->y, MARTIAN_RADIUS, ctx->dir, ctx->speed };
 		g_array_append_val(ctx->tm->objects, o);
 	}
 	break;
-#line 536 "control_parser.c"
+#line 540 "control_parser.c"
 		}
 	}
 
@@ -544,7 +548,7 @@ _again:
 	_test_eof: {}
 	_out: {}
 	}
-#line 181 "control_parser.rl"
+#line 185 "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 25093a1..baa9498 100644
--- a/src/control_parser.rl
+++ b/src/control_parser.rl
@@ -47,6 +47,10 @@ static timestamp extract_ts(context *ctx, char *fpc) {
 			/* fprintf(stderr, "New run\n"); */
 		} else {
 			/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
+			fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f\n",
+				t->sim.vehicle.x - t->vehicle.x,
+				t->sim.vehicle.y - t->vehicle.y,
+				t->sim.vehicle.dir - t->vehicle.dir);
 		}
 		/* Reset simulation */
 		t->sim.ts = ctx->tm->ts;
diff --git a/src/main.c b/src/main.c
index 5719845..2d32f9e 100644
--- a/src/main.c
+++ b/src/main.c
@@ -4,6 +4,8 @@
 
 #include <stdio.h>
 
+#define LATENCY 20
+
 void trial_loop(trial *t) {
 // 	path *p;
 // 	int offset;
@@ -16,7 +18,7 @@ void trial_loop(trial *t) {
 // 		offset = path_app_target(p,t,offset,0,0);
 		while (t->alive) {
 // 			path_execute(t,p);
-			simulate(t);
+			simulate(t, getcurts(t) + LATENCY);
 			godown(t);
 			if (-1 == trial_check_input(t)) return;
 		}
diff --git a/src/potential.c b/src/potential.c
index 0d20e6a..0f930de 100644
--- a/src/potential.c
+++ b/src/potential.c
@@ -17,17 +17,20 @@ void godown(trial *t) {
 	vehicle v;
 	telemetry *tm;
 	
-	double xpot, ypot, r, angle;
+	double xpot, ypot, r, vr, angle, vdirx, vdiry;
 	
 	/* todo: simulate movement */
 	v = t->sim.vehicle;
 	
 	tm = (telemetry*) g_queue_peek_tail(&t->telemetry);
 	
-	r = sqrt(v.x*v.x + v.y*v.y);
-	if (r < 4) return; /* done */
-	xpot = 0.2 * v.x/r;
-	ypot = 0.2 * v.y/r;
+	vr = sqrt(v.x*v.x + v.y*v.y);
+	if (vr < 4) return; /* done */
+	xpot = 0.1 * v.x/vr;
+	ypot = 0.1 * v.y/vr;
+	vr = vr*vr;
+	vdirx = cos(v.dir);
+	vdiry = sin(v.dir);
 	
 	for (guint i = 0; i < tm->objects->len; i++) {
 		object *o = &g_array_index(tm->objects, object, i);
@@ -36,20 +39,25 @@ void godown(trial *t) {
 		
 		switch (o->type) {
 			case BOLDER:
-				sigma = 2;
+				r = (o->x * o->x + o->y + o->y);
+				if ((vdirx*(o->x-v.x) + vdiry*(o->y-v.y)) < 0) continue;
+				sigma = 2 * o->rad + 1;
 				h = 1;
 				break;
 			case CRATER:
-				sigma = 4;
+				r = (o->x * o->x + o->y + o->y);
+				if ((vdirx*(o->x-v.x) + vdiry*(o->y-v.y)) < 0) continue;
+				sigma = 2 * o->rad + 3;
 				h = 1;
 				break;
 			case MARTIAN:
-				sigma = 8;
+				sigma = 6;
 				h = 1;
 				break;
 		}
 		
-		r = sqrt( (o->x - v.x) * (o->x - v.x) + (o->y - v.y) * (o->y - v.y) ) - o->rad;
+		r = sqrt((o->x - v.x) * (o->x - v.x) + (o->y - v.y) * (o->y - v.y)) - o->rad;
+		r = r*r;
 // 		r = r*r*r * 10;
 		r = C1 * h / (sigma*sigma) / exp (r / (2*sigma) );
 		xpot += (o->x - v.x) * r;
@@ -71,7 +79,7 @@ void godown(trial *t) {
 			vehicle_left(t);
 		}
 	}
-	fprintf(stderr, "Angle: %f, objects: %u\n", angle, tm->objects->len);
+// 	fprintf(stderr, "Angle: %f, objects: %u\n", angle, tm->objects->len);
 	angle = abs(angle);
 	if (angle > 60) {
 		vehicle_break(t);
diff --git a/src/simulate.c b/src/simulate.c
index 1d63b6e..8f5d6a0 100644
--- a/src/simulate.c
+++ b/src/simulate.c
@@ -3,7 +3,6 @@
 
 #include <math.h>
 
-#define LATENCY 20
 
 static double fixdir(double a) {
 	if (a < 0) a += 360;
@@ -11,23 +10,24 @@ static double fixdir(double a) {
 	return a;
 }
 
-void simulate(trial *t) {
+void simulate(trial *t, timestamp ts) {
 	double move, angle;
 	
-	timestamp now = getcurts(t) + LATENCY, diff = now - t->sim.ts;
-	if (diff < 20) return;
+	timestamp diff = ts - t->sim.ts;
+	if (diff == 0) return;
+	t->sim.ts = ts;
 	
-/*	move = t->sim.vehicle.speed / 1000 * diff;
+	move = t->sim.vehicle.speed / 1000 * diff;
 	angle = t->sim.vehicle.dir*M_PI/180;
 	t->sim.vehicle.x += cos(angle)*move;
-	t->sim.vehicle.y += sin(angle)*move;*/
+	t->sim.vehicle.y += sin(angle)*move;
 	
 /*	switch (t->sim.vehicle.turn) {
-		case TURN_HARD_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_hard_turn); break;
-		case TURN_LEFT      : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_turn); break;
+		case TURN_HARD_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_hard_turn/1000*diff); break;
+		case TURN_LEFT      : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_turn/1000*diff); break;
 		case TURN_STRAIGHT  : break;
-		case TURN_RIGHT     : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_turn); break;
-		case TURN_HARD_RIGHT: t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_hard_turn); break;
+		case TURN_RIGHT     : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_turn/1000*diff); break;
+		case TURN_HARD_RIGHT: t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_hard_turn/1000*diff); break;
 	}
 	
 	t->sim.vehicle.accel = t->vehicle.accel;