diff --git a/firmware/console/binary/tunerstudio_configuration.h b/firmware/console/binary/tunerstudio_configuration.h
index e2de28d851..271062df84 100644
--- a/firmware/console/binary/tunerstudio_configuration.h
+++ b/firmware/console/binary/tunerstudio_configuration.h
@@ -133,7 +133,9 @@ typedef struct {
 	float internalMcuTemperature; // 244
 	float vvtPosition; // 248
 	int engineMode; // 252
-	int unused3[5];
+	float debugFloatField6; // 256
+	float debugFloatField7; // 260
+	int unused3[3];
 } TunerStudioOutputChannels;
 
 #endif /* TUNERSTUDIO_CONFIGURATION_H_ */
diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index cb2e35f6b1..ceb2706ac2 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -23,7 +23,7 @@ void Pid::init(pid_s *pid, float minResult, float maxResult) {
 	this->minResult = minResult;
 	this->maxResult = maxResult;
 
-	iTerm = 0;
+	dTerm = iTerm = 0;
 	prevError = 0;
 }
 
@@ -37,7 +37,7 @@ float Pid::getValue(float target, float input, float dTime) {
 
 	float pTerm = pid->pFactor * error;
 	iTerm += pid->iFactor * dTime * error;
-	float dTerm = pid->dFactor / dTime * (error - prevError);
+	dTerm = pid->dFactor / dTime * (error - prevError);
 
 	prevError = error;
 
@@ -90,11 +90,12 @@ float Pid::getOffset(void) {
 
 #if EFI_PROD_CODE || EFI_SIMULATOR
 void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
-	tsOutputChannels->debugFloatField2 = getIntegration();
+	tsOutputChannels->debugFloatField2 = iTerm;
 	tsOutputChannels->debugFloatField3 = getPrevError();
 	tsOutputChannels->debugFloatField4 = getI();
 	tsOutputChannels->debugFloatField5 = getD();
 	tsOutputChannels->debugIntField1 = getP();
 	tsOutputChannels->debugIntField2 = getOffset();
+	tsOutputChannels->debugFloatField6 = dTerm;
 }
 #endif
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index abd876abfb..8889b90aef 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -40,6 +40,7 @@ private:
 	float maxResult;
 
 	float iTerm;
+	float dTerm; // we are remembering this only for debugging purposes
 	float prevError;
 };
 
diff --git a/firmware/rusefi.cpp b/firmware/rusefi.cpp
index 4f416f33d2..9edf10a613 100644
--- a/firmware/rusefi.cpp
+++ b/firmware/rusefi.cpp
@@ -293,5 +293,5 @@ int getRusEfiVersion(void) {
 		return 123; // this is here to make the compiler happy about the unused array
 	if (UNUSED_CCM_SIZE[0] * 0 != 0)
 		return 3211; // this is here to make the compiler happy about the unused array
-	return 20160917;
+	return 20160920;
 }
diff --git a/firmware/tunerstudio/rusefi.ini b/firmware/tunerstudio/rusefi.ini
index 8d12a9e184..daf78b2fe6 100644
--- a/firmware/tunerstudio/rusefi.ini
+++ b/firmware/tunerstudio/rusefi.ini
@@ -42,7 +42,7 @@ enable2ndByteCanID = false
 
 ; see PAGE_0_SIZE in C source code    
 ; CONFIG_DEFINITION_START
-; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Sat Sep 17 20:34:09 EDT 2016
+; this section was generated automatically by ConfigDefinition.jar based on rusefi_config.txt Tue Sep 20 20:27:19 EDT 2016
 
 pageSize            = 16376
 page = 1
@@ -875,6 +875,9 @@ fileVersion = { 20160702 }
       lastErrorCode = scalar,U32, 240, "error",            1,         0
       internalMcuTemperature = scalar,F32, 244, "C",            1,         0
       vvtPosition = scalar,F32, 248, "deg",            1,         0
+      engineMode    = scalar,  U32,   252, "em",          1,       0.0;
+      debugFloatField6  = scalar,  F32,  256,            "val",           1,       0.0;
+      debugFloatField7  = scalar,  F32,  260,            "val",           1,       0.0;
 
       egoCorrection   = { 100 }
       time            = { timeNow }
@@ -1281,6 +1284,12 @@ fileVersion = { 20160702 }
 ; Alternator_PID: D setting
    entry = debugFloatField5,   "debug f5",float,"%.4f"
 
+; Alternator_PID: dTerm
+   entry = debugFloatField6,   "debug f6",float,"%.4f"
+   
+   entry = debugFloatField7,   "debug f7",float,"%.4f"
+
+
 ; Alternator_PID: P setting
    entry = debugIntField1,   "debug i1",int,"%d"
 
@@ -1289,6 +1298,8 @@ fileVersion = { 20160702 }
    
 ; Alternator_PID: PID reset counter   
    entry = debugIntField3,   "debug i3",int,"%d"
+   
+   entry = engineMode,   "mode",int,"%d"
    entry = warningCounter,   "warn",int,"%d"
    entry = lastErrorCode,   "error",int,"%d"
    entry = internalMcuTemperature,   "int temp",float,"%.2f"
diff --git a/firmware/tunerstudio/rusefi.input b/firmware/tunerstudio/rusefi.input
index b633cc2681..5e61568090 100644
--- a/firmware/tunerstudio/rusefi.input
+++ b/firmware/tunerstudio/rusefi.input
@@ -848,6 +848,9 @@ fileVersion = { 20160702 }
       lastErrorCode = scalar,U32, 240, "error",            1,         0
       internalMcuTemperature = scalar,F32, 244, "C",            1,         0
       vvtPosition = scalar,F32, 248, "deg",            1,         0
+      engineMode    = scalar,  U32,   252, "em",          1,       0.0;
+      debugFloatField6  = scalar,  F32,  256,            "val",           1,       0.0;
+      debugFloatField7  = scalar,  F32,  260,            "val",           1,       0.0;
 
       egoCorrection   = { 100 }
       time            = { timeNow }
@@ -1254,6 +1257,12 @@ fileVersion = { 20160702 }
 ; Alternator_PID: D setting
    entry = debugFloatField5,   "debug f5",float,"%.4f"
 
+; Alternator_PID: dTerm
+   entry = debugFloatField6,   "debug f6",float,"%.4f"
+   
+   entry = debugFloatField7,   "debug f7",float,"%.4f"
+
+
 ; Alternator_PID: P setting
    entry = debugIntField1,   "debug i1",int,"%d"
 
@@ -1262,6 +1271,8 @@ fileVersion = { 20160702 }
    
 ; Alternator_PID: PID reset counter   
    entry = debugIntField3,   "debug i3",int,"%d"
+   
+   entry = engineMode,   "mode",int,"%d"
    entry = warningCounter,   "warn",int,"%d"
    entry = lastErrorCode,   "error",int,"%d"
    entry = internalMcuTemperature,   "int temp",float,"%.2f"