function figure1_1()
  model_config;
  [~, out, f0, f1, f2, f3] = analyze('2019-05-01-14-18-13', true, '');
  
  %% plot r0
  figure;
  ax0 = subplot(2,1,1);
  plot(out.T, alpha_param*out.E, '.');
  hold on
  plot(out.T, out.S, '.');
  plot(out.t, out.r0, '.');
  idx = find(f0);
  plot(out.t(idx), out.r0(idx), '*');
  ylabel('mm')
  title('Nominal')
  grid on
  legend('encoder', 'string potentiometer', 'r0', 'r0 faults')


  ax1 = subplot(2,1,2);
  plot(out.t, out.p, '.')
  ylim([-0.8 0.8])
  legend('pitch')
  ylabel('radians')
  xlabel('seconds')
  linkaxes([ax0, ax1], 'x');
  xlim([80 220]);
  grid on
  set(gcf,'position',[10,10,600,400])
  print('1_1.png', '-dpng', '-r300')

end
