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team-ncxx-sl: Commit


Commit MetaInfo

Révision98 (tree)
l'heure2016-03-06 16:03:25
Auteurk-nagaya

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(empty log message)

Change Summary

Modification

--- branches/src/hrp2/workspace/ishima/app.c (revision 97)
+++ branches/src/hrp2/workspace/ishima/app.c (revision 98)
@@ -11,6 +11,7 @@
1111 #include "ev3api.h"
1212 #include "app.h"
1313 #include "balancer.h"
14+#include "stdio.h"
1415
1516 #if defined(BUILD_MODULE)
1617 #include "module_cfg.h"
@@ -45,7 +46,7 @@
4546
4647 /* 下記のマクロは個体/環境に合わせて変更する必要があります */
4748 /* sample_c1マクロ */
48-#define GYRO_OFFSET 5 /* ジャイロセンサオフセット値(角速度0[deg/sec]時) */
49+#define GYRO_OFFSET 0 /* ジャイロセンサオフセット初期値(角速度0[deg/sec]時) */
4950 #define LIGHT_WHITE 40 /* 白色の光センサ値 */
5051 #define LIGHT_BLACK 0 /* 黒色の光センサ値 */
5152 /* sample_c2マクロ */
@@ -55,7 +56,7 @@
5556 #define TAIL_ANGLE_DRIVE 3 /* バランス走行時の角度[度] */
5657 #define P_GAIN 2.5F /* 完全停止用モータ制御比例係数 */
5758 #define PWM_ABS_MAX 60 /* 完全停止用モータ制御PWM絶対最大値 */
58-#define KP 1.5 /* P制御用係数*/
59+#define KP 1.5 /* P制御用係数*/
5960 #define KI 0.3 /* I制御用係数*/
6061 #define KD 0.05 /* D制御用係数*/
6162 #define PROCESS_PERIOD 0.004 /* 処理周期(ミリ秒)*/
@@ -70,18 +71,20 @@
7071 #define CALIB_FONT_WIDTH (6/*TODO: magic number*/)
7172 #define CALIB_FONT_HEIGHT (8/*TODO: magic number*/)
7273
74+// 転倒判定カウント
75+static int fallingCnt = 0;
76+// 転倒時判定フラグ
77+static int fallingFlg = 0;
78+
7379 /* 関数プロトタイプ宣言 */
7480 static int sonar_alert(void);
7581 static void tail_control(signed int angle);
7682
77-static float hensa;
78-static float oldHensa;
79-
8083 /* メインタスク */
8184 void main_task(intptr_t unused)
8285 {
83- signed char forward; /* 前後進命令 */
84- signed char turn; /* 旋回命令 */
86+ float forward; /* 前後進命令 */
87+ float turn; /* 旋回命令 */
8588 signed char pwm_L, pwm_R; /* 左右モータPWM出力 */
8689
8790 /* LCD画面表示 */
@@ -121,6 +124,7 @@
121124
122125 if (ev3_touch_sensor_is_pressed(touch_sensor) == 1)
123126 {
127+ //fputs("test",bt);
124128 break; /* タッチセンサが押された */
125129 }
126130
@@ -140,11 +144,25 @@
140144 /**
141145 * Main loop for the self-balance control algorithm
142146 */
147+ unsigned long loopCnt = 0;
148+ char val[2046];
149+ // ログ出力Header
150+ //sprintf(val, "forward,turn,gyro,motor_ang_l,motor_ang_r,volt,right_motor,left_motor,pwm_L,pwm_R");
151+ fputs("\r\ndistance,color_sensor,forward,turn,gyro,gyro_offset,motor_ang_l,motor_ang_r,volt,pwm_L,pwm_R\r\n", bt);
152+
153+ static float hensa; /* 偏差 */
154+ static float oldHensa; /* 過去偏差(1loop前の偏差値) */
155+ float wkP; /* P制御用ワーク変数 */
156+ float wkI; /* I制御用ワーク変数 */
157+ float wkD; /* D制御用ワーク変数 */
158+ float integral; /* 積分値格納用変数 */
143159 while(1)
144160 {
161+ //fputs("test\r,\n",bt);
145162 int32_t motor_ang_l, motor_ang_r;
146- int gyro, volt;
147-
163+ int gyro, gyro_offset, volt;
164+ gyro_offset = GYRO_OFFSET;
165+
148166 if (ev3_button_is_pressed(BACK_BUTTON)) break;
149167
150168 tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */
@@ -151,33 +169,31 @@
151169
152170 if (sonar_alert() == 1) /* 障害物検知 */
153171 {
172+ int colorSensor = ev3_color_sensor_get_reflect(color_sensor);
173+ sprintf(val, "%d,",colorSensor);
174+ fputs(val, bt);
175+
154176 forward = turn = 0; /* 障害物を検知したら停止 */
155177 }
156178 else
157179 {
158- forward = 100; /* 前進命令 */
159-// if (ev3_color_sensor_get_reflect(color_sensor) >= (LIGHT_WHITE + LIGHT_BLACK)/2)
160-// {
161-// turn = 20; /* 左旋回命令 */
162-// }
163-// else
164-// {
165-// turn = -20; /* 右旋回命令 */
166-// }
167-
168- // P制御
169- float p;
170- float i;
171- float d;
172- float integral = 0;
173-
180+ // 固定値60以上ではうまく走らない
181+ forward = 50; /* 前進命令 */
182+ // 現偏差値を退避
174183 oldHensa = hensa;
175- hensa = ev3_color_sensor_get_reflect(color_sensor) - (LIGHT_WHITE + LIGHT_BLACK)/2;
176- integral += (hensa + oldHensa) / 2 * PROCESS_PERIOD;
177- p = hensa * KP;
178- i = integral * KI;
179- d = (hensa - oldHensa) / PROCESS_PERIOD * KD;
180- turn = p + i + d;
184+ // カラーセンサ値を取得
185+ int colorSensor = ev3_color_sensor_get_reflect(color_sensor);
186+ // ログ出力(カラーセンサ値)
187+ sprintf(val, "%d,",colorSensor);
188+ fputs(val, bt);
189+
190+ // PID制御
191+ hensa = colorSensor - (LIGHT_WHITE + LIGHT_BLACK)/2;
192+ integral = (hensa + oldHensa) / 2 * PROCESS_PERIOD;
193+ wkP = hensa * KP;
194+ wkI = integral * KI;
195+ wkD = (hensa - oldHensa) * KD / PROCESS_PERIOD ;
196+ turn = wkP + wkI + wkD;
181197
182198 // turn値の限界値制御
183199 if (turn > 100)
@@ -195,7 +211,10 @@
195211 motor_ang_r = ev3_motor_get_counts(right_motor);
196212 gyro = -1 * ev3_gyro_sensor_get_rate(gyro_sensor); /* ※ジャイロセンサーの向きが逆のため符号反転 */
197213 volt = ev3_battery_voltage_mV();
198-
214+
215+ sprintf(val, "%f,%f,%f,%f,%f,%f,%f,",(float)forward, (float)turn, (float)gyro, (float)gyro_offset, (float)motor_ang_l, (float)motor_ang_r, (float)volt);
216+ fputs(val, bt);
217+
199218 /* 倒立振子制御APIを呼び出し、倒立走行するための */
200219 /* 左右モータ出力値を得る */
201220 balance_control(
@@ -202,7 +221,7 @@
202221 (float)forward,
203222 (float)turn,
204223 (float)gyro,
205- (float)GYRO_OFFSET,
224+ (float)gyro_offset,
206225 (float)motor_ang_l,
207226 (float)motor_ang_r,
208227 (float)volt,
@@ -217,6 +236,7 @@
217236 }
218237 else
219238 {
239+ pwm_L += rand()%100 < 46 ? 4 : 3;
220240 ev3_motor_set_power(left_motor, (int)pwm_L);
221241 }
222242
@@ -228,8 +248,40 @@
228248 {
229249 ev3_motor_set_power(right_motor, (int)pwm_R);
230250 }
231-
251+ sprintf(val, "%d,%d\r\n",(int)pwm_L, (int)pwm_R);
252+ fputs(val, bt);
253+
254+ // 左モータPMW出力が常にMAX状態の場合に転倒判定カウントを開始
255+ if ((int)pwm_R >= 100 || (int)pwm_R <= -100)
256+ {
257+ // 転倒判定カウントが500回(約2秒間)を越えると強制停止
258+ if (fallingCnt >= 500)
259+ {
260+ fallingFlg = 1;
261+ }
262+ fallingCnt++;
263+ }
264+ else
265+ {
266+ // 転倒判定カウント
267+ fallingCnt = 0;
268+ }
269+
270+ // 走行終了条件
271+ // 走行体が転倒した場合
272+ // PC で '2'キーを押下する
273+ if (fallingFlg == 1 || bt_cmd == 2)
274+ {
275+ ev3_lcd_draw_string("END", 0, CALIB_FONT_HEIGHT*3);
276+ ev3_motor_stop(left_motor, true);
277+ ev3_motor_stop(right_motor, true);
278+ ev3_motor_stop(tail_motor, true);
279+ break;
280+ }
281+
232282 tslp_tsk(4); /* 4msec周期起動 */
283+
284+ loopCnt++;
233285 }
234286 ev3_motor_stop(left_motor, false);
235287 ev3_motor_stop(right_motor, false);
@@ -250,7 +302,7 @@
250302 {
251303 static unsigned int counter = 0;
252304 static int alert = 0;
253-
305+ char val[2046];
254306 signed int distance;
255307
256308 if (++counter == 40/4) /* 約40msec周期毎に障害物検知 */
@@ -261,6 +313,8 @@
261313 * EV3の場合は、要確認
262314 */
263315 distance = ev3_ultrasonic_sensor_get_distance(sonar_sensor);
316+ sprintf(val, "%d,", distance);
317+ fputs(val, bt);
264318 if ((distance <= SONAR_ALERT_DISTANCE) && (distance >= 0))
265319 {
266320 alert = 1; /* 障害物を検知 */
@@ -271,6 +325,12 @@
271325 }
272326 counter = 0;
273327 }
328+ else
329+ {
330+ distance = ev3_ultrasonic_sensor_get_distance(sonar_sensor);
331+ sprintf(val, "%d,", distance);
332+ fputs(val, bt);
333+ }
274334
275335 return alert;
276336 }
@@ -321,6 +381,9 @@
321381 case '1':
322382 bt_cmd = 1;
323383 break;
384+ case '2':
385+ bt_cmd = 2;
386+ break;
324387 default:
325388 break;
326389 }
--- branches/src/hrp2/workspace/ishima/ishima隴ｰ莠矩鹸.txt (revision 97)
+++ branches/src/hrp2/workspace/ishima/ishima隴ｰ莠矩鹸.txt (revision 98)
@@ -8,3 +8,30 @@
88 ビルド
99 プロジェクトを右クリックしてビルド
1010
11+3/6
12+
13+ ■課題
14+ 1.ログの取得
15+ C:\work\34.ETRobo\team-ncxx-sl\trunk\src\hrp2\workspace\sample_c4のファイルでKP,KI,LDの値を変えてテラタームでログをとる
16+
17+ ログの保存場所
18+ C:\work\34.ETRobo\team-ncxx-sl\doc\開発資料\適合作業\ログファイル
19+
20+ 【適合作業について】
21+ 固定値で定義している値をいろいろいじくり回して、その結果をログとして残してください。
22+ サンプルソース1周分のデータがとれたらログを保存してください。
23+ すぐに倒れたり、明らかにおかしいデータであっても管理していくので、ログの出力は不要ですが、
24+ 結果はエクセルに残して重複チェックがないようにします。
25+ ゆくゆくはログファイルから自動でグラフ表示できるようにマクロを作成します。
26+ すぐに倒れたり、明らかにおかしいデータであっても管理していくので、ログの出力は不要ですが、
27+ 結果はエクセルに残して重複チェックがないようにします。
28+ 結果にはOK,NGで1周走るかどうか、またその日の最も良いと思われるデータの行に色づけしてください。
29+ ログファイルの1行目はヘッダ名が出ていることを確認してください。
30+
31+ *ログ出力する際にはテラタームの表示幅を最大にしておくと、
32+ 自動改行がされずにきれいにログが吐けるようになります。
33+
34+ ログをクリアするにはテラタームで
35+ 編集→全て選択　編集→バッファのクリア
36+
37+ ロボコンの機体は赤でやる（モーター個体差の値を反映してあるため）
\ No newline at end of file
--- doc/開発資料/適合作業/ログファイル/1.0_1.5_1.5_0.txt (nonexistent)
+++ doc/開発資料/適合作業/ログファイル/1.0_1.5_1.5_0.txt (revision 98)
@@ -0,0 +1,7820 @@
1+distance,color_sensor,forward,turn,gyro,gyro_offset,motor_ang_l,motor_ang_r,volt,pwm_L,pwm_R
2+36,33,30.000000,100.000000,0.000000,0.000000,0.000000,0.000000,7398.000000,62,-62
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2970+60,27,30.000000,7.042000,-21.000000,0.000000,1932.000000,1476.000000,7378.000000,-5,-14
2971+60,29,30.000000,100.000000,-21.000000,0.000000,1933.000000,1476.000000,7457.000000,50,-74
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2973+60,29,30.000000,9.054000,-11.000000,0.000000,1934.000000,1476.000000,7293.000000,-5,-16
2974+60,29,30.000000,9.054000,-4.000000,0.000000,1934.000000,1476.000000,7441.000000,-4,-15
2975+60,29,30.000000,9.054000,-7.000000,0.000000,1935.000000,1476.000000,7441.000000,-5,-16
2976+60,30,30.000000,100.000000,-9.000000,0.000000,1935.000000,1475.000000,7438.000000,44,-80
2977+60,30,30.000000,10.060000,-1.000000,0.000000,1935.000000,1475.000000,7306.000000,-8,-21
2978+60,30,30.000000,10.060000,4.000000,0.000000,1935.000000,1474.000000,7306.000000,-9,-22
2979+60,30,30.000000,10.060000,17.000000,0.000000,1935.000000,1473.000000,7397.000000,-4,-17
2980+60,30,30.000000,10.060000,45.000000,0.000000,1935.000000,1472.000000,7403.000000,12,0
2981+60,30,30.000000,10.060000,45.000000,0.000000,1936.000000,1471.000000,7403.000000,16,3
2982+60,30,30.000000,10.060000,44.000000,0.000000,1936.000000,1470.000000,7435.000000,15,3
2983+60,30,30.000000,10.060000,55.000000,0.000000,1936.000000,1470.000000,7435.000000,26,14
2984+60,29,30.000000,-100.000000,64.000000,0.000000,1936.000000,1469.000000,7421.000000,-35,89
2985+60,29,30.000000,9.054000,58.000000,0.000000,1936.000000,1469.000000,7290.000000,34,23
2986+60,30,30.000000,100.000000,54.000000,0.000000,1936.000000,1469.000000,7290.000000,92,-32
2987+60,28,30.000000,-100.000000,49.000000,0.000000,1936.000000,1469.000000,7371.000000,-32,92
2988+59,29,30.000000,100.000000,39.000000,0.000000,1936.000000,1470.000000,7259.000000,92,-32
2989+59,29,30.000000,9.054000,29.000000,0.000000,1936.000000,1470.000000,7259.000000,30,18
2990+59,29,30.000000,9.054000,35.000000,0.000000,1936.000000,1471.000000,7376.000000,37,26
2991+59,28,30.000000,-100.000000,38.000000,0.000000,1936.000000,1472.000000,7376.000000,-25,99
2992+59,28,30.000000,8.048000,27.000000,0.000000,1937.000000,1472.000000,7377.000000,38,28
2993+59,28,30.000000,8.048000,24.000000,0.000000,1937.000000,1473.000000,7351.000000,39,29
2994+59,28,30.000000,8.048000,-1.000000,0.000000,1937.000000,1474.000000,7351.000000,24,14
2995+59,29,30.000000,100.000000,-8.000000,0.000000,1938.000000,1476.000000,7389.000000,83,-41
2996+59,29,30.000000,9.054000,-24.000000,0.000000,1938.000000,1476.000000,7267.000000,11,0
2997+59,30,30.000000,100.000000,-34.000000,0.000000,1939.000000,1478.000000,7267.000000,65,-59
2998+59,29,30.000000,-100.000000,-41.000000,0.000000,1940.000000,1478.000000,7355.000000,-67,57
2999+59,29,30.000000,9.054000,-39.000000,0.000000,1941.000000,1479.000000,7355.000000,1,-10
3000+59,30,30.000000,100.000000,-36.000000,0.000000,1942.000000,1479.000000,7305.000000,56,-68
3001+59,30,30.000000,10.060000,-36.000000,0.000000,1943.000000,1480.000000,7340.000000,0,-12
3002+59,30,30.000000,10.060000,-28.000000,0.000000,1944.000000,1481.000000,7340.000000,5,-7
3003+59,30,30.000000,10.060000,-26.000000,0.000000,1945.000000,1481.000000,7457.000000,3,-9
3004+59,32,30.000000,100.000000,-31.000000,0.000000,1945.000000,1482.000000,7454.000000,53,-71
3005+59,32,30.000000,12.072000,-36.000000,0.000000,1946.000000,1482.000000,7464.000000,-7,-22
3006+59,31,30.000000,-100.000000,-28.000000,0.000000,1947.000000,1482.000000,7402.000000,-74,50
3007+59,31,30.000000,11.066000,-22.000000,0.000000,1947.000000,1482.000000,7402.000000,-6,-20
3008+59,31,30.000000,11.066000,-5.000000,0.000000,1948.000000,1482.000000,7337.000000,3,-10
3009+59,31,30.000000,11.066000,0.000000,0.000000,1948.000000,1482.000000,7449.000000,3,-9
3010+59,31,30.000000,11.066000,14.000000,0.000000,1948.000000,1482.000000,7449.000000,10,-2
3011+59,31,30.000000,11.066000,17.000000,0.000000,1948.000000,1482.000000,7447.000000,12,-1
3012+59,31,30.000000,11.066000,37.000000,0.000000,1948.000000,1482.000000,7446.000000,25,11
3013+59,32,30.000000,100.000000,37.000000,0.000000,1949.000000,1481.000000,7446.000000,81,-43
3014+59,32,30.000000,12.072000,39.000000,0.000000,1949.000000,1481.000000,7378.000000,29,14
3015+59,32,30.000000,12.072000,35.000000,0.000000,1949.000000,1481.000000,7378.000000,28,13
3016+59,32,30.000000,12.072000,28.000000,0.000000,1949.000000,1480.000000,7452.000000,21,6
3017+59,32,30.000000,12.072000,24.000000,0.000000,1950.000000,1480.000000,7456.000000,23,8
3018+59,33,30.000000,100.000000,22.000000,0.000000,1950.000000,1480.000000,7456.000000,77,-47
3019+59,34,30.000000,100.000000,19.000000,0.000000,1951.000000,1479.000000,7446.000000,75,-49
3020+59,34,30.000000,14.084000,14.000000,0.000000,1951.000000,1479.000000,7472.000000,19,1
3021+59,34,30.000000,14.084000,18.000000,0.000000,1952.000000,1479.000000,7238.000000,25,7
3022+59,33,30.000000,-100.000000,19.000000,0.000000,1953.000000,1478.000000,7413.000000,-46,78
3023+59,33,30.000000,13.078000,18.000000,0.000000,1954.000000,1478.000000,7413.000000,27,10
3024+59,33,30.000000,13.078000,18.000000,0.000000,1954.000000,1478.000000,7320.000000,26,10
3025+59,32,30.000000,-100.000000,17.000000,0.000000,1955.000000,1478.000000,7411.000000,-41,83
3026+59,32,30.000000,12.072000,14.000000,0.000000,1956.000000,1478.000000,7411.000000,28,13
3027+58,31,30.000000,-100.000000,7.000000,0.000000,1957.000000,1479.000000,7317.000000,-40,84
3028+58,31,30.000000,11.066000,0.000000,0.000000,1957.000000,1479.000000,7314.000000,21,7
3029+58,29,30.000000,-100.000000,0.000000,0.000000,1958.000000,1480.000000,7294.000000,-44,80
3030+58,30,30.000000,100.000000,-1.000000,0.000000,1959.000000,1481.000000,7344.000000,82,-42
3031+57,29,30.000000,-100.000000,2.000000,0.000000,1960.000000,1482.000000,7344.000000,-37,87
3032+57,29,30.000000,9.054000,10.000000,0.000000,1960.000000,1483.000000,7323.000000,34,23
3033+57,29,30.000000,9.054000,14.000000,0.000000,1961.000000,1484.000000,7404.000000,39,28
3034+57,29,30.000000,9.054000,21.000000,0.000000,1961.000000,1486.000000,7404.000000,47,35
3035+57,30,30.000000,100.000000,21.000000,0.000000,1962.000000,1487.000000,7402.000000,106,-18
3036+57,31,30.000000,100.000000,22.000000,0.000000,1963.000000,1488.000000,7414.000000,109,-15
3037+57,31,30.000000,11.066000,-7.000000,0.000000,1964.000000,1490.000000,7278.000000,41,27
3038+57,30,30.000000,-100.000000,-35.000000,0.000000,1965.000000,1490.000000,7379.000000,-50,74
3039+57,31,30.000000,100.000000,-53.000000,0.000000,1966.000000,1492.000000,7379.000000,63,-61
3040+57,31,30.000000,11.066000,-52.000000,0.000000,1967.000000,1492.000000,7347.000000,1,-12
3041+57,31,30.000000,11.066000,-56.000000,0.000000,1969.000000,1494.000000,7430.000000,2,-10
3042+57,31,30.000000,11.066000,-66.000000,0.000000,1969.000000,1494.000000,7430.000000,-14,-28
3043+57,31,30.000000,11.066000,-55.000000,0.000000,1971.000000,1495.000000,7471.000000,-7,-20
3044+57,32,30.000000,100.000000,-29.000000,0.000000,1972.000000,1496.000000,7473.000000,62,-62
3045+57,32,30.000000,12.072000,-24.000000,0.000000,1973.000000,1496.000000,7465.000000,6,-8
3046+57,33,30.000000,100.000000,-22.000000,0.000000,1973.000000,1497.000000,7418.000000,59,-65
3047+57,33,30.000000,13.078000,-11.000000,0.000000,1974.000000,1497.000000,7418.000000,9,-6
3048+57,33,30.000000,13.078000,-4.000000,0.000000,1975.000000,1497.000000,7311.000000,12,-3
3049+57,32,30.000000,-100.000000,-1.000000,0.000000,1976.000000,1497.000000,7456.000000,-56,68
3050+57,33,30.000000,100.000000,8.000000,0.000000,1977.000000,1497.000000,7456.000000,73,-51
3051+57,33,30.000000,13.078000,8.000000,0.000000,1977.000000,1497.000000,7367.000000,16,0
3052+57,33,30.000000,13.078000,7.000000,0.000000,1978.000000,1497.000000,7362.000000,16,0
3053+57,33,30.000000,13.078000,10.000000,0.000000,1978.000000,1497.000000,7460.000000,15,0
3054+57,33,30.000000,13.078000,21.000000,0.000000,1979.000000,1497.000000,7455.000000,24,7
3055+56,33,30.000000,13.078000,22.000000,0.000000,1979.000000,1497.000000,7455.000000,23,7
3056+56,32,30.000000,-100.000000,24.000000,0.000000,1980.000000,1497.000000,7383.000000,-43,81
3057+56,32,30.000000,12.072000,24.000000,0.000000,1981.000000,1497.000000,7283.000000,29,14
3058+56,32,30.000000,12.072000,21.000000,0.000000,1981.000000,1498.000000,7283.000000,29,14
3059+56,32,30.000000,12.072000,21.000000,0.000000,1982.000000,1499.000000,7398.000000,34,19
3060+56,32,30.000000,12.072000,11.000000,0.000000,1982.000000,1499.000000,7396.000000,24,9
3061+56,32,30.000000,12.072000,10.000000,0.000000,1983.000000,1500.000000,7386.000000,28,13
3062+56,32,30.000000,12.072000,14.000000,0.000000,1983.000000,1501.000000,7402.000000,30,15
3063+56,33,30.000000,100.000000,14.000000,0.000000,1984.000000,1502.000000,7402.000000,89,-35
3064+56,33,30.000000,13.078000,18.000000,0.000000,1985.000000,1504.000000,7411.000000,44,27
3065+55,33,30.000000,13.078000,14.000000,0.000000,1986.000000,1505.000000,7339.000000,43,27
3066+55,33,30.000000,13.078000,12.000000,0.000000,1987.000000,1506.000000,7339.000000,44,27
3067+55,34,30.000000,100.000000,-19.000000,0.000000,1988.000000,1507.000000,7369.000000,79,-45
3068+55,32,30.000000,-100.000000,-35.000000,0.000000,1989.000000,1507.000000,7298.000000,-60,64
3069+55,33,30.000000,100.000000,-43.000000,0.000000,1990.000000,1509.000000,7298.000000,60,-64
3070+55,33,30.000000,13.078000,-51.000000,0.000000,1991.000000,1509.000000,7397.000000,-4,-21
3071+55,33,30.000000,13.078000,-53.000000,0.000000,1993.000000,1510.000000,7391.000000,-5,-21
3072+55,33,30.000000,13.078000,-52.000000,0.000000,1995.000000,1511.000000,7469.000000,-4,-20
3073+55,33,30.000000,13.078000,-43.000000,0.000000,1995.000000,1512.000000,7455.000000,-4,-21
3074+55,33,30.000000,13.078000,-36.000000,0.000000,1996.000000,1512.000000,7455.000000,-5,-21
3075+56,33,30.000000,13.078000,-25.000000,0.000000,1997.000000,1512.000000,7456.000000,-2,-18
3076+56,33,30.000000,13.078000,-14.000000,0.000000,1998.000000,1513.000000,7456.000000,5,-11
3077+56,33,30.000000,13.078000,-11.000000,0.000000,1999.000000,1513.000000,7456.000000,5,-11
3078+56,33,30.000000,13.078000,-4.000000,0.000000,1999.000000,1513.000000,7465.000000,4,-11
3079+56,33,30.000000,13.078000,5.000000,0.000000,2000.000000,1513.000000,7465.000000,10,-6
3080+55,32,30.000000,-100.000000,17.000000,0.000000,2000.000000,1514.000000,7464.000000,-52,72
3081+55,33,30.000000,100.000000,22.000000,0.000000,2001.000000,1514.000000,7395.000000,77,-47
3082+55,33,30.000000,13.078000,34.000000,0.000000,2001.000000,1514.000000,7395.000000,28,12
3083+55,33,30.000000,13.078000,34.000000,0.000000,2001.000000,1514.000000,7315.000000,28,11
3084+55,33,30.000000,13.078000,32.000000,0.000000,2001.000000,1514.000000,7299.000000,26,10
3085+55,33,30.000000,13.078000,32.000000,0.000000,2002.000000,1513.000000,7465.000000,26,9
3086+55,33,30.000000,13.078000,27.000000,0.000000,2002.000000,1513.000000,7464.000000,23,6
3087+55,34,30.000000,100.000000,18.000000,0.000000,2003.000000,1513.000000,7464.000000,74,-50
3088+55,34,30.000000,14.084000,15.000000,0.000000,2003.000000,1513.000000,7455.000000,18,0
3089+55,34,30.000000,14.084000,11.000000,0.000000,2004.000000,1513.000000,7411.000000,17,0
3090+55,34,30.000000,14.084000,14.000000,0.000000,2004.000000,1513.000000,7411.000000,18,0
3091+55,34,30.000000,14.084000,15.000000,0.000000,2005.000000,1513.000000,7447.000000,21,3
3092+55,35,30.000000,100.000000,17.000000,0.000000,2005.000000,1513.000000,7452.000000,74,-50
3093+55,35,30.000000,15.090000,15.000000,0.000000,2006.000000,1513.000000,7384.000000,22,4
3094+54,34,30.000000,-100.000000,15.000000,0.000000,2007.000000,1513.000000,7382.000000,-46,78
3095+54,35,30.000000,100.000000,8.000000,0.000000,2008.000000,1513.000000,7382.000000,75,-49
3096+54,34,30.000000,-100.000000,8.000000,0.000000,2009.000000,1514.000000,7240.000000,-45,79
3097+54,34,30.000000,14.084000,2.000000,0.000000,2010.000000,1514.000000,7333.000000,22,4
3098+54,35,30.000000,100.000000,2.000000,0.000000,2010.000000,1515.000000,7333.000000,75,-49
3099+54,35,30.000000,15.090000,1.000000,0.000000,2011.000000,1516.000000,7404.000000,24,5
3100+54,35,30.000000,15.090000,4.000000,0.000000,2012.000000,1516.000000,7405.000000,25,7
3101+54,35,30.000000,15.090000,4.000000,0.000000,2013.000000,1517.000000,7405.000000,28,9
3102+54,35,30.000000,15.090000,14.000000,0.000000,2014.000000,1518.000000,7412.000000,37,18
3103+54,34,30.000000,-100.000000,0.000000,0.000000,2015.000000,1519.000000,7412.000000,-40,84
3104+53,34,30.000000,14.084000,-16.000000,0.000000,2016.000000,1520.000000,7386.000000,21,3
3105+53,33,30.000000,-100.000000,-31.000000,0.000000,2017.000000,1521.000000,7398.000000,-60,64
3106+53,34,30.000000,100.000000,-31.000000,0.000000,2018.000000,1522.000000,7398.000000,63,-61
3107+53,33,30.000000,-100.000000,-39.000000,0.000000,2019.000000,1523.000000,7307.000000,-67,57
3108+54,34,30.000000,100.000000,-45.000000,0.000000,2020.000000,1524.000000,7299.000000,51,-73
3109+54,33,30.000000,-100.000000,-36.000000,0.000000,2021.000000,1525.000000,7347.000000,-70,54
3110+54,34,30.000000,100.000000,-31.000000,0.000000,2021.000000,1526.000000,7405.000000,53,-71
3111+54,33,30.000000,-100.000000,-21.000000,0.000000,2022.000000,1528.000000,7405.000000,-61,63
3112+54,33,30.000000,13.078000,-12.000000,0.000000,2023.000000,1529.000000,7366.000000,14,-2
3113+53,34,30.000000,100.000000,-11.000000,0.000000,2023.000000,1530.000000,7440.000000,65,-59
3114+53,35,30.000000,100.000000,-7.000000,0.000000,2024.000000,1531.000000,7440.000000,69,-55
3115+53,34,30.000000,-100.000000,-5.000000,0.000000,2024.000000,1532.000000,7270.000000,-57,67
3116+53,34,30.000000,14.084000,-2.000000,0.000000,2025.000000,1533.000000,7259.000000,17,0
3117+53,34,30.000000,14.084000,-11.000000,0.000000,2025.000000,1534.000000,7397.000000,9,-8
3118+53,35,30.000000,100.000000,-11.000000,0.000000,2025.000000,1534.000000,7397.000000,57,-67
3119+53,36,30.000000,100.000000,-11.000000,0.000000,2026.000000,1535.000000,7424.000000,59,-65
3120+53,35,30.000000,-100.000000,-4.000000,0.000000,2026.000000,1535.000000,7180.000000,-66,58
3121+53,36,30.000000,100.000000,1.000000,0.000000,2027.000000,1535.000000,7391.000000,61,-63
3122+53,36,30.000000,16.096001,4.000000,0.000000,2027.000000,1534.000000,7391.000000,4,-15
3123+53,37,30.000000,100.000000,8.000000,0.000000,2028.000000,1534.000000,7158.000000,61,-63
3124+53,36,30.000000,-100.000000,8.000000,0.000000,2028.000000,1534.000000,7155.000000,-65,59
3125+53,36,30.000000,16.096001,17.000000,0.000000,2029.000000,1532.000000,7183.000000,7,-12
3126+53,37,30.000000,100.000000,17.000000,0.000000,2029.000000,1532.000000,7431.000000,60,-64
3127+53,37,30.000000,17.101999,18.000000,0.000000,2030.000000,1530.000000,7431.000000,6,-15
3128+52,37,30.000000,17.101999,22.000000,0.000000,2031.000000,1530.000000,7216.000000,13,-8
3129+52,37,30.000000,17.101999,21.000000,0.000000,2031.000000,1528.000000,7430.000000,6,-14
3130+52,38,30.000000,100.000000,21.000000,0.000000,2032.000000,1527.000000,7430.000000,60,-64
3131+52,38,30.000000,18.108000,42.000000,0.000000,2032.000000,1526.000000,7429.000000,20,-1
3132+52,37,30.000000,-100.000000,61.000000,0.000000,2033.000000,1525.000000,7439.000000,-37,87
3133+52,37,30.000000,17.101999,69.000000,0.000000,2034.000000,1523.000000,7419.000000,42,21
3134+52,38,30.000000,100.000000,65.000000,0.000000,2034.000000,1522.000000,7412.000000,93,-31
3135+52,37,30.000000,-100.000000,65.000000,0.000000,2035.000000,1521.000000,7412.000000,-26,98
3136+52,37,30.000000,17.101999,64.000000,0.000000,2036.000000,1520.000000,7260.000000,51,30
3137+51,37,30.000000,17.101999,48.000000,0.000000,2037.000000,1519.000000,7375.000000,44,22
3138+51,38,30.000000,100.000000,42.000000,0.000000,2037.000000,1519.000000,7375.000000,94,-30
3139+51,36,30.000000,-100.000000,35.000000,0.000000,2038.000000,1518.000000,7395.000000,-33,91
3140+51,36,30.000000,16.096001,27.000000,0.000000,2039.000000,1518.000000,7307.000000,39,19
3141+51,36,30.000000,16.096001,29.000000,0.000000,2040.000000,1518.000000,7307.000000,44,24
3142+51,36,30.000000,16.096001,34.000000,0.000000,2041.000000,1518.000000,7387.000000,50,30
3143+51,35,30.000000,-100.000000,21.000000,0.000000,2042.000000,1518.000000,7387.000000,-27,97
3144+51,35,30.000000,15.090000,17.000000,0.000000,2043.000000,1518.000000,7341.000000,43,24
3145+51,35,30.000000,15.090000,22.000000,0.000000,2045.000000,1519.000000,7352.000000,54,35
3146+51,33,30.000000,-100.000000,10.000000,0.000000,2045.000000,1520.000000,7352.000000,-24,100
3147+52,33,30.000000,13.078000,0.000000,0.000000,2047.000000,1520.000000,7317.000000,42,25
3148+52,33,30.000000,13.078000,-8.000000,0.000000,2048.000000,1521.000000,7399.000000,38,21
3149+52,33,30.000000,13.078000,4.000000,0.000000,2049.000000,1522.000000,7399.000000,46,30
3150+52,32,30.000000,-100.000000,-11.000000,0.000000,2050.000000,1523.000000,7402.000000,-32,92
3151+52,32,30.000000,12.072000,-22.000000,0.000000,2051.000000,1525.000000,7402.000000,33,18
3152+52,32,30.000000,12.072000,-32.000000,0.000000,2052.000000,1526.000000,7329.000000,26,11
3153+52,33,30.000000,100.000000,-32.000000,0.000000,2053.000000,1527.000000,7430.000000,78,-46
3154+52,32,30.000000,-100.000000,-34.000000,0.000000,2054.000000,1528.000000,7430.000000,-49,75
3155+52,32,30.000000,12.072000,-26.000000,0.000000,2056.000000,1529.000000,7308.000000,27,12
3156+52,32,30.000000,12.072000,-21.000000,0.000000,2057.000000,1530.000000,7441.000000,28,13
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4034+46,26,30.000000,6.036000,19.000000,0.000000,2816.000000,1970.000000,7381.000000,29,22
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4036+46,26,30.000000,6.036000,11.000000,0.000000,2818.000000,1971.000000,7420.000000,27,20
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4041+46,26,30.000000,6.036000,-8.000000,0.000000,2821.000000,1975.000000,7439.000000,14,7
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4050+46,30,30.000000,10.060000,0.000000,0.000000,2828.000000,1980.000000,7287.000000,14,1
4051+46,30,30.000000,10.060000,2.000000,0.000000,2829.000000,1980.000000,7444.000000,14,2
4052+46,31,30.000000,100.000000,2.000000,0.000000,2830.000000,1981.000000,7446.000000,73,-51
4053+45,31,30.000000,11.066000,2.000000,0.000000,2831.000000,1981.000000,7446.000000,17,3
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4056+45,30,30.000000,10.060000,2.000000,0.000000,2834.000000,1981.000000,7364.000000,14,2
4057+46,30,30.000000,10.060000,7.000000,0.000000,2835.000000,1981.000000,7447.000000,17,5
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4061+46,28,30.000000,8.048000,12.000000,0.000000,2838.000000,1982.000000,7429.000000,19,9
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4064+46,27,30.000000,7.042000,14.000000,0.000000,2840.000000,1984.000000,7312.000000,24,15
4065+46,26,30.000000,-100.000000,8.000000,0.000000,2841.000000,1985.000000,7409.000000,-42,82
4066+46,26,30.000000,6.036000,10.000000,0.000000,2841.000000,1986.000000,7409.000000,23,16
4067+46,26,30.000000,6.036000,-1.000000,0.000000,2842.000000,1986.000000,7284.000000,16,8
4068+46,26,30.000000,6.036000,-5.000000,0.000000,2843.000000,1987.000000,7448.000000,15,8
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4070+46,27,30.000000,100.000000,-12.000000,0.000000,2844.000000,1989.000000,7446.000000,69,-55
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4084+44,31,30.000000,11.066000,14.000000,0.000000,2856.000000,1990.000000,7426.000000,12,-1
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4086+45,30,30.000000,10.060000,21.000000,0.000000,2857.000000,1990.000000,7447.000000,17,4
4087+45,30,30.000000,10.060000,17.000000,0.000000,2858.000000,1990.000000,7443.000000,17,4
4088+45,30,30.000000,10.060000,17.000000,0.000000,2859.000000,1990.000000,7443.000000,19,6
4089+46,28,30.000000,-100.000000,28.000000,0.000000,2859.000000,1990.000000,7455.000000,-44,80
4090+46,28,30.000000,8.048000,28.000000,0.000000,2860.000000,1990.000000,7336.000000,26,16
4091+46,28,30.000000,8.048000,22.000000,0.000000,2860.000000,1990.000000,7336.000000,21,11
4092+46,28,30.000000,8.048000,21.000000,0.000000,2861.000000,1990.000000,7448.000000,23,13
4093+46,28,30.000000,8.048000,24.000000,0.000000,2861.000000,1990.000000,7448.000000,24,13
4094+45,28,30.000000,8.048000,21.000000,0.000000,2862.000000,1991.000000,7446.000000,28,17
4095+45,28,30.000000,8.048000,18.000000,0.000000,2862.000000,1991.000000,7427.000000,24,14
4096+45,29,30.000000,100.000000,18.000000,0.000000,2863.000000,1991.000000,7427.000000,83,-41
4097+45,29,30.000000,9.054000,18.000000,0.000000,2863.000000,1992.000000,7428.000000,28,16
4098+45,29,30.000000,9.054000,18.000000,0.000000,2864.000000,1992.000000,7435.000000,29,18
4099+46,29,30.000000,9.054000,17.000000,0.000000,2865.000000,1993.000000,7415.000000,33,22
4100+46,29,30.000000,9.054000,15.000000,0.000000,2865.000000,1993.000000,7401.000000,29,17
4101+46,29,30.000000,9.054000,15.000000,0.000000,2866.000000,1994.000000,7401.000000,33,22
4102+46,29,30.000000,9.054000,11.000000,0.000000,2867.000000,1995.000000,7412.000000,34,23
4103+46,29,30.000000,9.054000,11.000000,0.000000,2868.000000,1996.000000,7402.000000,37,25
4104+46,29,30.000000,9.054000,8.000000,0.000000,2869.000000,1996.000000,7402.000000,34,22
4105+46,28,30.000000,-100.000000,5.000000,0.000000,2870.000000,1997.000000,7395.000000,-33,91
4106+46,28,30.000000,8.048000,0.000000,0.000000,2871.000000,1998.000000,7402.000000,32,22
4107+46,26,30.000000,-100.000000,-2.000000,0.000000,2872.000000,1999.000000,7304.000000,-35,89
4108+50,27,30.000000,100.000000,-19.000000,0.000000,2873.000000,2000.000000,7346.000000,79,-45
4109+50,27,30.000000,7.042000,-21.000000,0.000000,2874.000000,2002.000000,7346.000000,22,13
4110+50,27,30.000000,7.042000,-25.000000,0.000000,2875.000000,2002.000000,7332.000000,15,6
4111+50,26,30.000000,-100.000000,-36.000000,0.000000,2876.000000,2004.000000,7439.000000,-56,68
4112+50,26,30.000000,6.036000,-36.000000,0.000000,2877.000000,2005.000000,7439.000000,7,0
4113+51,26,30.000000,6.036000,-31.000000,0.000000,2878.000000,2006.000000,7401.000000,8,0
4114+51,26,30.000000,6.036000,-36.000000,0.000000,2878.000000,2007.000000,7387.000000,0,-7
4115+51,27,30.000000,100.000000,-31.000000,0.000000,2879.000000,2008.000000,7455.000000,60,-64
4116+51,29,30.000000,100.000000,-28.000000,0.000000,2880.000000,2009.000000,7252.000000,61,-63
4117+51,29,30.000000,9.054000,-22.000000,0.000000,2881.000000,2009.000000,7252.000000,4,-6
4118+45,30,30.000000,100.000000,-11.000000,0.000000,2881.000000,2010.000000,7163.000000,65,-59
4119+45,30,30.000000,10.060000,-1.000000,0.000000,2883.000000,2010.000000,7227.000000,17,5
4120+45,29,30.000000,-100.000000,8.000000,0.000000,2883.000000,2009.000000,7227.000000,-53,71
4121+45,30,30.000000,100.000000,1.000000,0.000000,2884.000000,2009.000000,7459.000000,67,-57
4122+50,30,30.000000,10.060000,-2.000000,0.000000,2885.000000,2008.000000,7463.000000,6,-6
4123+50,30,30.000000,10.060000,1.000000,0.000000,2886.000000,2008.000000,7355.000000,8,-3
4124+50,30,30.000000,10.060000,5.000000,0.000000,2886.000000,2008.000000,7456.000000,8,-4
4125+50,30,30.000000,10.060000,7.000000,0.000000,2887.000000,2008.000000,7456.000000,11,-1
4126+50,30,30.000000,10.060000,7.000000,0.000000,2888.000000,2007.000000,7455.000000,9,-3
4127+58,30,30.000000,10.060000,24.000000,0.000000,2889.000000,2007.000000,7455.000000,21,9
4128+58,30,30.000000,10.060000,17.000000,0.000000,2889.000000,2007.000000,7455.000000,16,4
4129+58,29,30.000000,-100.000000,15.000000,0.000000,2890.000000,2006.000000,7455.000000,-54,70
4130+58,29,30.000000,9.054000,31.000000,0.000000,2891.000000,2006.000000,7463.000000,26,15
4131+58,29,30.000000,9.054000,31.000000,0.000000,2891.000000,2006.000000,7345.000000,27,15
4132+56,28,30.000000,-100.000000,24.000000,0.000000,2892.000000,2006.000000,7438.000000,-42,82
4133+56,28,30.000000,8.048000,25.000000,0.000000,2892.000000,2007.000000,7438.000000,28,18
4134+56,27,30.000000,-100.000000,21.000000,0.000000,2893.000000,2007.000000,7311.000000,-39,85
4135+56,28,30.000000,100.000000,22.000000,0.000000,2893.000000,2008.000000,7353.000000,88,-36
4136+56,28,30.000000,8.048000,24.000000,0.000000,2894.000000,2008.000000,7353.000000,33,23
4137+55,27,30.000000,-100.000000,24.000000,0.000000,2894.000000,2009.000000,7317.000000,-32,92
4138+55,27,30.000000,7.042000,21.000000,0.000000,2895.000000,2009.000000,7316.000000,34,25
4139+55,27,30.000000,7.042000,24.000000,0.000000,2895.000000,2010.000000,7286.000000,37,28
4140+55,28,30.000000,100.000000,25.000000,0.000000,2896.000000,2011.000000,7397.000000,100,-24
4141+55,28,30.000000,8.048000,19.000000,0.000000,2897.000000,2012.000000,7397.000000,42,32
4142+56,28,30.000000,8.048000,19.000000,0.000000,2897.000000,2013.000000,7267.000000,43,33
4143+56,27,30.000000,-100.000000,19.000000,0.000000,2898.000000,2014.000000,7378.000000,-21,103
4144+56,27,30.000000,7.042000,7.000000,0.000000,2899.000000,2015.000000,7378.000000,40,31
4145+56,27,30.000000,7.042000,-14.000000,0.000000,2900.000000,2016.000000,7283.000000,28,19
4146+56,27,30.000000,7.042000,-22.000000,0.000000,2901.000000,2018.000000,7265.000000,25,17
4147+56,27,30.000000,7.042000,-31.000000,0.000000,2902.000000,2019.000000,7431.000000,17,9
4148+56,27,30.000000,7.042000,-32.000000,0.000000,2902.000000,2020.000000,7447.000000,11,3
4149+56,27,30.000000,7.042000,-36.000000,0.000000,2903.000000,2021.000000,7447.000000,8,0
4150+56,27,30.000000,7.042000,-25.000000,0.000000,2904.000000,2022.000000,7465.000000,13,4
4151+56,27,30.000000,7.042000,-25.000000,0.000000,2905.000000,2023.000000,7455.000000,13,4
4152+56,27,30.000000,7.042000,-25.000000,0.000000,2906.000000,2024.000000,7455.000000,12,3
4153+56,28,30.000000,100.000000,-22.000000,0.000000,2907.000000,2025.000000,7455.000000,71,-53
4154+56,30,30.000000,100.000000,-14.000000,0.000000,2908.000000,2026.000000,7310.000000,76,-48
4155+56,30,30.000000,10.060000,-1.000000,0.000000,2909.000000,2027.000000,7310.000000,28,16
4156+56,30,30.000000,10.060000,-1.000000,0.000000,2910.000000,2027.000000,7380.000000,25,13
4157+56,30,30.000000,10.060000,-2.000000,0.000000,2911.000000,2027.000000,7380.000000,23,10
4158+56,31,30.000000,100.000000,-1.000000,0.000000,2912.000000,2028.000000,7447.000000,81,-43
4159+56,31,30.000000,11.066000,0.000000,0.000000,2913.000000,2028.000000,7331.000000,24,11
4160+56,31,30.000000,11.066000,-1.000000,0.000000,2915.000000,2028.000000,7331.000000,26,12
4161+55,30,30.000000,-100.000000,-4.000000,0.000000,2916.000000,2028.000000,7431.000000,-47,77
4162+55,30,30.000000,10.060000,-1.000000,0.000000,2918.000000,2028.000000,7383.000000,24,12
4163+55,29,30.000000,-100.000000,1.000000,0.000000,2919.000000,2028.000000,7383.000000,-44,80
4164+55,29,30.000000,9.054000,4.000000,0.000000,2919.000000,2029.000000,7398.000000,24,12
4165+55,29,30.000000,9.054000,12.000000,0.000000,2921.000000,2029.000000,7401.000000,31,20
4166+54,28,30.000000,-100.000000,12.000000,0.000000,2921.000000,2030.000000,7431.000000,-37,87
4167+54,28,30.000000,8.048000,12.000000,0.000000,2922.000000,2030.000000,7372.000000,29,19
4168+54,27,30.000000,-100.000000,15.000000,0.000000,2923.000000,2031.000000,7372.000000,-32,92
4169+54,27,30.000000,7.042000,19.000000,0.000000,2924.000000,2032.000000,7421.000000,39,30
4170+54,27,30.000000,7.042000,24.000000,0.000000,2925.000000,2032.000000,7427.000000,41,32
4171+54,27,30.000000,7.042000,0.000000,0.000000,2926.000000,2034.000000,7389.000000,32,24
4172+54,27,30.000000,7.042000,0.000000,0.000000,2927.000000,2034.000000,7397.000000,29,21
4173+54,27,30.000000,7.042000,-4.000000,0.000000,2928.000000,2035.000000,7397.000000,28,19
4174+54,27,30.000000,7.042000,-19.000000,0.000000,2929.000000,2036.000000,7412.000000,18,10
4175+54,27,30.000000,7.042000,-19.000000,0.000000,2930.000000,2037.000000,7430.000000,18,9
4176+54,28,30.000000,100.000000,-25.000000,0.000000,2931.000000,2038.000000,7430.000000,71,-53
4177+54,28,30.000000,8.048000,-26.000000,0.000000,2932.000000,2039.000000,7437.000000,12,2
4178+54,28,30.000000,8.048000,-25.000000,0.000000,2933.000000,2040.000000,7440.000000,12,2
4179+54,28,30.000000,8.048000,-16.000000,0.000000,2935.000000,2041.000000,7450.000000,20,10
4180+55,30,30.000000,100.000000,-15.000000,0.000000,2935.000000,2042.000000,7446.000000,74,-50
4181+55,30,30.000000,10.060000,-7.000000,0.000000,2937.000000,2043.000000,7446.000000,26,13
4182+55,31,30.000000,100.000000,-7.000000,0.000000,2938.000000,2044.000000,7312.000000,82,-42
4183+55,30,30.000000,-100.000000,-4.000000,0.000000,2939.000000,2045.000000,7362.000000,-41,83
4184+55,30,30.000000,10.060000,-2.000000,0.000000,2940.000000,2045.000000,7362.000000,25,12
4185+54,30,30.000000,10.060000,4.000000,0.000000,2942.000000,2046.000000,7322.000000,33,21
4186+54,30,30.000000,10.060000,-2.000000,0.000000,2943.000000,2047.000000,7312.000000,30,17
4187+54,30,30.000000,10.060000,-12.000000,0.000000,2944.000000,2048.000000,7410.000000,23,10
4188+54,30,30.000000,10.060000,-11.000000,0.000000,2945.000000,2049.000000,7430.000000,22,10
4189+54,30,30.000000,10.060000,-18.000000,0.000000,2947.000000,2050.000000,7430.000000,21,8
4190+52,30,30.000000,10.060000,-21.000000,0.000000,2948.000000,2050.000000,7438.000000,14,1
4191+52,30,30.000000,10.060000,-25.000000,0.000000,2950.000000,2052.000000,7447.000000,17,4
4192+52,30,30.000000,10.060000,-16.000000,0.000000,2951.000000,2052.000000,7447.000000,16,4
4193+52,30,30.000000,10.060000,-16.000000,0.000000,2952.000000,2053.000000,7446.000000,15,3
4194+52,29,30.000000,-100.000000,-15.000000,0.000000,2953.000000,2054.000000,7455.000000,-53,71
4195+52,30,30.000000,100.000000,-8.000000,0.000000,2955.000000,2054.000000,7455.000000,75,-49
4196+52,29,30.000000,-100.000000,-14.000000,0.000000,2956.000000,2055.000000,7331.000000,-53,71
4197+52,30,30.000000,100.000000,-12.000000,0.000000,2957.000000,2056.000000,7327.000000,72,-52
4198+52,30,30.000000,10.060000,-1.000000,0.000000,2959.000000,2057.000000,7337.000000,26,13
4199+53,30,30.000000,10.060000,-1.000000,0.000000,2959.000000,2058.000000,7417.000000,22,9
4200+53,30,30.000000,10.060000,-4.000000,0.000000,2961.000000,2059.000000,7417.000000,24,11
4201+53,29,30.000000,-100.000000,0.000000,0.000000,2961.000000,2060.000000,7438.000000,-45,79
4202+53,29,30.000000,9.054000,-5.000000,0.000000,2963.000000,2060.000000,7380.000000,19,8
4203+53,29,30.000000,9.054000,-9.000000,0.000000,2964.000000,2061.000000,7380.000000,17,5
4204+54,29,30.000000,9.054000,-5.000000,0.000000,2965.000000,2062.000000,7448.000000,19,8
4205+54,29,30.000000,9.054000,-11.000000,0.000000,2965.000000,2063.000000,7446.000000,12,0
4206+54,29,30.000000,9.054000,-15.000000,0.000000,2967.000000,2064.000000,7446.000000,13,1
4207+54,30,30.000000,100.000000,-12.000000,0.000000,2967.000000,2064.000000,7464.000000,64,-60
4208+54,30,30.000000,10.060000,-9.000000,0.000000,2968.000000,2065.000000,7464.000000,10,-1
4209+53,30,30.000000,10.060000,-12.000000,0.000000,2969.000000,2066.000000,7301.000000,9,-2
4210+53,29,30.000000,-100.000000,-8.000000,0.000000,2970.000000,2066.000000,7456.000000,-59,65
4211+53,30,30.000000,100.000000,-2.000000,0.000000,2971.000000,2066.000000,7456.000000,67,-57
4212+53,30,30.000000,10.060000,2.000000,0.000000,2972.000000,2067.000000,7358.000000,15,2
4213+53,30,30.000000,10.060000,11.000000,0.000000,2972.000000,2067.000000,7353.000000,16,3
4214+51,30,30.000000,10.060000,11.000000,0.000000,2973.000000,2068.000000,7441.000000,19,7
4215+51,31,30.000000,100.000000,21.000000,0.000000,2974.000000,2068.000000,7445.000000,81,-43
4216+51,29,30.000000,-100.000000,21.000000,0.000000,2975.000000,2068.000000,7445.000000,-42,82
4217+51,30,30.000000,100.000000,19.000000,0.000000,2975.000000,2068.000000,7293.000000,78,-46
4218+51,30,30.000000,10.060000,15.000000,0.000000,2977.000000,2069.000000,7389.000000,27,14
4219+51,29,30.000000,-100.000000,10.000000,0.000000,2977.000000,2069.000000,7389.000000,-49,75
4220+51,29,30.000000,9.054000,11.000000,0.000000,2978.000000,2069.000000,7431.000000,19,8
4221+51,29,30.000000,9.054000,7.000000,0.000000,2979.000000,2069.000000,7429.000000,17,5
4222+51,29,30.000000,9.054000,7.000000,0.000000,2980.000000,2070.000000,7449.000000,20,8
4223+52,29,30.000000,9.054000,7.000000,0.000000,2980.000000,2070.000000,7445.000000,16,4
4224+52,30,30.000000,100.000000,4.000000,0.000000,2981.000000,2070.000000,7445.000000,71,-53
4225+52,30,30.000000,10.060000,10.000000,0.000000,2982.000000,2070.000000,7446.000000,18,6
4226+52,30,30.000000,10.060000,10.000000,0.000000,2983.000000,2071.000000,7405.000000,22,9
4227+52,30,30.000000,10.060000,11.000000,0.000000,2984.000000,2071.000000,7405.000000,22,10
4228+52,30,30.000000,10.060000,11.000000,0.000000,2985.000000,2071.000000,7438.000000,22,10
4229+52,30,30.000000,10.060000,4.000000,0.000000,2986.000000,2071.000000,7438.000000,18,5
4230+52,30,30.000000,10.060000,4.000000,0.000000,2987.000000,2071.000000,7428.000000,17,5
4231+52,30,30.000000,10.060000,5.000000,0.000000,2988.000000,2071.000000,7447.000000,18,5
4232+52,30,30.000000,10.060000,4.000000,0.000000,2989.000000,2071.000000,7447.000000,17,4
4233+51,30,30.000000,10.060000,4.000000,0.000000,2990.000000,2071.000000,7447.000000,17,4
4234+51,30,30.000000,10.060000,5.000000,0.000000,2991.000000,2072.000000,7456.000000,21,8
4235+51,29,30.000000,-100.000000,7.000000,0.000000,2992.000000,2072.000000,7456.000000,-47,77
4236+51,29,30.000000,9.054000,7.000000,0.000000,2993.000000,2072.000000,7437.000000,20,9
4237+51,28,30.000000,-100.000000,10.000000,0.000000,2995.000000,2072.000000,7432.000000,-42,82
4238+51,29,30.000000,100.000000,10.000000,0.000000,2995.000000,2072.000000,7432.000000,78,-46
4239+51,29,30.000000,9.054000,8.000000,0.000000,2996.000000,2072.000000,7381.000000,21,9
4240+51,29,30.000000,9.054000,7.000000,0.000000,2997.000000,2073.000000,7381.000000,23,12
4241+51,29,30.000000,9.054000,5.000000,0.000000,2998.000000,2073.000000,7424.000000,21,10
4242+51,27,30.000000,-100.000000,1.000000,0.000000,2999.000000,2074.000000,7419.000000,-46,78
4243+51,28,30.000000,100.000000,-4.000000,0.000000,3000.000000,2074.000000,7419.000000,74,-50
4244+51,28,30.000000,8.048000,-4.000000,0.000000,3001.000000,2074.000000,7288.000000,15,5
4245+51,28,30.000000,8.048000,-7.000000,0.000000,3002.000000,2075.000000,7275.000000,15,5
4246+51,28,30.000000,8.048000,-7.000000,0.000000,3003.000000,2076.000000,7441.000000,17,7
4247+51,28,30.000000,8.048000,-7.000000,0.000000,3004.000000,2076.000000,7437.000000,14,4
4248+51,27,30.000000,-100.000000,-7.000000,0.000000,3005.000000,2076.000000,7437.000000,-54,70
4249+51,27,30.000000,7.042000,-7.000000,0.000000,3006.000000,2077.000000,7447.000000,14,5
4250+51,28,30.000000,100.000000,-4.000000,0.000000,3007.000000,2078.000000,7411.000000,75,-49
4251+51,28,30.000000,8.048000,-4.000000,0.000000,3007.000000,2078.000000,7411.000000,13,2
4252+51,28,30.000000,8.048000,-4.000000,0.000000,3008.000000,2079.000000,7316.000000,15,5
4253+51,28,30.000000,8.048000,1.000000,0.000000,3009.000000,2080.000000,7301.000000,20,10
4254+51,28,30.000000,8.048000,-2.000000,0.000000,3010.000000,2080.000000,7437.000000,16,6
4255+51,28,30.000000,8.048000,-5.000000,0.000000,3011.000000,2080.000000,7437.000000,13,3
4256+51,28,30.000000,8.048000,-1.000000,0.000000,3012.000000,2081.000000,7437.000000,18,8
4257+50,28,30.000000,8.048000,-2.000000,0.000000,3012.000000,2082.000000,7447.000000,15,5
4258+50,29,30.000000,100.000000,-7.000000,0.000000,3013.000000,2082.000000,7456.000000,68,-56
4259+50,28,30.000000,-100.000000,-2.000000,0.000000,3014.000000,2083.000000,7456.000000,-51,73
4260+50,28,30.000000,8.048000,-2.000000,0.000000,3015.000000,2083.000000,7297.000000,15,5
4261+50,28,30.000000,8.048000,-2.000000,0.000000,3016.000000,2083.000000,7284.000000,14,3
4262+50,29,30.000000,100.000000,-2.000000,0.000000,3017.000000,2084.000000,7450.000000,73,-51
4263+50,29,30.000000,9.054000,-2.000000,0.000000,3018.000000,2084.000000,7359.000000,15,4
4264+50,28,30.000000,-100.000000,0.000000,0.000000,3019.000000,2085.000000,7359.000000,-49,75
4265+50,28,30.000000,8.048000,1.000000,0.000000,3020.000000,2085.000000,7434.000000,17,7
4266+50,28,30.000000,8.048000,-2.000000,0.000000,3021.000000,2085.000000,7429.000000,14,4
4267+50,28,30.000000,8.048000,-2.000000,0.000000,3022.000000,2086.000000,7429.000000,16,6
4268+50,27,30.000000,-100.000000,1.000000,0.000000,3023.000000,2086.000000,7446.000000,-50,74
4269+50,27,30.000000,7.042000,0.000000,0.000000,3024.000000,2086.000000,7454.000000,14,5
4270+50,26,30.000000,-100.000000,-4.000000,0.000000,3025.000000,2087.000000,7336.000000,-52,72
4271+50,26,30.000000,6.036000,-4.000000,0.000000,3025.000000,2088.000000,7370.000000,12,4
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