├── .gitignore
├── README.md
├── bin
    └── AdaptiveCruiseControl
├── build.sh
├── include
    ├── accController.h
    ├── car.h
    ├── cruiseController.h
    └── pidController.h
├── makefile
├── out.csv
├── out.xlsx
├── pid.png
├── run.sh
└── source
    ├── accController.cpp
    ├── car.cpp
    ├── cruiseController.cpp
    ├── main.cpp
    └── pidController.cpp


/.gitignore:
--------------------------------------------------------------------------------
 1 | # Compiled Object files
 2 | *.slo
 3 | *.lo
 4 | *.o
 5 | *.obj
 6 | 
 7 | # Precompiled Headers
 8 | *.gch
 9 | *.pch
10 | 
11 | # Compiled Dynamic libraries
12 | *.so
13 | *.dylib
14 | *.dll
15 | 
16 | # Fortran module files
17 | *.mod
18 | 
19 | # Compiled Static libraries
20 | *.lai
21 | *.la
22 | *.a
23 | *.lib
24 | 
25 | # Executables
26 | *.exe
27 | *.out
28 | *.app
29 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # AdaptiveCruiseControl
2 | A PID (Proportional Integral Derivative) controller for vehicle adaptive cruise control
3 | 
4 | ![The output of a simulated lead and follower vehicle. The lead vehicle changes its speed every once in a while, and the follower speeds up or slows down.](pid.png)


--------------------------------------------------------------------------------
/bin/AdaptiveCruiseControl:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/nref/AdaptiveCruiseControl/96bb98cd247cf77f16797dc2390513a6bf8c5b75/bin/AdaptiveCruiseControl


--------------------------------------------------------------------------------
/build.sh:
--------------------------------------------------------------------------------
1 | make -j8
2 | 


--------------------------------------------------------------------------------
/include/accController.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 | 
3 | #include "pidController.h"
4 | 
5 | /// PID Controller for Car Adaptive Cruise Control
6 | class accController : public pidController
7 | {
8 | 	
9 | };


--------------------------------------------------------------------------------
/include/car.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include <string>
 4 | 
 5 | class car
 6 | {
 7 | public:
 8 | 
 9 | 	car(const std::string& carName = "")
10 | 	{
11 | 		name = carName;
12 | 		id = idGlobal++;
13 | 	}
14 | 
15 | 	void setSpeed(const double& newSpeed)
16 | 	{
17 | 		speed = newSpeed;
18 | 	}
19 | 
20 | 	double getSpeed() const
21 | 	{
22 | 		return speed;
23 | 	}
24 | 
25 | 	void stepSim(double dt);
26 | 
27 | 	double getPosition() const
28 | 	{
29 | 		return position;
30 | 	}
31 | 
32 | 	void setPosition(const double& newPosition)
33 | 	{
34 | 		position = newPosition;
35 | 	}
36 | 
37 | 	std::string getName() const
38 | 	{
39 | 		return name;
40 | 	}
41 | 
42 | 	void setName(const std::string& value)
43 | 	{
44 | 		name = value;
45 | 	}
46 | 
47 | 	int getId() const
48 | 	{
49 | 		return id;
50 | 	}
51 | 
52 | 	void setId(const int& value)
53 | 	{
54 | 		id = value;
55 | 	}
56 | 
57 | private:
58 | 
59 | 	int id;
60 | 	static int idGlobal;
61 | 
62 | 	std::string name;
63 | 
64 | 	double speed;
65 | 	double position;
66 | };


--------------------------------------------------------------------------------
/include/cruiseController.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 | 
3 | #include "pidController.h"
4 | 
5 | /// PID Controller for Car Cruise Control
6 | class cruiseController : public pidController
7 | {
8 | 
9 | };


--------------------------------------------------------------------------------
/include/pidController.h:
--------------------------------------------------------------------------------
  1 | #pragma once
  2 | 
  3 | // Sources
  4 | // http://www.codeproject.com/Articles/36459/PID-process-control-a-Cruise-Control-example
  5 | // http://itech.fgcu.edu/faculty/zalewski/cda4170/files/pidcontrol.pdf
  6 | // http://www.cse.iitb.ac.in/~erts/car/documents/presentations/ashish-stage1.pdf
  7 | class pidController
  8 | {
  9 | public:
 10 | 	pidController()
 11 | 	{
 12 | 		setpoint = 0;
 13 | 		PV = 0;
 14 | 		output = 0;
 15 | 		noise = 0;
 16 | 		error = 0;
 17 | 		preError = 0;
 18 | 		integral = 0;
 19 | 		derivative = 0;
 20 | 
 21 | 		Ki = 0;
 22 | 		Kd = 0;
 23 | 		Kp = 0;
 24 | 	}
 25 | 
 26 | 	// Tick the process value simulation
 27 | 	// Should be significantly faster tick interval than pidTick()
 28 | 	void pvTick()
 29 | 	{
 30 | 		// As a rule of thumb:
 31 | 		// ProcessValue = ProcessValue + (output * efficiency) – loss
 32 | 		
 33 | 		// 20% efficient engine, 10% energy loss at a given speed
 34 | 		PV = PV + (output * 0.20) - (PV * 0.10) + noise;
 35 | 	}
 36 | 
 37 | 	// Tick the PID controller simulation
 38 | 	// Should be significantly slower tick interval than pvTick()
 39 | 	void pidTick(const double& dt)
 40 | 	{
 41 | 		error = setpoint - PV; 
 42 | 		// track error over time, scaled to the timer interval
 43 | 		integral = integral + (error * dt);
 44 | 		// determine the amount of change from the last time checked
 45 | 		derivative = (error - preError) / dt; 
 46 | 		// calculate how much to drive the output in order to get to the 
 47 | 		// desired setpoint. 
 48 | 		output = (Kp * error) + (Ki * integral) + (Kd * derivative);
 49 | 		// remember the error for the next time around.
 50 | 		preError = error; 
 51 | 	}
 52 | 
 53 | 	double getKi() const
 54 | 	{
 55 | 		return Ki;
 56 | 	}
 57 | 
 58 | 	void setKi(const double& value)
 59 | 	{
 60 | 		Ki = value;
 61 | 	}
 62 | 
 63 | 	double getKd() const
 64 | 	{
 65 | 		return Kd;
 66 | 	}
 67 | 
 68 | 	void setKd(const double& value)
 69 | 	{
 70 | 		Kd = value;
 71 | 	}
 72 | 
 73 | 	double getKp() const
 74 | 	{
 75 | 		return Kp;
 76 | 	}
 77 | 
 78 | 	void setKp(const double& value)
 79 | 	{
 80 | 		Kp = value;
 81 | 	}
 82 | 
 83 | 	void setSetPoint(const double& value)
 84 | 	{
 85 | 		setpoint = value;
 86 | 	}
 87 | 
 88 | 	double getSetPoint() const
 89 | 	{
 90 | 		return setpoint;
 91 | 	}
 92 | 
 93 | 	/// Members with only getters below
 94 | 
 95 | 	double getProcessValue() const
 96 | 	{
 97 | 		return PV;
 98 | 	}
 99 | 
100 | 	double getError() const
101 | 	{
102 | 		return error;
103 | 	}
104 | 
105 | 	double getIntegral() const
106 | 	{
107 | 		return integral;
108 | 	}
109 | 
110 | 	double getDerivative() const
111 | 	{
112 | 		return derivative;
113 | 	}
114 | 
115 | 	double getOutput() const
116 | 	{
117 | 		return output;
118 | 	}
119 | 
120 | private:
121 | 
122 | 	// The value PV will try to reach
123 | 	double setpoint;
124 | 
125 | 	// Process value
126 | 	double PV;
127 | 
128 | 	// Process output
129 | 	double output;
130 | 
131 | 	// Signal noise
132 | 	// TODO set with random distribution
133 | 	// Set at high frequency to simulate electrical noise
134 | 	// set at low frequency to simulate hills, wind
135 | 	double noise;
136 | 
137 | 	double error;
138 | 	double preError;
139 | 	double integral;
140 | 	double derivative;
141 | 
142 | 	double Ki;
143 | 	double Kd;
144 | 	double Kp;
145 | };


--------------------------------------------------------------------------------
/makefile:
--------------------------------------------------------------------------------
 1 | IDIR = ./include
 2 | SDIR = ./source
 3 | ODIR = ./obj
 4 | LDIR = ./lib
 5 | BDIR = ./bin
 6 | 
 7 | CC=clang++
 8 | CFLAGS=-I$(IDIR) -stdlib=libc++ -std=c++11
 9 | LIBS=-lm
10 | 
11 | _DEPS = car.h accController.h cruiseController.h pidController.h
12 | DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
13 | 
14 | _OBJ = car.o accController.o cruiseController.o pidController.o 
15 | OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
16 | 
17 | $(info $$_DEPS is [${_DEPS}])
18 | $(info $$DEPS is [${DEPS}])
19 | $(info $$_OBJ is [${_OBJ}])
20 | $(info $$OBJ is [${OBJ}])
21 | 
22 | $(ODIR)/%.o: $(SDIR)/%.cpp $(DEPS)
23 | 	$(CC) -c -o $@ $< $(CFLAGS)
24 | 
25 | AdaptiveCruiseControl: $(OBJ) $(SDIR)/main.cpp
26 | 	$(CC) -o $(BDIR)/$@ $^ $(CFLAGS) $(LIBS)
27 | 
28 | .PHONY: clean
29 | 
30 | clean:
31 | 	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ 


--------------------------------------------------------------------------------
/out.csv:
--------------------------------------------------------------------------------
   1 | time, lead distance, setpoint, PV, integral, derivative, error
   2 | 0.01, 0, 3, 600.121, 0.003, 3000, 3
   3 | 0.02, 0.03, 3, 600.121, -5.37109, 0, -597.121
   4 | 0.03, -5.94121, 3, 514.552, -10.4029, 0, -511.552
   5 | 0.04, -11.9124, 3, 514.552, -15.0069, 0, -511.552
   6 | 0.05, -17.0279, 3, 439.531, -19.0107, 0, -436.531
   7 | 0.06, -22.1435, 3, 373.704, -23.1785, 0, -370.704
   8 | 0.07, -26.5088, 3, 373.704, -26.1441, 0, -370.704
   9 | 0.08, -30.2158, 3, 316.054, -29.4476, 0, -313.054
  10 | 0.09, -33.9228, 3, 265.599, -32.1642, 0, -262.599
  11 | 0.1, -37.0534, 3, 265.599, -34.5276, 0, -262.599
  12 | 0.11, -39.6794, 3, 221.472, -36.8447, 0, -218.472
  13 | 0.12, -42.3054, 3, 182.867, -38.7723, 38604.5, -179.867
  14 | 0.13, -44.4901, 3, 182.867, -40.571, 0, -179.867
  15 | 0.14, -46.2887, 3, 149.2, -41.9541, 0, -146.2
  16 | 0.15, -48.0874, 3, 119.807, -43.2405, 29392.7, -116.807
  17 | 0.16, -49.5494, 3, 119.807, -44.4086, 0, -116.807
  18 | 0.17, -50.7175, 3, 94.2022, -45.3062, 0, -91.2022
  19 | 0.18, -51.8856, 3, 71.9267, -46.1048, 22275.5, -68.9267
  20 | 0.19, -52.7976, 3, 71.9267, -46.7251, 0, -68.9267
  21 | 0.2, -53.4868, 3, 52.5768, -47.2681, 0, -49.5768
  22 | 0.21, -54.1761, 3, 52.5768, -47.6647, 0, -49.5768
  23 | 0.22, -54.6719, 3, 35.7833, -48.0261, 0, -32.7833
  24 | 0.23, -55.1676, 3, 21.2491, -48.2775, 0, -18.2491
  25 | 0.24, -55.4955, 3, 21.2491, -48.4418, 0, -18.2491
  26 | 0.25, -55.678, 3, 8.69853, -48.5182, 0, -5.69853
  27 | 0.26, -55.8605, 3, -2.11201, -48.5586, 10810.5, 5.11201
  28 | 0.27, -55.9174, 3, -2.11201, -48.5126, 0, 5.11201
  29 | 0.28, -55.8663, 3, -11.3937, -48.4295, 0, 14.3937
  30 | 0.29, -55.8152, 3, -19.3357, -48.2856, 0, 14.3937
  31 | 0.3, -55.6713, 3, -19.3357, -48.0845, 0, 22.3357
  32 | 0.31, -55.4479, 3, -26.1033, -47.8564, 0, 29.1033
  33 | 0.32, -55.2246, 3, -31.8419, -47.5654, 0, 29.1033
  34 | 0.33, -54.9335, 3, -31.8419, -47.2518, 0, 34.8419
  35 | 0.34, -54.5851, 3, -36.6796, -46.9189, 0, 39.6796
  36 | 0.35, -54.2367, 3, -36.6796, -46.5618, 0, 39.6796
  37 | 0.36, -53.8399, 3, -40.7289, -46.1723, 0, 43.7289
  38 | 0.37, -53.4431, 3, -44.0801, -45.772, 0, 47.0801
  39 | 0.38, -53.0058, 3, -44.0801, -45.3483, 0, 47.0801
  40 | 0.39, -52.535, 3, -46.8303, -44.9081, 0, 49.8303
  41 | 0.4, -52.0642, 3, -49.0559, -44.4574, 2225.65, 52.0559
  42 | 0.41, -51.5659, 3, -49.0559, -43.9889, 0, 52.0559
  43 | 0.42, -51.0453, 3, -50.8242, -43.4577, 0, 53.8242
  44 | 0.43, -50.5248, 3, -52.1835, -42.9733, 0, 53.8242
  45 | 0.44, -49.9865, 3, -52.1835, -42.4766, 0, 55.1835
  46 | 0.45, -49.4347, 3, -53.22, -42.0862, 0, 56.22
  47 | 0.46, -48.8829, 3, -53.22, -41.5802, 0, 56.22
  48 | 0.47, -48.3207, 3, -53.954, -41.2392, 0, 56.954
  49 | 0.48, -47.7585, 3, -54.4486, -40.6682, 0, 57.4486
  50 | 0.49, -47.1889, 3, -54.4486, -40.0937, 0, 57.4486
  51 | 0.5, -46.6144, 3, -54.7015, -39.5749, 0, 57.7015
  52 | 0.51, -46.04, 3, -54.7575, -38.9977, 0, 57.7575
  53 | 0.52, -45.4629, 3, -54.7575, -38.5357, 0, 57.7575
  54 | 0.53, -44.8854, 3, -54.6439, -37.9589, 0, 57.6439
  55 | 0.54, -44.3078, 3, -54.3849, -37.4406, 0, 57.3849
  56 | 0.55, -43.7313, 3, -54.3849, -36.9242, 0, 57.3849
  57 | 0.56, -43.1575, 3, -54.0014, -36.41, 0, 57.0014
  58 | 0.57, -42.5837, 3, -53.512, -35.8975, -489.398, 56.512
  59 | 0.58, -42.0136, 3, -53.512, -35.3889, 0, 56.512
  60 | 0.59, -41.4485, 3, -52.9329, -34.8832, 0, 55.9329
  61 | 0.6, -40.8834, 3, -52.267, -34.3238, 0, 55.9329
  62 | 0.61, -40.3241, 3, -52.267, -33.8264, 0, 55.267
  63 | 0.62, -39.7714, 3, -51.5397, -33.2774, 0, 54.5397
  64 | 0.63, -39.2187, 3, -51.5397, -32.7865, 0, 54.5397
  65 | 0.64, -38.6733, 3, -50.7505, -32.302, 0, 53.7505
  66 | 0.65, -38.1279, 3, -49.9213, -31.8207, 0, 52.9213
  67 | 0.66, -37.5904, 3, -49.9213, -31.3444, 0, 52.9213
  68 | 0.67, -37.0612, 3, -49.0495, -30.8213, 0, 52.0495
  69 | 0.68, -36.532, 3, -48.1435, -30.3026, 0, 51.1435
  70 | 0.69, -36.0115, 3, -48.1435, -29.8423, 0, 51.1435
  71 | 0.7, -35.5001, 3, -47.2212, -29.3876, 0, 50.2212
  72 | 0.71, -34.9886, 3, -46.2874, -28.9365, -933.809, 49.2874
  73 | 0.72, -34.4864, 3, -46.2874, -28.4929, 0, 49.2874
  74 | 0.73, -33.9935, 3, -45.3463, -28.0541, 0, 48.3463
  75 | 0.74, -33.5007, 3, -44.4016, -27.5715, -944.699, 47.4016
  76 | 0.75, -33.0172, 3, -44.4016, -27.1923, 0, 47.4016
  77 | 0.76, -32.5432, 3, -43.447, -26.7221, 0, 46.447
  78 | 0.77, -32.0692, 3, -43.447, -26.3041, 0, 46.447
  79 | 0.78, -31.6047, 3, -42.5052, -25.8946, 0, 45.5052
  80 | 0.79, -31.1402, 3, -41.5588, -25.4433, 0, 44.5588
  81 | 0.8, -30.6852, 3, -41.5588, -25.0423, 0, 44.5588
  82 | 0.81, -30.2396, 3, -40.6201, -24.6487, 0, 43.6201
  83 | 0.82, -29.794, 3, -39.682, -24.258, 0, 42.682
  84 | 0.83, -29.3578, 3, -39.682, -23.8312, 0, 42.682
  85 | 0.84, -28.931, 3, -38.7471, -23.4109, 0, 41.7471
  86 | 0.85, -28.5042, 3, -37.8263, -23.0371, 0, 40.8263
  87 | 0.86, -28.0867, 3, -37.8263, -22.6288, 0, 40.8263
  88 | 0.87, -27.6784, 3, -36.9119, -22.2668, 0, 39.9119
  89 | 0.88, -27.2702, 3, -36.0137, -21.9085, -898.151, 39.0137
  90 | 0.89, -26.8711, 3, -36.0137, -21.5574, 0, 39.0137
  91 | 0.9, -26.4809, 3, -35.1321, -21.2107, 0, 38.1321
  92 | 0.91, -26.0908, 3, -35.1321, -20.8675, 0, 38.1321
  93 | 0.92, -25.7095, 3, -34.2595, -20.5686, 0, 37.2595
  94 | 0.93, -25.3281, 3, -33.4047, -20.2349, 0, 36.4047
  95 | 0.94, -24.9555, 3, -33.4047, -19.8709, 0, 36.4047
  96 | 0.95, -24.5915, 3, -32.5604, -19.5128, 0, 35.5604
  97 | 0.96, -24.2275, 3, -31.7276, -19.1935, -832.796, 34.7276
  98 | 0.97, -23.8718, 3, -31.7276, -18.881, 0, 34.7276
  99 | 0.98, -23.5246, 3, -30.9141, -18.5725, 0, 33.9141
 100 | 0.99, -23.1773, 3, -30.1196, -18.2342, -794.519, 33.1196
 101 | 1, -22.8382, 3, -30.1196, -17.9361, 0, 33.1196
 102 | 1.01, -22.507, 3, -29.337, -17.6411, 0, 32.337
 103 | 1.02, -22.1758, 3, -29.337, -17.3501, 0, 32.337
 104 | 1.03, -21.8524, 3, -28.5733, -17.0652, 0, 31.5733
 105 | 1.04, -21.529, 3, -27.8219, -16.7825, 0, 30.8219
 106 | 1.05, -21.2133, 3, -27.8219, -16.5051, 0, 30.8219
 107 | 1.06, -20.9051, 3, -27.0832, -16.2314, 0, 30.0832
 108 | 1.07, -20.5969, 3, -26.3637, -15.9607, 0, 30.0832
 109 | 1.08, -20.296, 3, -26.3637, -15.667, 0, 29.3637
 110 | 1.09, -20.0024, 3, -25.6568, -15.4056, 0, 28.6568
 111 | 1.1, -19.7087, 3, -25.6568, -15.1477, 0, 28.6568
 112 | 1.11, -19.4222, 3, -24.9687, -14.8953, 0, 27.9687
 113 | 1.12, -19.1356, 3, -24.293, -14.6449, 0, 27.293
 114 | 1.13, -18.8559, 3, -24.293, -14.3993, 0, 27.293
 115 | 1.14, -18.583, 3, -23.6354, -14.1576, 0, 26.6354
 116 | 1.15, -18.3101, 3, -22.99, -13.9179, 0, 26.6354
 117 | 1.16, -18.0437, 3, -22.99, -13.684, 0, 25.99
 118 | 1.17, -17.7838, 3, -22.357, -13.4519, 0, 25.357
 119 | 1.18, -17.5239, 3, -22.357, -13.2491, 0, 25.357
 120 | 1.19, -17.2703, 3, -21.7467, -13.0004, 0, 24.7467
 121 | 1.2, -17.0168, 3, -21.1526, -12.7795, 0, 24.1526
 122 | 1.21, -16.7693, 3, -21.1526, -12.5621, 0, 24.1526
 123 | 1.22, -16.5278, 3, -20.574, -12.3252, 0, 23.574
 124 | 1.23, -16.2863, 3, -20.0056, -12.1142, 0, 23.0056
 125 | 1.24, -16.0505, 3, -20.0056, -11.9071, 0, 23.0056
 126 | 1.25, -15.8205, 3, -19.4525, -11.7034, 0, 22.4525
 127 | 1.26, -15.5904, 3, -18.9139, -11.4799, 0, 21.9139
 128 | 1.27, -15.3659, 3, -18.9139, -11.2608, 0, 21.9139
 129 | 1.28, -15.1467, 3, -18.3893, -11.0886, 0, 21.3893
 130 | 1.29, -14.9276, 3, -17.8783, -10.8758, 0, 20.8783
 131 | 1.3, -14.7137, 3, -17.8783, -10.6879, 0, 20.8783
 132 | 1.31, -14.5049, 3, -17.3804, -10.5029, 0, 20.3804
 133 | 1.32, -14.2961, 3, -16.8951, -10.32, -485.278, 19.8951
 134 | 1.33, -14.0923, 3, -16.8951, -10.1409, 0, 19.8951
 135 | 1.34, -13.8934, 3, -16.4221, -9.96425, 0, 19.4221
 136 | 1.35, -13.6944, 3, -16.4221, -9.78945, 0, 19.4221
 137 | 1.36, -13.5002, 3, -15.957, -9.59942, 0, 18.957
 138 | 1.37, -13.306, 3, -15.5039, -9.44912, 0, 18.5039
 139 | 1.38, -13.1164, 3, -15.5039, -9.28259, 0, 18.5039
 140 | 1.39, -12.9314, 3, -15.0625, -9.10108, 0, 18.0625
 141 | 1.4, -12.7463, 3, -14.6287, -8.93938, 0, 17.6287
 142 | 1.41, -12.5657, 3, -14.6287, -8.78073, 0, 17.6287
 143 | 1.42, -12.3894, 3, -14.2062, -8.6246, 0, 17.2062
 144 | 1.43, -12.2131, 3, -13.7948, -8.47016, -411.483, 16.7948
 145 | 1.44, -12.0411, 3, -13.7948, -8.30221, 0, 16.7948
 146 | 1.45, -11.8731, 3, -13.3905, -8.16947, 0, 16.3905
 147 | 1.46, -11.7052, 3, -13.0035, -8.03835, 0, 16.3905
 148 | 1.47, -11.5413, 3, -13.0035, -8.00634, 0, 16.0035
 149 | 1.48, -11.3812, 3, -12.6515, -7.89537, 0, 15.6515
 150 | 1.49, -11.2212, 3, -12.6515, -7.75451, 0, 15.6515
 151 | 1.5, -11.0647, 3, -12.308, -7.60108, 0, 15.308
 152 | 1.51, -10.9082, 3, -11.9668, -7.46433, 0, 14.9668
 153 | 1.52, -10.7551, 3, -11.9668, -7.31467, 0, 14.9668
 154 | 1.53, -10.6054, 3, -11.6284, -7.18233, 0, 14.6284
 155 | 1.54, -10.4558, 3, -11.2934, -7.03672, 0, 14.2934
 156 | 1.55, -10.3095, 3, -11.2934, -6.89379, 0, 14.2934
 157 | 1.56, -10.1665, 3, -10.9625, -6.76713, 0, 13.9625
 158 | 1.57, -10.0236, 3, -10.6361, -6.64147, 0, 13.9625
 159 | 1.58, -9.88398, 3, -10.6361, -6.50511, 0, 13.6361
 160 | 1.59, -9.74762, 3, -10.3144, -6.37035, 0, 13.3144
 161 | 1.6, -9.61126, 3, -10.3144, -6.23721, 0, 13.3144
 162 | 1.61, -9.47812, 3, -9.99518, -6.11993, 0, 12.9952
 163 | 1.62, -9.34497, 3, -9.68165, -5.99092, 0, 12.6816
 164 | 1.63, -9.21502, 3, -9.68165, -5.87679, 0, 12.6816
 165 | 1.64, -9.08821, 3, -9.37904, -5.77745, 0, 12.379
 166 | 1.65, -8.96139, 3, -9.08413, -5.66663, 0, 12.0841
 167 | 1.66, -8.8376, 3, -9.08413, -5.56996, 0, 12.0841
 168 | 1.67, -8.71676, 3, -8.80151, -5.47498, 0, 11.8015
 169 | 1.68, -8.59592, 3, -8.52541, -5.38057, 0, 11.8015
 170 | 1.69, -8.4779, 3, -8.52541, -5.26532, 0, 11.5254
 171 | 1.7, -8.36265, 3, -8.2557, -5.16294, 0, 11.2557
 172 | 1.71, -8.24739, 3, -8.2557, -5.05038, 0, 11.2557
 173 | 1.72, -8.13484, 3, -7.98998, -4.94048, 0, 10.99
 174 | 1.73, -8.02228, 3, -7.72849, -4.84261, 0, 10.7285
 175 | 1.74, -7.91238, 3, -7.72849, -4.74606, 0, 10.7285
 176 | 1.75, -7.80509, 3, -7.47356, -4.65154, 0, 10.4736
 177 | 1.76, -7.69781, 3, -7.225, -4.55802, 0, 10.225
 178 | 1.77, -7.59307, 3, -7.225, -4.45577, 0, 10.225
 179 | 1.78, -7.49082, 3, -6.98261, -4.36569, 0, 9.98261
 180 | 1.79, -7.38857, 3, -6.74621, -4.2863, 0, 9.74621
 181 | 1.8, -7.28875, 3, -6.74621, -4.19858, 0, 9.74621
 182 | 1.81, -7.19129, 3, -6.51561, -4.10274, 0, 9.51561
 183 | 1.82, -7.09382, 3, -6.28874, -4.01732, -226.863, 9.28874
 184 | 1.83, -6.99867, 3, -6.28874, -3.93372, 0, 9.28874
 185 | 1.84, -6.90578, 3, -6.06949, -3.85144, 0, 9.06949
 186 | 1.85, -6.81289, 3, -5.85373, -3.76982, 0, 9.06949
 187 | 1.86, -6.7222, 3, -5.85373, -3.69013, 0, 8.85373
 188 | 1.87, -6.63366, 3, -5.64338, -3.61129, 0, 8.64338
 189 | 1.88, -6.54512, 3, -5.64338, -3.5335, 0, 8.64338
 190 | 1.89, -6.45869, 3, -5.43828, -3.45735, 0, 8.43828
 191 | 1.9, -6.37226, 3, -5.23826, -3.38201, 0, 8.23826
 192 | 1.91, -6.28787, 3, -5.23826, -3.30786, 0, 8.23826
 193 | 1.92, -6.20549, 3, -5.04318, -3.23508, 0, 8.04318
 194 | 1.93, -6.12311, 3, -4.8545, -3.16326, 0, 7.8545
 195 | 1.94, -6.04268, 3, -4.8545, -3.08472, 0, 7.8545
 196 | 1.95, -5.96413, 3, -4.66867, -3.01533, 0, 7.66867
 197 | 1.96, -5.88559, 3, -4.48892, -2.94685, 0, 7.48892
 198 | 1.97, -5.8089, 3, -4.48892, -2.87945, 0, 7.48892
 199 | 1.98, -5.73401, 3, -4.31337, -2.80596, 0, 7.31337
 200 | 1.99, -5.65912, 3, -4.14191, -2.74048, 0, 7.14191
 201 | 2, -5.58599, 3, -4.14191, -2.67621, 0, 7.14191
 202 | 2.01, -5.51457, 3, -3.97443, -2.60613, 0, 6.97443
 203 | 2.02, -5.44315, 3, -3.81086, -2.55066, 0, 6.81086
 204 | 2.03, -5.3734, 3, -3.81086, -2.48936, 0, 6.81086
 205 | 2.04, -5.3053, 3, -3.64977, -2.42887, 0, 6.64977
 206 | 2.05, -5.23719, 3, -3.4926, -2.36253, -157.163, 6.4926
 207 | 2.06, -5.17069, 3, -3.4926, -2.3041, 0, 6.4926
 208 | 2.07, -5.10576, 3, -3.33926, -2.24009, 0, 6.33926
 209 | 2.08, -5.04084, 3, -3.18964, -2.18938, 0, 6.33926
 210 | 2.09, -4.97744, 3, -3.18964, -2.12748, 0, 6.18964
 211 | 2.1, -4.91555, 3, -3.04364, -2.0725, 0, 6.04364
 212 | 2.11, -4.85365, 3, -3.04364, -2.02415, 0, 6.04364
 213 | 2.12, -4.79322, 3, -2.89994, -1.97077, 0, 5.89994
 214 | 2.13, -4.73278, 3, -2.75866, -1.91205, 0, 5.75866
 215 | 2.14, -4.67378, 3, -2.75866, -1.86022, 0, 5.75866
 216 | 2.15, -4.61619, 3, -2.61989, -1.80909, 0, 5.61989
 217 | 2.16, -4.55861, 3, -2.4848, -1.75302, -135.082, 5.4848
 218 | 2.17, -4.50241, 3, -2.4848, -1.69818, 0, 5.4848
 219 | 2.18, -4.44756, 3, -2.35328, -1.6496, 0, 5.35328
 220 | 2.19, -4.39271, 3, -2.22517, -1.60155, -128.104, 5.22517
 221 | 2.2, -4.33918, 3, -2.22517, -1.5493, 0, 5.22517
 222 | 2.21, -4.28693, 3, -2.09933, -1.508, 0, 5.09933
 223 | 2.22, -4.23468, 3, -2.09933, -1.45701, 0, 5.09933
 224 | 2.23, -4.18368, 3, -1.97682, -1.41222, 0, 4.97682
 225 | 2.24, -4.13269, 3, -1.85654, -1.36779, 0, 4.85654
 226 | 2.25, -4.08292, 3, -1.85654, -1.31922, 0, 4.85654
 227 | 2.26, -4.03436, 3, -1.7395, -1.27645, 0, 4.7395
 228 | 2.27, -3.98579, 3, -1.62557, -1.22951, 0, 4.62557
 229 | 2.28, -3.9384, 3, -1.62557, -1.18788, 0, 4.62557
 230 | 2.29, -3.89214, 3, -1.51371, -1.14252, 0, 4.51371
 231 | 2.3, -3.84588, 3, -1.40488, -1.10222, 0, 4.40488
 232 | 2.31, -3.80075, 3, -1.40488, -1.06258, 0, 4.40488
 233 | 2.32, -3.7567, 3, -1.29895, -1.02367, 0, 4.29895
 234 | 2.33, -3.71265, 3, -1.19581, -0.985189, 0, 4.19581
 235 | 2.34, -3.66966, 3, -1.19581, -0.951623, 0, 4.19581
 236 | 2.35, -3.6277, 3, -1.09537, -0.910267, 0, 4.09537
 237 | 2.36, -3.58574, 3, -0.997518, -0.873507, -97.8507, 3.99752
 238 | 2.37, -3.54479, 3, -0.997518, -0.833532, 0, 3.99752
 239 | 2.38, -3.50481, 3, -0.902173, -0.798126, 0, 3.90217
 240 | 2.39, -3.46484, 3, -0.80847, -0.763007, 0, 3.90217
 241 | 2.4, -3.42582, 3, -0.80847, -0.72873, 0, 3.80847
 242 | 2.41, -3.38773, 3, -0.717222, -0.694819, 0, 3.71722
 243 | 2.42, -3.34965, 3, -0.717222, -0.661364, 0, 3.71722
 244 | 2.43, -3.31248, 3, -0.62834, -0.62862, 0, 3.62834
 245 | 2.44, -3.2753, 3, -0.541743, -0.596225, 0, 3.54174
 246 | 2.45, -3.23902, 3, -0.541743, -0.564349, 0, 3.54174
 247 | 2.46, -3.2036, 3, -0.457352, -0.529607, 0, 3.45735
 248 | 2.47, -3.16819, 3, -0.374404, -0.495282, 0, 3.3744
 249 | 2.48, -3.13361, 3, -0.374404, -0.481785, 0, 3.3744
 250 | 2.49, -3.09987, 3, -0.296319, -0.448587, 0, 3.29632
 251 | 2.5, -3.06612, 3, -0.219278, -0.418997, -77.0414, 3.21928
 252 | 2.51, -3.03316, 3, -0.219278, -0.386805, 0, 3.21928
 253 | 2.52, -3.00097, 3, -0.143365, -0.355067, 0, 3.14336
 254 | 2.53, -2.96877, 3, -0.068649, -0.326777, 0, 3.14336
 255 | 2.54, -2.93734, 3, -0.068649, -0.296091, 0, 3.06865
 256 | 2.55, -2.90665, 3, 0.00481238, -0.265771, 0, 2.99519
 257 | 2.56, -2.87597, 3, 0.00481238, -0.238815, 0, 2.99519
 258 | 2.57, -2.84602, 3, 0.0769747, -0.215358, 0, 2.92303
 259 | 2.58, -2.81606, 3, 0.14605, -0.186473, 0, 2.85395
 260 | 2.59, -2.78683, 3, 0.14605, -0.16935, 0, 2.85395
 261 | 2.6, -2.75829, 3, 0.212304, -0.144194, 0, 2.7877
 262 | 2.61, -2.72976, 3, 0.27653, -0.116638, 0, 2.72347
 263 | 2.62, -2.70188, 3, 0.27653, -0.0948506, 0, 2.72347
 264 | 2.63, -2.67464, 3, 0.33939, -0.0681817, 0, 2.66061
 265 | 2.64, -2.64741, 3, 0.400368, -0.0445411, 0, 2.59963
 266 | 2.65, -2.6208, 3, 0.459048, -0.0263437, 0, 2.59963
 267 | 2.66, -2.59481, 3, 0.459048, -0.00347509, 0, 2.54095
 268 | 2.67, -2.5694, 3, 0.51561, 0.0140853, 0, 2.48439
 269 | 2.68, -2.54399, 3, 0.568726, 0.0338011, 0, 2.43127
 270 | 2.69, -2.51914, 3, 0.568726, 0.0532513, 0, 2.43127
 271 | 2.7, -2.49483, 3, 0.621214, 0.072439, 0, 2.37879
 272 | 2.71, -2.47052, 3, 0.672062, 0.0914185, -50.8482, 2.32794
 273 | 2.72, -2.44673, 3, 0.672062, 0.107714, 0, 2.32794
 274 | 2.73, -2.42345, 3, 0.721378, 0.128419, 0, 2.27862
 275 | 2.74, -2.40017, 3, 0.721378, 0.146648, 0, 2.27862
 276 | 2.75, -2.37739, 3, 0.770171, 0.164535, 0, 2.22983
 277 | 2.76, -2.3546, 3, 0.81793, 0.18446, 0, 2.18207
 278 | 2.77, -2.3323, 3, 0.81793, 0.197553, 0, 2.18207
 279 | 2.78, -2.31048, 3, 0.864676, 0.216958, 0, 2.13532
 280 | 2.79, -2.28866, 3, 0.910429, 0.23613, -45.7535, 2.08957
 281 | 2.8, -2.26731, 3, 0.910429, 0.254936, 0, 2.08957
 282 | 2.81, -2.24641, 3, 0.956046, 0.275604, 0, 2.04395
 283 | 2.82, -2.22551, 3, 1.00141, 0.296043, 0, 2.04395
 284 | 2.83, -2.20508, 3, 1.00141, 0.316029, 0, 1.99859
 285 | 2.84, -2.18509, 3, 1.04682, 0.335833, 0, 1.95318
 286 | 2.85, -2.1651, 3, 1.04682, 0.355365, 0, 1.95318
 287 | 2.86, -2.14557, 3, 1.09172, 0.372585, 0, 1.90828
 288 | 2.87, -2.12604, 3, 1.13607, 0.391534, 0, 1.86393
 289 | 2.88, -2.10696, 3, 1.13607, 0.40831, 0, 1.86393
 290 | 2.89, -2.08832, 3, 1.17943, 0.424782, 0, 1.82057
 291 | 2.9, -2.06968, 3, 1.22181, 0.441082, 0, 1.77819
 292 | 2.91, -2.05147, 3, 1.22181, 0.458864, 0, 1.77819
 293 | 2.92, -2.03369, 3, 1.2636, 0.474617, 0, 1.7364
 294 | 2.93, -2.01591, 3, 1.3044, 0.490204, -40.7976, 1.6956
 295 | 2.94, -1.99854, 3, 1.3044, 0.50716, 0, 1.6956
 296 | 2.95, -1.98159, 3, 1.34423, 0.522181, 0, 1.65577
 297 | 2.96, -1.96463, 3, 1.38312, 0.537044, -38.8931, 1.61688
 298 | 2.97, -1.94808, 3, 1.38312, 0.551596, 0, 1.61688
 299 | 2.98, -1.93191, 3, 1.4211, 0.565958, 0, 1.5789
 300 | 2.99, -1.91574, 3, 1.45818, 0.580168, 0, 1.5789
 301 | 3, -1.89995, 3, 1.45818, 0.594044, 0, 1.54182
 302 | 3.01, -1.88453, 3, 1.49438, 0.607776, 0, 1.50562
 303 | 3.02, -1.86911, 3, 1.49438, 0.621327, 0, 1.50562
 304 | 3.03, -1.85406, 3, 1.53004, 0.634628, 0, 1.46996
 305 | 3.04, -1.839, 3, 1.56452, 0.647754, 0, 1.43548
 306 | 3.05, -1.8243, 3, 1.56452, 0.662109, 0, 1.43548
 307 | 3.06, -1.80995, 3, 1.59849, 0.67479, 0, 1.40151
 308 | 3.07, -1.79559, 3, 1.63162, 0.688706, 0, 1.36838
 309 | 3.08, -1.78158, 3, 1.63162, 0.699653, 0, 1.36838
 310 | 3.09, -1.76789, 3, 1.66367, 0.71308, 0, 1.33633
 311 | 3.1, -1.75421, 3, 1.69524, 0.725044, 0, 1.30476
 312 | 3.11, -1.74084, 3, 1.69524, 0.736787, 0, 1.30476
 313 | 3.12, -1.7278, 3, 1.72605, 0.748345, 0, 1.27395
 314 | 3.13, -1.71475, 3, 1.75585, 0.759751, 0, 1.24415
 315 | 3.14, -1.70201, 3, 1.75585, 0.770948, 0, 1.24415
 316 | 3.15, -1.68957, 3, 1.78522, 0.781999, 0, 1.21478
 317 | 3.16, -1.67713, 3, 1.78522, 0.792932, 0, 1.21478
 318 | 3.17, -1.66498, 3, 1.81388, 0.803607, 0, 1.18612
 319 | 3.18, -1.65283, 3, 1.84184, 0.813012, 0, 1.15816
 320 | 3.19, -1.64097, 3, 1.84184, 0.824594, 0, 1.15816
 321 | 3.2, -1.62939, 3, 1.86913, 0.833668, 0, 1.13087
 322 | 3.21, -1.61781, 3, 1.89577, 0.844896, 0, 1.10423
 323 | 3.22, -1.6065, 3, 1.89577, 0.854835, 0, 1.10423
 324 | 3.23, -1.59546, 3, 1.92199, 0.864615, 0, 1.07801
 325 | 3.24, -1.58441, 3, 1.94756, 0.874292, -25.5689, 1.05244
 326 | 3.25, -1.57363, 3, 1.94756, 0.883764, 0, 1.05244
 327 | 3.26, -1.56311, 3, 1.9725, 0.893111, 0, 1.0275
 328 | 3.27, -1.55258, 3, 1.99682, 0.902359, 0, 1.0275
 329 | 3.28, -1.54231, 3, 1.99682, 0.911387, 0, 1.00318
 330 | 3.29, -1.53228, 3, 2.02055, 0.920321, 0, 0.979455
 331 | 3.3, -1.52225, 3, 2.02055, 0.929136, 0, 0.979455
 332 | 3.31, -1.51245, 3, 2.0435, 0.937744, 0, 0.956504
 333 | 3.32, -1.50266, 3, 2.0661, 0.946285, 0, 0.933896
 334 | 3.33, -1.49309, 3, 2.0661, 0.95469, 0, 0.933896
 335 | 3.34, -1.48375, 3, 2.08797, 0.962942, 0, 0.912026
 336 | 3.35, -1.47441, 3, 2.10934, 0.971086, 0, 0.89066
 337 | 3.36, -1.46529, 3, 2.10934, 0.979102, 0, 0.89066
 338 | 3.37, -1.45639, 3, 2.13039, 0.986122, 0, 0.869612
 339 | 3.38, -1.44748, 3, 2.15075, 0.993929, -20.3616, 0.849251
 340 | 3.39, -1.43878, 3, 2.15075, 1.00157, 0, 0.849251
 341 | 3.4, -1.43029, 3, 2.17064, 1.00914, 0, 0.829362
 342 | 3.41, -1.4218, 3, 2.19023, 1.01743, 0, 0.829362
 343 | 3.42, -1.41351, 3, 2.19023, 1.02472, 0, 0.809765
 344 | 3.43, -1.40541, 3, 2.20935, 1.03193, 0, 0.790645
 345 | 3.44, -1.39731, 3, 2.20935, 1.03904, 0, 0.790645
 346 | 3.45, -1.3894, 3, 2.22801, 1.04601, 0, 0.771988
 347 | 3.46, -1.3815, 3, 2.24622, 1.0529, 0, 0.753781
 348 | 3.47, -1.37378, 3, 2.24622, 1.05969, 0, 0.753781
 349 | 3.48, -1.36624, 3, 2.26399, 1.06488, 0, 0.736013
 350 | 3.49, -1.3587, 3, 2.28089, 1.07073, 0, 0.719112
 351 | 3.5, -1.35134, 3, 2.28089, 1.07792, 0, 0.719112
 352 | 3.51, -1.34415, 3, 2.29744, 1.08287, 0, 0.702565
 353 | 3.52, -1.33696, 3, 2.31335, 1.08779, 0, 0.702565
 354 | 3.53, -1.32993, 3, 2.31335, 1.09122, 0, 0.686648
 355 | 3.54, -1.32307, 3, 2.328, 1.09663, 0, 0.671998
 356 | 3.55, -1.3162, 3, 2.34235, 1.10265, 0, 0.657652
 357 | 3.56, -1.30948, 3, 2.34235, 1.10725, 0, 0.657652
 358 | 3.57, -1.3029, 3, 2.3564, 1.1131, 0, 0.643604
 359 | 3.58, -1.29633, 3, 2.36989, 1.11759, -13.4969, 0.630107
 360 | 3.59, -1.28989, 3, 2.36989, 1.12326, 0, 0.630107
 361 | 3.6, -1.28359, 3, 2.38326, 1.12825, 0, 0.616735
 362 | 3.61, -1.27729, 3, 2.38326, 1.13318, 0, 0.616735
 363 | 3.62, -1.27112, 3, 2.39649, 1.13864, 0, 0.603509
 364 | 3.63, -1.26496, 3, 2.40956, 1.14346, -13.0646, 0.590444
 365 | 3.64, -1.25892, 3, 2.40956, 1.14759, 0, 0.590444
 366 | 3.65, -1.25302, 3, 2.42221, 1.15342, 0, 0.577792
 367 | 3.66, -1.24711, 3, 2.42221, 1.15804, 0, 0.577792
 368 | 3.67, -1.24133, 3, 2.43471, 1.16256, 0, 0.565293
 369 | 3.68, -1.23556, 3, 2.4467, 1.16592, 0, 0.5533
 370 | 3.69, -1.2299, 3, 2.4467, 1.17035, 0, 0.5533
 371 | 3.7, -1.22437, 3, 2.45845, 1.17578, 0, 0.541547
 372 | 3.71, -1.21884, 3, 2.46997, 1.17955, 0, 0.530032
 373 | 3.72, -1.21342, 3, 2.46997, 1.18379, 0, 0.530032
 374 | 3.73, -1.20812, 3, 2.48135, 1.18902, 0, 0.518645
 375 | 3.74, -1.20282, 1, 2.4105, 1.18124, 70.8586, -1.4105
 376 | 3.75, -1.21763, 1, 2.4105, 1.16996, 0, -1.4105
 377 | 3.76, -1.23174, 1, 2.34589, 1.15759, 0, -1.34589
 378 | 3.77, -1.24584, 1, 2.34589, 1.14682, 0, -1.34589
 379 | 3.78, -1.2593, 1, 2.28683, 1.13524, 0, -1.28683
 380 | 3.79, -1.27276, 1, 2.23244, 1.12388, 0, -1.23244
 381 | 3.8, -1.28563, 1, 2.23244, 1.11525, 0, -1.23244
 382 | 3.81, -1.29795, 1, 2.18294, 1.1046, 0, -1.18294
 383 | 3.82, -1.31028, 1, 2.13731, 1.09418, 0, -1.13731
 384 | 3.83, -1.32211, 1, 2.0951, 1.08509, 0, -1.13731
 385 | 3.84, -1.33348, 1, 2.0951, 1.07633, 0, -1.0951
 386 | 3.85, -1.34443, 1, 2.05618, 1.06666, 0, -1.05618
 387 | 3.86, -1.35538, 1, 2.02017, 1.05825, 36.0104, -1.02017
 388 | 3.87, -1.36595, 1, 2.02017, 1.05111, 0, -1.02017
 389 | 3.88, -1.37615, 1, 1.98736, 1.04318, 0, -0.98736
 390 | 3.89, -1.38635, 1, 1.95658, 1.03534, 0, -0.95658
 391 | 3.9, -1.39622, 1, 1.95658, 1.02864, 0, -0.95658
 392 | 3.91, -1.40579, 1, 1.92762, 1.02018, 0, -0.927623
 393 | 3.92, -1.41535, 1, 1.92762, 1.01276, 0, -0.927623
 394 | 3.93, -1.42463, 1, 1.90031, 1.00466, 0, -0.900308
 395 | 3.94, -1.43391, 1, 1.87448, 0.997557, 0, -0.874476
 396 | 3.95, -1.44291, 1, 1.87448, 0.990562, 0, -0.874476
 397 | 3.96, -1.45165, 1, 1.84999, 0.982887, 0, -0.849986
 398 | 3.97, -1.4604, 1, 1.82689, 0.97618, 0, -0.826886
 399 | 3.98, -1.4689, 1, 1.82689, 0.969565, 0, -0.826886
 400 | 3.99, -1.47717, 1, 1.80487, 0.962299, 0, -0.804869
 401 | 4, -1.48544, 1, 1.78384, 0.957491, 21.0268, -0.783842
 402 | 4.01, -1.49348, 1, 1.76419, 0.950436, 0, -0.783842
 403 | 4.02, -1.50132, 1, 1.76419, 0.943558, 0, -0.764192
 404 | 4.03, -1.50897, 1, 1.74546, 0.939775, 0, -0.745458
 405 | 4.04, -1.51661, 1, 1.74546, 0.933811, 0, -0.745458
 406 | 4.05, -1.52406, 1, 1.72786, 0.927988, 0, -0.727856
 407 | 4.06, -1.53152, 1, 1.71068, 0.921489, 0, -0.710681
 408 | 4.07, -1.53879, 1, 1.71068, 0.914382, 0, -0.710681
 409 | 4.08, -1.5459, 1, 1.69392, 0.909508, 0, -0.69392
 410 | 4.09, -1.55301, 1, 1.6777, 0.903295, 0, -0.677701
 411 | 4.1, -1.55995, 1, 1.6777, 0.897196, 0, -0.677701
 412 | 4.11, -1.56672, 1, 1.66172, 0.891177, 0, -0.66172
 413 | 4.12, -1.5735, 1, 1.64612, 0.884575, 15.5966, -0.646123
 414 | 4.13, -1.58012, 1, 1.64612, 0.87876, 0, -0.646123
 415 | 4.14, -1.58658, 1, 1.6309, 0.873021, 0, -0.630901
 416 | 4.15, -1.59304, 1, 1.6309, 0.867974, 0, -0.630901
 417 | 4.16, -1.59935, 1, 1.61604, 0.861798, 0, -0.616044
 418 | 4.17, -1.60566, 1, 1.60142, 0.856298, 0, -0.601418
 419 | 4.18, -1.61182, 1, 1.60142, 0.850885, 0, -0.601418
 420 | 4.19, -1.61783, 1, 1.58728, 0.845585, 0, -0.587276
 421 | 4.2, -1.62385, 1, 1.57359, 0.840355, 0, -0.573587
 422 | 4.21, -1.62972, 1, 1.57359, 0.835192, 0, -0.573587
 423 | 4.22, -1.63546, 1, 1.56021, 0.830137, 0, -0.560209
 424 | 4.23, -1.64119, 1, 1.54702, 0.825122, 0, -0.547023
 425 | 4.24, -1.64679, 1, 1.54702, 0.819651, 0, -0.547023
 426 | 4.25, -1.65226, 1, 1.53415, 0.815887, 0, -0.534151
 427 | 4.26, -1.65774, 1, 1.52159, 0.811079, 0, -0.534151
 428 | 4.27, -1.66308, 1, 1.52159, 0.806385, 0, -0.521586
 429 | 4.28, -1.66829, 1, 1.50932, 0.801231, 0, -0.509319
 430 | 4.29, -1.67351, 1, 1.50932, 0.796647, 0, -0.509319
 431 | 4.3, -1.6786, 1, 1.49724, 0.791662, 0, -0.497242
 432 | 4.31, -1.68369, 1, 1.48546, 0.787234, 0, -0.485463
 433 | 4.32, -1.68867, 1, 1.48546, 0.782865, 0, -0.485463
 434 | 4.33, -1.69352, 1, 1.47388, 0.778103, 0, -0.473877
 435 | 4.34, -1.69838, 1, 1.46259, 0.774335, 0, -0.462586
 436 | 4.35, -1.70312, 1, 1.46259, 0.770171, 0, -0.462586
 437 | 4.36, -1.70774, 1, 1.45167, 0.765633, 0, -0.451673
 438 | 4.37, -1.71237, 1, 1.44093, 0.761589, 0, -0.440933
 439 | 4.38, -1.71688, 1, 1.44093, 0.757621, 0, -0.440933
 440 | 4.39, -1.72129, 1, 1.43046, 0.754146, 0, -0.430462
 441 | 4.4, -1.7257, 1, 1.42034, 0.749861, 0, -0.420338
 442 | 4.41, -1.73001, 1, 1.42034, 0.746078, 0, -0.420338
 443 | 4.42, -1.73421, 1, 1.41037, 0.742755, 0, -0.41037
 444 | 4.43, -1.73841, 1, 1.41037, 0.738652, 0, -0.41037
 445 | 4.44, -1.74252, 1, 1.40065, 0.735046, 0, -0.400649
 446 | 4.45, -1.74662, 1, 1.39109, 0.73186, 0, -0.391086
 447 | 4.46, -1.75063, 1, 1.39109, 0.72834, 0, -0.391086
 448 | 4.47, -1.75454, 1, 1.38185, 0.724503, 0, -0.381846
 449 | 4.48, -1.75845, 1, 1.37298, 0.721857, 0, -0.372982
 450 | 4.49, -1.76227, 1, 1.37298, 0.7185, 0, -0.372982
 451 | 4.5, -1.766, 1, 1.36432, 0.715204, 0, -0.364316
 452 | 4.51, -1.76973, 1, 1.35577, 0.711578, 0, -0.355769
 453 | 4.52, -1.77337, 1, 1.35577, 0.708376, 0, -0.355769
 454 | 4.53, -1.77693, 1, 1.34749, 0.705223, 0, -0.347494
 455 | 4.54, -1.78049, 1, 1.33933, 0.701765, 0, -0.339334
 456 | 4.55, -1.78396, 1, 1.33933, 0.698711, 0, -0.339334
 457 | 4.56, -1.78735, 1, 1.3313, 0.695366, 0, -0.331298
 458 | 4.57, -1.79075, 1, 1.32353, 0.6924, 0, -0.323525
 459 | 4.58, -1.79406, 1, 1.32353, 0.689488, 0, -0.323525
 460 | 4.59, -1.7973, 1, 1.31587, 0.686298, 0, -0.315871
 461 | 4.6, -1.80053, 1, 1.3084, 0.683772, 0, -0.315871
 462 | 4.61, -1.80369, 1, 1.3084, 0.680996, 0, -0.308403
 463 | 4.62, -1.80677, 1, 1.30112, 0.677948, 0, -0.301117
 464 | 4.63, -1.80986, 1, 1.29407, 0.675539, 0, -0.301117
 465 | 4.64, -1.81287, 1, 1.29407, 0.672893, 0, -0.294069
 466 | 4.65, -1.81581, 1, 1.28712, 0.66998, 0, -0.287125
 467 | 4.66, -1.81875, 1, 1.28712, 0.667396, 0, -0.287125
 468 | 4.67, -1.82162, 1, 1.28035, 0.664866, 0, -0.280349
 469 | 4.68, -1.82449, 1, 1.27368, 0.662082, 0, -0.273681
 470 | 4.69, -1.8273, 1, 1.27368, 0.659345, 0, -0.273681
 471 | 4.7, -1.83003, 1, 1.26718, 0.656934, 0, -0.26718
 472 | 4.71, -1.83277, 1, 1.26079, 0.654543, 0, -0.260788
 473 | 4.72, -1.83544, 1, 1.26079, 0.652195, 0, -0.260788
 474 | 4.73, -1.83805, 1, 1.25456, 0.649631, 0, -0.25456
 475 | 4.74, -1.84066, 1, 1.24849, 0.647352, 0, -0.248491
 476 | 4.75, -1.8432, 1, 1.24849, 0.645116, 0, -0.248491
 477 | 4.76, -1.84569, 1, 1.24258, 0.642915, 0, -0.242577
 478 | 4.77, -1.84817, 1, 1.23676, 0.640732, 0, -0.242577
 479 | 4.78, -1.8506, 1, 1.23676, 0.638601, 0, -0.236762
 480 | 4.79, -1.85297, 1, 1.23115, 0.636729, 0, -0.231146
 481 | 4.8, -1.85533, 1, 1.23115, 0.634418, 0, -0.231146
 482 | 4.81, -1.85765, 1, 1.22567, 0.632607, 0, -0.225669
 483 | 4.82, -1.85996, 1, 1.22028, 0.630366, 0, -0.220281
 484 | 4.83, -1.86221, 1, 1.22028, 0.628384, 0, -0.220281
 485 | 4.84, -1.86442, 1, 1.21503, 0.626438, 0, -0.21503
 486 | 4.85, -1.86662, 1, 1.20996, 0.624518, 0, -0.209956
 487 | 4.86, -1.86877, 1, 1.20996, 0.622418, 0, -0.209956
 488 | 4.87, -1.87087, 1, 1.20496, 0.620564, 0, -0.204962
 489 | 4.88, -1.87297, 1, 1.20009, 0.618529, 0, -0.200093
 490 | 4.89, -1.87502, 1, 1.20009, 0.616728, 0, -0.200093
 491 | 4.9, -1.87702, 1, 1.19535, 0.61496, 0, -0.195345
 492 | 4.91, -1.87902, 1, 1.19072, 0.613212, 0, -0.190716
 493 | 4.92, -1.88097, 1, 1.19072, 0.611495, 0, -0.190716
 494 | 4.93, -1.88288, 1, 1.18624, 0.60981, 0, -0.186238
 495 | 4.94, -1.88479, 1, 1.18187, 0.608143, 0, -0.181866
 496 | 4.95, -1.88665, 1, 1.18187, 0.606324, 0, -0.181866
 497 | 4.96, -1.88847, 1, 1.17756, 0.604713, 0, -0.177561
 498 | 4.97, -1.89029, 1, 1.1734, 0.603292, 0, -0.177561
 499 | 4.98, -1.89206, 1, 1.1734, 0.601559, 0, -0.173396
 500 | 4.99, -1.8938, 1, 1.16933, 0.600022, 0, -0.169328
 501 | 5, -1.89553, 1, 1.16933, 0.598668, 0, -0.169328
 502 | 5.01, -1.89722, 1, 1.16532, 0.597011, 0, -0.165322
 503 | 5.02, -1.89892, 1, 1.16141, 0.595538, 0, -0.161414
 504 | 5.03, -1.90057, 1, 1.16141, 0.594086, 0, -0.161414
 505 | 5.04, -1.90219, 1, 1.1576, 0.592821, 0, -0.157601
 506 | 5.05, -1.9038, 1, 1.15388, 0.591256, 0, -0.15388
 507 | 5.06, -1.90538, 1, 1.15388, 0.589871, 0, -0.15388
 508 | 5.07, -1.90691, 1, 1.15025, 0.588512, 0, -0.15025
 509 | 5.08, -1.90845, 1, 1.14668, 0.587163, 3.57301, -0.146677
 510 | 5.09, -1.90996, 1, 1.14668, 0.585843, 0, -0.146677
 511 | 5.1, -1.91142, 1, 1.14319, 0.58454, 0, -0.143193
 512 | 5.11, -1.91289, 1, 1.14319, 0.583395, 0, -0.143193
 513 | 5.12, -1.91432, 1, 1.1398, 0.582133, 0, -0.139796
 514 | 5.13, -1.91575, 1, 1.13648, 0.580748, 0, -0.136484
 515 | 5.14, -1.91715, 1, 1.13648, 0.57952, 0, -0.136484
 516 | 5.15, -1.91852, 1, 1.13325, 0.578318, 0, -0.133253
 517 | 5.16, -1.91988, 1, 1.1301, 0.576998, 0, -0.130101
 518 | 5.17, -1.92121, 1, 1.1301, 0.575957, 0, -0.130101
 519 | 5.18, -1.92251, 1, 1.12703, 0.574807, 0, -0.127026
 520 | 5.19, -1.92381, 1, 1.124, 0.573667, 3.02541, -0.124001
 521 | 5.2, -1.92509, 1, 1.124, 0.572427, 0, -0.124001
 522 | 5.21, -1.92633, 1, 1.12105, 0.571329, 0, -0.121052
 523 | 5.22, -1.92757, 1, 1.1182, 0.570245, 0, -0.118201
 524 | 5.23, -1.92878, 1, 1.1182, 0.569181, 0, -0.118201
 525 | 5.24, -1.92996, 1, 1.11542, 0.568247, 0, -0.115418
 526 | 5.25, -1.93114, 1, 1.1127, 0.567208, 0, -0.115418
 527 | 5.26, -1.93229, 1, 1.1127, 0.566081, 0, -0.112701
 528 | 5.27, -1.93342, 1, 1.11003, 0.565077, 0, -0.110026
 529 | 5.28, -1.93455, 1, 1.11003, 0.564087, 0, -0.110026
 530 | 5.29, -1.93565, 1, 1.1074, 0.563008, 0, -0.107396
 531 | 5.3, -1.93675, 1, 1.10483, 0.562049, 0, -0.104833
 532 | 5.31, -1.93782, 1, 1.10483, 0.561001, 0, -0.104833
 533 | 5.32, -1.93887, 1, 1.10234, 0.560077, 0, -0.102336
 534 | 5.33, -1.93992, 1, 1.09988, 0.559061, 0, -0.0998811
 535 | 5.34, -1.94094, 1, 1.09988, 0.558162, 0, -0.0998811
 536 | 5.35, -1.94194, 1, 1.09749, 0.55728, 0, -0.0974903
 537 | 5.36, -1.94294, 1, 1.09516, 0.556407, 0, -0.0951612
 538 | 5.37, -1.94391, 1, 1.09516, 0.555551, 0, -0.0951612
 539 | 5.38, -1.94487, 1, 1.09287, 0.554799, 0, -0.0928727
 540 | 5.39, -1.94582, 1, 1.09287, 0.553963, 0, -0.0928727
 541 | 5.4, -1.94675, 1, 1.09064, 0.553145, 0, -0.0906445
 542 | 5.41, -1.94768, 1, 1.08847, 0.552336, 0, -0.0884745
 543 | 5.42, -1.94858, 1, 1.08847, 0.551539, 0, -0.0884745
 544 | 5.43, -1.94947, 1, 1.08636, 0.550758, 0, -0.0863605
 545 | 5.44, -1.95035, 1, 1.08428, 0.549898, 0, -0.0842835
 546 | 5.45, -1.95122, 1, 1.08428, 0.54914, 0, -0.0842835
 547 | 5.46, -1.95206, 1, 1.08226, 0.548393, 0, -0.0822612
 548 | 5.47, -1.9529, 1, 1.08029, 0.547655, 1.96949, -0.0802917
 549 | 5.48, -1.95372, 1, 1.08029, 0.546932, 0, -0.0802917
 550 | 5.49, -1.95453, 1, 1.07837, 0.546219, 0, -0.0783731
 551 | 5.5, -1.95533, 1, 1.0765, 0.545438, 1.86942, -0.0765037
 552 | 5.51, -1.95611, 1, 1.0765, 0.544749, 0, -0.0765037
 553 | 5.52, -1.95688, 1, 1.07467, 0.544143, 0, -0.0746665
 554 | 5.53, -1.95764, 1, 1.07467, 0.543396, 0, -0.0746665
 555 | 5.54, -1.95839, 1, 1.07288, 0.542738, 0, -0.0728774
 556 | 5.55, -1.95914, 1, 1.07113, 0.542088, 0, -0.0711348
 557 | 5.56, -1.95987, 1, 1.07113, 0.541447, 0, -0.0711348
 558 | 5.57, -1.96058, 1, 1.06944, 0.54075, 0, -0.0694369
 559 | 5.58, -1.96129, 1, 1.06778, 0.540197, 0, -0.0677823
 560 | 5.59, -1.96198, 1, 1.06778, 0.53952, 0, -0.0677823
 561 | 5.6, -1.96266, 2, 1.06617, 0.544987, 0, 0.93383
 562 | 5.61, -1.95334, 2, 1.1074, 0.554243, 0, 0.892603
 563 | 5.62, -1.944, 2, 1.1074, 0.562276, 0, 0.892603
 564 | 5.63, -1.93507, 2, 1.14535, 0.570082, 0, 0.854647
 565 | 5.64, -1.92615, 2, 1.18056, 0.577774, 0, 0.854647
 566 | 5.65, -1.9176, 2, 1.18056, 0.585149, 0, 0.819442
 567 | 5.66, -1.90941, 2, 1.21313, 0.592393, 0, 0.786871
 568 | 5.67, -1.90121, 2, 1.21313, 0.600262, 0, 0.786871
 569 | 5.68, -1.89334, 2, 1.24334, 0.607072, 0, 0.756657
 570 | 5.69, -1.88547, 2, 1.2716, 0.614526, 0, 0.728402
 571 | 5.7, -1.87791, 2, 1.2716, 0.621081, 0, 0.728402
 572 | 5.71, -1.87062, 2, 1.29808, 0.62675, 0, 0.701918
 573 | 5.72, -1.86334, 2, 1.32282, 0.633719, 0, 0.677177
 574 | 5.73, -1.85632, 2, 1.32282, 0.639814, 0, 0.677177
 575 | 5.74, -1.84955, 2, 1.346, 0.645769, 0, 0.654003
 576 | 5.75, -1.84278, 2, 1.36776, 0.651634, -21.7607, 0.632242
 577 | 5.76, -1.83624, 2, 1.36776, 0.657956, 0, 0.632242
 578 | 5.77, -1.82992, 2, 1.38824, 0.663523, 0, 0.611758
 579 | 5.78, -1.82359, 2, 1.40757, 0.668417, 0, 0.611758
 580 | 5.79, -1.81748, 2, 1.40757, 0.673749, 0, 0.592428
 581 | 5.8, -1.81155, 2, 1.42585, 0.679582, 0, 0.574146
 582 | 5.81, -1.80563, 2, 1.42585, 0.684749, 0, 0.574146
 583 | 5.82, -1.79989, 2, 1.44318, 0.689204, 0, 0.556816
 584 | 5.83, -1.79414, 2, 1.45976, 0.694722, 0, 0.540241
 585 | 5.84, -1.78858, 2, 1.45976, 0.699585, 0, 0.540241
 586 | 5.85, -1.78317, 2, 1.47542, 0.704321, 0, 0.524582
 587 | 5.86, -1.77777, 2, 1.49046, 0.709522, 0, 0.509542
 588 | 5.87, -1.77252, 2, 1.49046, 0.714618, 0, 0.509542
 589 | 5.88, -1.76743, 2, 1.50492, 0.718607, 0, 0.495079
 590 | 5.89, -1.76233, 2, 1.51875, 0.72353, 0, 0.481254
 591 | 5.9, -1.75738, 2, 1.51875, 0.72738, 0, 0.481254
 592 | 5.91, -1.75257, 2, 1.53198, 0.732113, 0, 0.468018
 593 | 5.92, -1.74776, 2, 1.54468, 0.736313, -12.694, 0.455324
 594 | 5.93, -1.74308, 2, 1.54468, 0.740866, 0, 0.455324
 595 | 5.94, -1.73852, 2, 1.55696, 0.74446, 0, 0.443041
 596 | 5.95, -1.73397, 2, 1.56876, 0.74889, 0, 0.443041
 597 | 5.96, -1.72954, 2, 1.56876, 0.752771, 0, 0.431237
 598 | 5.97, -1.72523, 2, 1.58012, 0.756607, 0, 0.419879
 599 | 5.98, -1.72092, 2, 1.58012, 0.760806, 0, 0.419879
 600 | 5.99, -1.71672, 2, 1.59115, 0.764496, 0, 0.40885
 601 | 6, -1.71252, 2, 1.60178, 0.768144, 0, 0.398221
 602 | 6.01, -1.70843, 2, 1.60178, 0.771728, 0, 0.398221
 603 | 6.02, -1.70445, 2, 1.61203, 0.77524, 0, 0.387966
 604 | 6.03, -1.70047, 2, 1.62194, 0.778712, 0, 0.378059
 605 | 6.04, -1.69659, 2, 1.62194, 0.782493, 0, 0.378059
 606 | 6.05, -1.69281, 2, 1.63152, 0.785828, 0, 0.368481
 607 | 6.06, -1.68902, 2, 1.64071, 0.789117, 0, 0.359286
 608 | 6.07, -1.68534, 2, 1.64071, 0.792351, 0, 0.359286
 609 | 6.08, -1.68175, 2, 1.6497, 0.79553, 0, 0.3503
 610 | 6.09, -1.67815, 2, 1.65841, 0.799016, 0, 0.341592
 611 | 6.1, -1.67465, 2, 1.65841, 0.80209, 0, 0.341592
 612 | 6.11, -1.67124, 2, 1.66692, 0.805455, 0, 0.333078
 613 | 6.12, -1.66782, 2, 1.67518, 0.808444, -8.25477, 0.324823
 614 | 6.13, -1.66449, 2, 1.67518, 0.811368, 0, 0.324823
 615 | 6.14, -1.66124, 2, 1.68319, 0.814251, 0, 0.316814
 616 | 6.15, -1.65799, 2, 1.69096, 0.817102, 0, 0.316814
 617 | 6.16, -1.65482, 2, 1.69096, 0.820193, 0, 0.30904
 618 | 6.17, -1.65173, 2, 1.69851, 0.822936, 0, 0.301488
 619 | 6.18, -1.64864, 2, 1.69851, 0.825348, 0, 0.301488
 620 | 6.19, -1.64563, 2, 1.70579, 0.82829, 0, 0.29421
 621 | 6.2, -1.64261, 2, 1.71293, 0.83091, 0, 0.287069
 622 | 6.21, -1.63967, 2, 1.71293, 0.833493, 0, 0.287069
 623 | 6.22, -1.6368, 2, 1.71988, 0.836302, 0, 0.280123
 624 | 6.23, -1.63393, 2, 1.72663, 0.838796, 0, 0.273365
 625 | 6.24, -1.63113, 2, 1.72663, 0.841256, 0, 0.273365
 626 | 6.25, -1.6284, 2, 1.73321, 0.843664, 0, 0.266788
 627 | 6.26, -1.62566, 2, 1.73962, 0.846046, 0, 0.260385
 628 | 6.27, -1.62299, 2, 1.73962, 0.848649, 0, 0.260385
 629 | 6.28, -1.62039, 2, 1.74585, 0.850943, 0, 0.254149
 630 | 6.29, -1.61779, 2, 1.75198, 0.853466, 0, 0.248024
 631 | 6.3, -1.61524, 2, 1.75198, 0.855698, 0, 0.248024
 632 | 6.31, -1.61276, 2, 1.75794, 0.857889, 0, 0.242062
 633 | 6.32, -1.61028, 2, 1.76379, 0.860061, -5.85368, 0.236208
 634 | 6.33, -1.60786, 2, 1.76379, 0.862187, 0, 0.236208
 635 | 6.34, -1.6055, 2, 1.76949, 0.864515, 0, 0.230512
 636 | 6.35, -1.60314, 2, 1.77503, 0.866584, -5.54361, 0.224969
 637 | 6.36, -1.60083, 2, 1.77503, 0.868609, 0, 0.224969
 638 | 6.37, -1.59858, 2, 1.78043, 0.870607, 0, 0.219571
 639 | 6.38, -1.59633, 2, 1.78043, 0.872583, 0, 0.219571
 640 | 6.39, -1.59414, 2, 1.78569, 0.874512, 0, 0.214315
 641 | 6.4, -1.59194, 2, 1.79081, 0.87642, 0, 0.209194
 642 | 6.41, -1.5898, 2, 1.79081, 0.878512, 0, 0.209194
 643 | 6.42, -1.58771, 2, 1.79584, 0.880355, 0, 0.204163
 644 | 6.43, -1.58562, 2, 1.80074, 0.882177, 0, 0.199264
 645 | 6.44, -1.58357, 2, 1.80074, 0.883971, 0, 0.199264
 646 | 6.45, -1.58158, 2, 1.80555, 0.885735, 0, 0.194453
 647 | 6.46, -1.57959, 2, 1.81023, 0.88767, 0, 0.189772
 648 | 6.47, -1.57764, 2, 1.81023, 0.889568, 0, 0.189772
 649 | 6.48, -1.57575, 2, 1.81482, 0.891248, 0, 0.185176
 650 | 6.49, -1.57385, 2, 1.81929, 0.892911, -4.47064, 0.180706
 651 | 6.5, -1.572, 2, 1.81929, 0.894537, 0, 0.180706
 652 | 6.51, -1.57019, 2, 1.82365, 0.896141, 0, 0.176355
 653 | 6.52, -1.56838, 2, 1.82788, 0.897729, 0, 0.176355
 654 | 6.53, -1.56662, 2, 1.82788, 0.89945, 0, 0.172119
 655 | 6.54, -1.5649, 2, 1.83204, 0.900982, 0, 0.167961
 656 | 6.55, -1.56318, 2, 1.83204, 0.902494, 0, 0.167961
 657 | 6.56, -1.5615, 2, 1.83609, 0.904137, 0, 0.163914
 658 | 6.57, -1.55982, 2, 1.84003, 0.905597, 0, 0.159974
 659 | 6.58, -1.55818, 2, 1.84003, 0.907036, 0, 0.159974
 660 | 6.59, -1.55658, 2, 1.84386, 0.908445, 0, 0.156139
 661 | 6.6, -1.55498, 2, 1.8476, 0.90984, 0, 0.152403
 662 | 6.61, -1.55342, 2, 1.8476, 0.911211, 0, 0.152403
 663 | 6.62, -1.55189, 2, 1.85124, 0.912557, 0, 0.148763
 664 | 6.63, -1.55037, 2, 1.85478, 0.914034, 0, 0.145217
 665 | 6.64, -1.54888, 2, 1.85478, 0.915196, 0, 0.145217
 666 | 6.65, -1.54743, 2, 1.85821, 0.916621, 0, 0.141789
 667 | 6.66, -1.54598, 2, 1.86158, 0.91789, 0, 0.138416
 668 | 6.67, -1.54456, 2, 1.86158, 0.919136, 0, 0.138416
 669 | 6.68, -1.54318, 2, 1.8649, 0.9205, 0, 0.1351
 670 | 6.69, -1.54179, 2, 1.86813, 0.921713, -3.23016, 0.13187
 671 | 6.7, -1.54044, 2, 1.86813, 0.923031, 0, 0.13187
 672 | 6.71, -1.53912, 2, 1.8713, 0.924202, 0, 0.128696
 673 | 6.72, -1.5378, 2, 1.87439, 0.925361, 0, 0.128696
 674 | 6.73, -1.53652, 2, 1.87439, 0.926491, 0, 0.125607
 675 | 6.74, -1.53526, 2, 1.8774, 0.92761, 0, 0.122598
 676 | 6.75, -1.534, 2, 1.8774, 0.928836, 0, 0.122598
 677 | 6.76, -1.53278, 2, 1.88036, 0.929915, 0, 0.119642
 678 | 6.77, -1.53155, 2, 1.88323, 0.930983, 0, 0.116766
 679 | 6.78, -1.53036, 2, 1.88323, 0.932151, 0, 0.116766
 680 | 6.79, -1.52919, 2, 1.88606, 0.933182, 0, 0.113942
 681 | 6.8, -1.52802, 2, 1.88881, 0.934202, 0, 0.111194
 682 | 6.81, -1.52688, 2, 1.88881, 0.935203, 0, 0.111194
 683 | 6.82, -1.52577, 2, 1.89148, 0.936188, 0, 0.108519
 684 | 6.83, -1.52466, 2, 1.89411, 0.93727, -2.62559, 0.105894
 685 | 6.84, -1.52357, 2, 1.89411, 0.938223, 0, 0.105894
 686 | 6.85, -1.52251, 2, 1.89666, 0.939164, 0, 0.103339
 687 | 6.86, -1.52145, 2, 1.89917, 0.940197, 0, 0.103339
 688 | 6.87, -1.52042, 2, 1.89917, 0.941104, 0, 0.100832
 689 | 6.88, -1.51941, 2, 1.90161, 0.942002, 0, 0.0983942
 690 | 6.89, -1.5184, 2, 1.90161, 0.942888, 0, 0.0983942
 691 | 6.9, -1.51742, 2, 1.90398, 0.943754, 0, 0.0960218
 692 | 6.91, -1.51644, 2, 1.90627, 0.944516, 0, 0.0937318
 693 | 6.92, -1.51548, 2, 1.90627, 0.945453, 0, 0.0937318
 694 | 6.93, -1.51454, 2, 1.90852, 0.946281, 0, 0.0914813
 695 | 6.94, -1.5136, 2, 1.91071, 0.9471, 0, 0.0892897
 696 | 6.95, -1.51269, 2, 1.91071, 0.947903, 0, 0.0892897
 697 | 6.96, -1.51179, 2, 1.91285, 0.948781, 0, 0.0871549
 698 | 6.97, -1.5109, 2, 1.91491, 0.949559, 0, 0.0850924
 699 | 6.98, -1.51003, 2, 1.91491, 0.95024, 0, 0.0850924
 700 | 6.99, -1.50918, 2, 1.91694, 0.951079, 0, 0.0830633
 701 | 7, -1.50833, 2, 1.91891, 0.951825, -1.97756, 0.0810858
 702 | 7.01, -1.5075, 2, 1.91891, 0.952635, 0, 0.0810858
 703 | 7.02, -1.50669, 2, 1.92086, 0.953355, 0, 0.0791418
 704 | 7.03, -1.50588, 2, 1.92274, 0.954066, -1.87757, 0.0772642
 705 | 7.04, -1.50508, 2, 1.92274, 0.954761, 0, 0.0772642
 706 | 7.05, -1.50431, 2, 1.92457, 0.955447, 0, 0.0754332
 707 | 7.06, -1.50354, 2, 1.92637, 0.956202, 0, 0.0754332
 708 | 7.07, -1.50278, 2, 1.92637, 0.956938, 0, 0.0736322
 709 | 7.08, -1.50205, 2, 1.92814, 0.957594, 0, 0.0718624
 710 | 7.09, -1.50131, 2, 1.92814, 0.95824, 0, 0.0718624
 711 | 7.1, -1.50059, 2, 1.92985, 0.958872, 0, 0.0701536
 712 | 7.11, -1.49987, 2, 1.93153, 0.959498, 0, 0.0684735
 713 | 7.12, -1.49917, 2, 1.93153, 0.960046, 0, 0.0684735
 714 | 7.13, -1.49849, 2, 1.93315, 0.960718, 0, 0.0668506
 715 | 7.14, -1.4978, 2, 1.93475, 0.961316, 0, 0.0652544
 716 | 7.15, -1.49714, 2, 1.93475, 0.961904, 0, 0.0652544
 717 | 7.16, -1.49648, 2, 1.93629, 0.962416, 0, 0.063712
 718 | 7.17, -1.49583, 2, 1.93779, 0.962988, -1.50488, 0.0622071
 719 | 7.18, -1.49519, 2, 1.93779, 0.963548, 0, 0.0622071
 720 | 7.19, -1.49457, 2, 1.93926, 0.964101, 0, 0.0607387
 721 | 7.2, -1.49395, 2, 1.94069, 0.964647, 0, 0.0607387
 722 | 7.21, -1.49334, 2, 1.94069, 0.96524, 0, 0.0593059
 723 | 7.22, -1.49275, 2, 1.9421, 0.965768, 0, 0.0578957
 724 | 7.23, -1.49216, 2, 1.9421, 0.966289, 0, 0.0578957
 725 | 7.24, -1.49158, 2, 1.94348, 0.9668, 0, 0.0565208
 726 | 7.25, -1.491, 2, 1.94482, 0.967359, 0, 0.0551802
 727 | 7.26, -1.49043, 2, 1.94482, 0.967856, 0, 0.0551802
 728 | 7.27, -1.48988, 2, 1.94613, 0.968342, 0, 0.0538727
 729 | 7.28, -1.48933, 2, 1.94741, 0.968824, 0, 0.0525867
 730 | 7.29, -1.48879, 2, 1.94741, 0.96935, 0, 0.0525867
 731 | 7.3, -1.48826, 2, 1.94867, 0.969815, 0, 0.0513335
 732 | 7.31, -1.48774, 2, 1.9499, 0.970276, -1.23178, 0.0501017
 733 | 7.32, -1.48722, 2, 1.9499, 0.970676, 0, 0.0501017
 734 | 7.33, -1.48672, 2, 1.9511, 0.971171, 0, 0.0489021
 735 | 7.34, -1.48622, 2, 1.9511, 0.971612, 0, 0.0489021
 736 | 7.35, -1.48573, 2, 1.95228, 0.97209, 0, 0.0477237
 737 | 7.36, -1.48524, 2, 1.95341, 0.972514, 0, 0.0465862
 738 | 7.37, -1.48477, 2, 1.95341, 0.972933, 0, 0.0465862
 739 | 7.38, -1.4843, 2, 1.95452, 0.973342, 0, 0.0454775
 740 | 7.39, -1.48384, 2, 1.95561, 0.973704, 0, 0.0443876
 741 | 7.4, -1.48338, 2, 1.95561, 0.974148, 0, 0.0443876
 742 | 7.41, -1.48294, 2, 1.95667, 0.97454, 0, 0.043326
 743 | 7.42, -1.48249, 2, 1.95771, 0.974928, 0, 0.0422918
 744 | 7.43, -1.48206, 2, 1.95771, 0.975308, 0, 0.0422918
 745 | 7.44, -1.48164, 2, 1.95872, 0.975683, 0, 0.0412839
 746 | 7.45, -1.48121, 1, 1.9191, 0.972094, 39.6176, -0.919099
 747 | 7.46, -1.4908, 1, 1.9191, 0.962903, 0, -0.919099
 748 | 7.47, -1.49999, 1, 1.88227, 0.954815, 0, -0.88227
 749 | 7.48, -1.50918, 1, 1.8483, 0.946909, 33.9664, -0.848304
 750 | 7.49, -1.51801, 1, 1.8483, 0.939274, 0, -0.848304
 751 | 7.5, -1.52649, 1, 1.81672, 0.932614, 0, -0.816717
 752 | 7.51, -1.53497, 1, 1.81672, 0.924447, 0, -0.816717
 753 | 7.52, -1.54314, 1, 1.7871, 0.917333, 0, -0.787103
 754 | 7.53, -1.55131, 1, 1.75943, 0.910333, 0, -0.759431
 755 | 7.54, -1.55918, 1, 1.75943, 0.903498, 0, -0.759431
 756 | 7.55, -1.56677, 1, 1.73351, 0.896844, 0, -0.733506
 757 | 7.56, -1.57437, 1, 1.70916, 0.889582, 0, -0.709157
 758 | 7.57, -1.5817, 1, 1.70916, 0.8832, 0, -0.709157
 759 | 7.58, -1.58879, 1, 1.68623, 0.876978, 0, -0.686232
 760 | 7.59, -1.59588, 1, 1.66446, 0.871488, 0, -0.686232
 761 | 7.6, -1.60275, 1, 1.66446, 0.865508, 0, -0.664457
 762 | 7.61, -1.60939, 1, 1.64387, 0.85961, 0, -0.64387
 763 | 7.62, -1.61604, 1, 1.64387, 0.853815, 0, -0.64387
 764 | 7.63, -1.62247, 1, 1.62436, 0.847552, 0, -0.624362
 765 | 7.64, -1.62891, 1, 1.60584, 0.842007, 0, -0.605838
 766 | 7.65, -1.63516, 1, 1.60584, 0.835949, 0, -0.605838
 767 | 7.66, -1.64121, 1, 1.58809, 0.830638, 0, -0.588089
 768 | 7.67, -1.64727, 1, 1.57118, 0.825396, 0, -0.571178
 769 | 7.68, -1.65315, 1, 1.57118, 0.820255, 0, -0.571178
 770 | 7.69, -1.65887, 1, 1.55504, 0.815228, 0, -0.555036
 771 | 7.7, -1.66458, 1, 1.5396, 0.810263, 0, -0.5396
 772 | 7.71, -1.67013, 1, 1.5396, 0.805407, 0, -0.5396
 773 | 7.72, -1.67552, 1, 1.52481, 0.800639, 0, -0.524813
 774 | 7.73, -1.68092, 1, 1.51063, 0.79593, 14.1857, -0.510628
 775 | 7.74, -1.68617, 1, 1.51063, 0.791334, 0, -0.510628
 776 | 7.75, -1.69127, 1, 1.497, 0.786807, 0, -0.496998
 777 | 7.76, -1.69638, 1, 1.497, 0.782334, 0, -0.496998
 778 | 7.77, -1.70135, 1, 1.48379, 0.777967, 0, -0.483786
 779 | 7.78, -1.70632, 1, 1.47107, 0.773651, 0, -0.471069
 780 | 7.79, -1.71116, 1, 1.47107, 0.76894, 0, -0.471069
 781 | 7.8, -1.71587, 1, 1.45881, 0.764799, 0, -0.458813
 782 | 7.81, -1.72058, 1, 1.44699, 0.760705, 0, -0.446988
 783 | 7.82, -1.72517, 1, 1.44699, 0.757129, 0, -0.446988
 784 | 7.83, -1.72964, 1, 1.43557, 0.752739, 0, -0.435567
 785 | 7.84, -1.73411, 1, 1.42453, 0.748416, 0, -0.424526
 786 | 7.85, -1.73846, 1, 1.42453, 0.744596, 0, -0.424526
 787 | 7.86, -1.74271, 1, 1.41384, 0.740436, 0, -0.413842
 788 | 7.87, -1.74695, 1, 1.40349, 0.736742, 0, -0.403494
 789 | 7.88, -1.75109, 1, 1.40349, 0.733111, 0, -0.403494
 790 | 7.89, -1.75513, 1, 1.39339, 0.729147, 0, -0.393385
 791 | 7.9, -1.75916, 1, 1.38359, 0.725626, 0, -0.38359
 792 | 7.91, -1.7631, 1, 1.38359, 0.722173, 0, -0.38359
 793 | 7.92, -1.76693, 1, 1.37402, 0.718769, 0, -0.374015
 794 | 7.93, -1.77077, 1, 1.36473, 0.715403, 0, -0.374015
 795 | 7.94, -1.77451, 1, 1.36473, 0.71212, 0, -0.364734
 796 | 7.95, -1.77816, 1, 1.3558, 0.708882, 0, -0.355803
 797 | 7.96, -1.7818, 1, 1.34713, 0.70568, 0, -0.355803
 798 | 7.97, -1.78536, 1, 1.34713, 0.702556, 0, -0.347127
 799 | 7.98, -1.78883, 1, 1.33869, 0.699466, 0, -0.338693
 800 | 7.99, -1.7923, 1, 1.33869, 0.696417, 0, -0.338693
 801 | 8, -1.79569, 1, 1.33049, 0.693435, 0, -0.330492
 802 | 8.01, -1.79908, 1, 1.32251, 0.690484, 0, -0.322513
 803 | 8.02, -1.80238, 1, 1.32251, 0.687582, 0, -0.322513
 804 | 8.03, -1.80561, 1, 1.31481, 0.684741, 0, -0.314813
 805 | 8.04, -1.80883, 1, 1.30725, 0.68223, 7.56647, -0.307247
 806 | 8.05, -1.81198, 1, 1.30725, 0.679464, 0, -0.307247
 807 | 8.06, -1.81505, 1, 1.29988, 0.676436, 0, -0.299879
 808 | 8.07, -1.81813, 1, 1.2927, 0.674037, 0, -0.299879
 809 | 8.08, -1.82112, 1, 1.2927, 0.671403, 0, -0.292704
 810 | 8.09, -1.82405, 1, 1.28571, 0.668796, 0, -0.285713
 811 | 8.1, -1.82698, 1, 1.28571, 0.666225, 0, -0.285713
 812 | 8.11, -1.82984, 1, 1.2789, 0.663708, 0, -0.278901
 813 | 8.12, -1.83269, 1, 1.27221, 0.661211, 0, -0.272206
 814 | 8.13, -1.83548, 1, 1.27221, 0.658762, 0, -0.272206
 815 | 8.14, -1.8382, 1, 1.26569, 0.656351, 0, -0.265686
 816 | 8.15, -1.84093, 1, 1.25928, 0.6537, 6.40414, -0.259282
 817 | 8.16, -1.84358, 1, 1.25928, 0.651367, 0, -0.259282
 818 | 8.17, -1.84618, 1, 1.25305, 0.649064, 0, -0.253048
 819 | 8.18, -1.84877, 1, 1.25305, 0.646787, 0, -0.253048
 820 | 8.19, -1.8513, 1, 1.24698, 0.644564, 0, -0.246979
 821 | 8.2, -1.85383, 1, 1.24107, 0.642124, 0, -0.241068
 822 | 8.21, -1.8563, 1, 1.24107, 0.639954, 0, -0.241068
 823 | 8.22, -1.85871, 1, 1.23526, 0.637831, 0, -0.235261
 824 | 8.23, -1.86112, 1, 1.22961, 0.63596, 0, -0.229608
 825 | 8.24, -1.86347, 1, 1.22961, 0.633664, 0, -0.229608
 826 | 8.25, -1.86577, 1, 1.22406, 0.631631, 0, -0.224058
 827 | 8.26, -1.86807, 1, 1.21866, 0.62962, 5.40043, -0.218658
 828 | 8.27, -1.87031, 1, 1.21866, 0.627652, 0, -0.218658
 829 | 8.28, -1.87249, 1, 1.2134, 0.625924, 0, -0.213401
 830 | 8.29, -1.87468, 1, 1.2134, 0.624003, 0, -0.213401
 831 | 8.3, -1.87681, 1, 1.20824, 0.62191, 0, -0.20824
 832 | 8.31, -1.87895, 1, 1.20326, 0.620056, 0, -0.203261
 833 | 8.32, -1.88103, 1, 1.20326, 0.618024, 0, -0.203261
 834 | 8.33, -1.88306, 1, 1.19837, 0.616233, 0, -0.198368
 835 | 8.34, -1.88509, 1, 1.19361, 0.614462, 0, -0.193605
 836 | 8.35, -1.88708, 1, 1.19361, 0.61272, 0, -0.193605
 837 | 8.36, -1.88901, 1, 1.18897, 0.61101, 0, -0.188967
 838 | 8.37, -1.89095, 1, 1.18445, 0.609318, 0, -0.184449
 839 | 8.38, -1.89284, 1, 1.18445, 0.607658, 0, -0.184449
 840 | 8.39, -1.89468, 1, 1.18005, 0.606205, 0, -0.180047
 841 | 8.4, -1.89653, 1, 1.17576, 0.604584, 0, -0.180047
 842 | 8.41, -1.89833, 1, 1.17576, 0.602827, 0, -0.175757
 843 | 8.42, -1.90009, 1, 1.17161, 0.60127, 0, -0.171611
 844 | 8.43, -1.90184, 1, 1.16757, 0.599729, 4.04621, -0.167565
 845 | 8.44, -1.90356, 1, 1.16757, 0.598221, 0, -0.167565
 846 | 8.45, -1.90524, 1, 1.16358, 0.596565, 0, -0.163583
 847 | 8.46, -1.90691, 1, 1.15967, 0.59493, 0, -0.163583
 848 | 8.47, -1.90855, 1, 1.15967, 0.593493, 0, -0.159667
 849 | 8.48, -1.91014, 1, 1.15588, 0.592075, 0, -0.155884
 850 | 8.49, -1.91174, 1, 1.15588, 0.590516, 0, -0.155884
 851 | 8.5, -1.9133, 1, 1.15216, 0.589146, 0, -0.152164
 852 | 8.51, -1.91486, 1, 1.14851, 0.587788, 0, -0.148507
 853 | 8.52, -1.91638, 1, 1.14851, 0.586451, 0, -0.148507
 854 | 8.53, -1.91787, 1, 1.14495, 0.584995, 0, -0.144947
 855 | 8.54, -1.91935, 1, 1.14148, 0.5837, 0, -0.14148
 856 | 8.55, -1.9208, 1, 1.14148, 0.582427, 0, -0.14148
 857 | 8.56, -1.92221, 1, 1.1381, 0.581177, 0, -0.138101
 858 | 8.57, -1.92363, 1, 1.13481, 0.579941, 0, -0.134809
 859 | 8.58, -1.92501, 1, 1.13481, 0.578728, 0, -0.134809
 860 | 8.59, -1.92636, 1, 1.13163, 0.577537, 0, -0.131628
 861 | 8.6, -1.92771, 1, 1.12852, 0.576358, 0, -0.128523
 862 | 8.61, -1.92902, 1, 1.12852, 0.575202, 0, -0.128523
 863 | 8.62, -1.93031, 1, 1.12547, 0.57406, 0, -0.125467
 864 | 8.63, -1.93159, 1, 1.12249, 0.572931, 0, -0.125467
 865 | 8.64, -1.93285, 1, 1.12249, 0.571829, 0, -0.122488
 866 | 8.65, -1.93407, 1, 1.11958, 0.570618, 0, -0.119583
 867 | 8.66, -1.9353, 1, 1.11675, 0.569542, 0, -0.119583
 868 | 8.67, -1.93649, 1, 1.11675, 0.568491, 0, -0.11675
 869 | 8.68, -1.93766, 1, 1.11396, 0.567335, 0, -0.113963
 870 | 8.69, -1.93883, 1, 1.11396, 0.566309, 0, -0.113963
 871 | 8.7, -1.93997, 1, 1.11125, 0.565305, 0, -0.111247
 872 | 8.71, -1.94111, 1, 1.10858, 0.564309, 0, -0.108578
 873 | 8.72, -1.94222, 1, 1.10858, 0.563224, 0, -0.108578
 874 | 8.73, -1.94331, 1, 1.10598, 0.562265, 0, -0.105978
 875 | 8.74, -1.94439, 1, 1.10342, 0.561313, 2.55359, -0.103425
 876 | 8.75, -1.94545, 1, 1.10342, 0.560383, 0, -0.103425
 877 | 8.76, -1.94649, 1, 1.10094, 0.559464, 0, -0.100939
 878 | 8.77, -1.94752, 1, 1.10094, 0.558556, 0, -0.100939
 879 | 8.78, -1.94853, 1, 1.0985, 0.557667, 0, -0.0984985
 880 | 8.79, -1.94954, 1, 1.09612, 0.556691, 0, -0.0961239
 881 | 8.8, -1.95052, 1, 1.09612, 0.555826, 0, -0.0961239
 882 | 8.81, -1.95149, 1, 1.09383, 0.554979, 0, -0.0938318
 883 | 8.82, -1.95245, 1, 1.0916, 0.554144, 0, -0.0915974
 884 | 8.83, -1.95339, 1, 1.0916, 0.55332, 0, -0.0915974
 885 | 8.84, -1.9543, 1, 1.0894, 0.552511, 0, -0.0894011
 886 | 8.85, -1.95522, 1, 1.08726, 0.551623, 0, -0.0872619
 887 | 8.86, -1.95611, 1, 1.08726, 0.550838, 0, -0.0872619
 888 | 8.87, -1.95698, 1, 1.08516, 0.54998, 0, -0.0851604
 889 | 8.88, -1.95786, 1, 1.08311, 0.549217, 0, -0.0831146
 890 | 8.89, -1.95871, 1, 1.08311, 0.548469, 0, -0.0831146
 891 | 8.9, -1.95954, 1, 1.08112, 0.547652, 0, -0.0811226
 892 | 8.91, -1.96037, 1, 1.07918, 0.546926, 0, -0.0791823
 893 | 8.92, -1.96118, 1, 1.07918, 0.546213, 0, -0.0791823
 894 | 8.93, -1.96197, 1, 1.07729, 0.545512, 0, -0.0772919
 895 | 8.94, -1.96277, 1, 1.07545, 0.544818, 1.84214, -0.0754497
 896 | 8.95, -1.96354, 1, 1.07545, 0.544139, 0, -0.0754497
 897 | 8.96, -1.96429, 1, 1.07365, 0.543395, 0, -0.0736542
 898 | 8.97, -1.96505, 1, 1.0719, 0.542734, 1.75036, -0.0719039
 899 | 8.98, -1.96578, 1, 1.0719, 0.542087, 0, -0.0719039
 900 | 8.99, -1.9665, 1, 1.07018, 0.541447, 0, -0.0701828
 901 | 9, -1.96722, 1, 1.07018, 0.540745, 0, -0.0701828
 902 | 9.01, -1.96792, 1, 1.06851, 0.540128, 0, -0.0685063
 903 | 9.02, -1.96863, 1, 1.06686, 0.539517, 0, -0.0668589
 904 | 9.03, -1.96931, 1, 1.06686, 0.538982, 0, -0.0668589
 905 | 9.04, -1.96998, 1, 1.06525, 0.538325, 0, -0.0652549
 906 | 9.05, -1.97065, 1, 1.06368, 0.537739, 1.57517, -0.0636797
 907 | 9.06, -1.9713, 1, 1.06368, 0.537102, 0, -0.0636797
 908 | 9.07, -1.97194, 1, 1.06215, 0.536538, 0, -0.0621468
 909 | 9.08, -1.97257, 1, 1.06064, 0.535918, 1.50478, -0.060642
 910 | 9.09, -1.9732, 1, 1.06064, 0.535372, 0, -0.060642
 911 | 9.1, -1.9738, 1, 1.05918, 0.534834, 0, -0.0591781
 912 | 9.11, -1.97441, 1, 1.05775, 0.534244, 1.42466, -0.0577534
 913 | 9.12, -1.975, 1, 1.05775, 0.533724, 0, -0.0577534
 914 | 9.13, -1.97558, 1, 1.05635, 0.53321, 0, -0.056355
 915 | 9.14, -1.97615, 1, 1.05635, 0.532646, 0, -0.056355
 916 | 9.15, -1.97672, 1, 1.05498, 0.53215, 0, -0.0549832
 917 | 9.16, -1.97728, 1, 1.05365, 0.531659, 0, -0.0536496
 918 | 9.17, -1.97783, 1, 1.05365, 0.531176, 0, -0.0536496
 919 | 9.18, -1.97837, 1, 1.05235, 0.530702, 0, -0.0523524
 920 | 9.19, -1.9789, 1, 1.0511, 0.530235, 0, -0.0511007
 921 | 9.2, -1.97943, 1, 1.0511, 0.529724, 0, -0.0511007
 922 | 9.21, -1.97994, 1, 1.04988, 0.529274, 0, -0.0498812
 923 | 9.22, -1.98045, 1, 1.04869, 0.528828, 0, -0.0486928
 924 | 9.23, -1.98095, 1, 1.04869, 0.52839, 0, -0.0486928
 925 | 9.24, -1.98144, 1, 1.04753, 0.52796, 0, -0.0475344
 926 | 9.25, -1.98192, 1, 1.0464, 0.527533, 1.13884, -0.0463955
 927 | 9.26, -1.9824, 1, 1.0464, 0.527116, 0, -0.0463955
 928 | 9.27, -1.98286, 1, 1.04529, 0.526659, 0, -0.0452862
 929 | 9.28, -1.98333, 1, 1.0442, 0.526251, 0, -0.0452862
 930 | 9.29, -1.98378, 1, 1.0442, 0.525853, 0, -0.0441963
 931 | 9.3, -1.98422, 1, 1.04314, 0.52546, 0, -0.0431353
 932 | 9.31, -1.98466, 2, 1.04314, 0.528072, 0, 0.956865
 933 | 9.32, -1.97509, 2, 1.08271, 0.536327, 0, 0.917289
 934 | 9.33, -1.96553, 2, 1.1195, 0.544472, 0, 0.880503
 935 | 9.34, -1.95635, 2, 1.1195, 0.552397, 0, 0.880503
 936 | 9.35, -1.94755, 2, 1.1536, 0.560083, 0, 0.846401
 937 | 9.36, -1.93874, 2, 1.1853, 0.567637, 0, 0.814703
 938 | 9.37, -1.93028, 2, 1.1853, 0.575784, 0, 0.814703
 939 | 9.38, -1.92213, 2, 1.21468, 0.582881, 0, 0.785325
 940 | 9.39, -1.91398, 2, 1.2423, 0.589894, 0, 0.757704
 941 | 9.4, -1.90613, 2, 1.2423, 0.597471, 0, 0.757704
 942 | 9.41, -1.89855, 2, 1.26817, 0.604109, 0, 0.731828
 943 | 9.42, -1.89098, 2, 1.29262, 0.610671, -24.4487, 0.707379
 944 | 9.43, -1.88366, 2, 1.29262, 0.617038, 0, 0.707379
 945 | 9.44, -1.87659, 2, 1.31563, 0.623973, 0, 0.684373
 946 | 9.45, -1.86951, 2, 1.33733, 0.630111, -21.7018, 0.662671
 947 | 9.46, -1.86267, 2, 1.33733, 0.636075, 0, 0.662671
 948 | 9.47, -1.85604, 2, 1.35785, 0.641936, 0, 0.642152
 949 | 9.48, -1.84941, 2, 1.37729, 0.647716, 0, 0.642152
 950 | 9.49, -1.84299, 2, 1.37729, 0.65332, 0, 0.622707
 951 | 9.5, -1.83677, 2, 1.39576, 0.658851, 0, 0.604242
 952 | 9.51, -1.83054, 2, 1.39576, 0.664289, 0, 0.604242
 953 | 9.52, -1.8245, 2, 1.41345, 0.669603, 0, 0.586548
 954 | 9.53, -1.81845, 2, 1.43031, 0.675418, 0, 0.56969
 955 | 9.54, -1.81259, 2, 1.43031, 0.679976, 0, 0.56969
 956 | 9.55, -1.80689, 2, 1.44652, 0.685575, 0, 0.553482
 957 | 9.56, -1.80119, 2, 1.46201, 0.690541, -15.4882, 0.537994
 958 | 9.57, -1.79566, 2, 1.46201, 0.695921, 0, 0.537994
 959 | 9.58, -1.79028, 2, 1.47672, 0.70066, 0, 0.523276
 960 | 9.59, -1.7849, 2, 1.49085, 0.704832, -14.1232, 0.509152
 961 | 9.6, -1.77967, 2, 1.49085, 0.709924, 0, 0.509152
 962 | 9.61, -1.77458, 2, 1.50452, 0.714438, 0, 0.495479
 963 | 9.62, -1.76948, 2, 1.50452, 0.718897, 0, 0.495479
 964 | 9.63, -1.76453, 2, 1.51777, 0.72325, 0, 0.482233
 965 | 9.64, -1.75957, 2, 1.53051, 0.727552, 0, 0.469492
 966 | 9.65, -1.75475, 2, 1.53051, 0.732247, 0, 0.469492
 967 | 9.66, -1.75006, 2, 1.54278, 0.736374, 0, 0.45722
 968 | 9.67, -1.74536, 2, 1.55461, 0.740454, 0, 0.445386
 969 | 9.68, -1.74079, 2, 1.55461, 0.744462, 0, 0.445386
 970 | 9.69, -1.73634, 2, 1.56604, 0.748825, 0, 0.433961
 971 | 9.7, -1.73188, 2, 1.57717, 0.752708, 0, 0.422834
 972 | 9.71, -1.72754, 2, 1.57717, 0.756514, 0, 0.422834
 973 | 9.72, -1.72331, 2, 1.58783, 0.760244, 0, 0.412165
 974 | 9.73, -1.71909, 2, 1.59825, 0.763944, -10.4115, 0.401754
 975 | 9.74, -1.71496, 2, 1.59825, 0.767961, 0, 0.401754
 976 | 9.75, -1.71095, 2, 1.60832, 0.771516, 0, 0.391675
 977 | 9.76, -1.70693, 2, 1.61801, 0.775022, 0, 0.381989
 978 | 9.77, -1.70301, 2, 1.61801, 0.77846, 0, 0.381989
 979 | 9.78, -1.69919, 2, 1.62749, 0.78185, 0, 0.372513
 980 | 9.79, -1.69537, 2, 1.63661, 0.785194, -9.11792, 0.363395
 981 | 9.8, -1.69165, 2, 1.63661, 0.788465, 0, 0.363395
 982 | 9.81, -1.68801, 2, 1.64546, 0.791691, 0, 0.354536
 983 | 9.82, -1.68438, 2, 1.65415, 0.795236, 0, 0.354536
 984 | 9.83, -1.68083, 2, 1.65415, 0.798003, 0, 0.345854
 985 | 9.84, -1.67738, 2, 1.66258, 0.80109, 0, 0.337419
 986 | 9.85, -1.67392, 2, 1.66258, 0.804465, 0, 0.337419
 987 | 9.86, -1.67054, 2, 1.67085, 0.807773, 0, 0.329152
 988 | 9.87, -1.66717, 2, 1.67894, 0.810719, 0, 0.321055
 989 | 9.88, -1.66388, 2, 1.67894, 0.813608, 0, 0.321055
 990 | 9.89, -1.66067, 2, 1.68681, 0.816451, 0, 0.313193
 991 | 9.9, -1.65746, 2, 1.69444, 0.819262, -7.63831, 0.305555
 992 | 9.91, -1.65432, 2, 1.69444, 0.822317, 0, 0.305555
 993 | 9.92, -1.65127, 2, 1.70187, 0.825023, 0, 0.298131
 994 | 9.93, -1.64821, 2, 1.70915, 0.827706, 0, 0.298131
 995 | 9.94, -1.64523, 2, 1.70915, 0.830614, 0, 0.290851
 996 | 9.95, -1.64232, 2, 1.71622, 0.833197, 0, 0.283776
 997 | 9.96, -1.63941, 2, 1.7231, 0.835751, 0, 0.283776
 998 | 9.97, -1.63658, 2, 1.7231, 0.838243, 0, 0.276898
 999 | 9.98, -1.63381, 2, 1.72974, 0.840702, 0, 0.270262
1000 | 9.99, -1.63104, 2, 1.7362, 0.843134, 0, 0.270262
1001 | 10, -1.62834, 2, 1.7362, 0.845508, 0, 0.263798
1002 | 10.01, -1.6257, 2, 1.7425, 0.848115, 0, 0.257501
1003 | 10.02, -1.62306, 2, 1.7425, 0.850175, 0, 0.257501
1004 | 10.03, -1.62049, 2, 1.74864, 0.852443, 0, 0.251365
1005 | 10.04, -1.61791, 2, 1.75467, 0.854939, 0, 0.245333
1006 | 10.05, -1.6154, 2, 1.75467, 0.857147, 0, 0.245333
1007 | 10.06, -1.61294, 2, 1.76054, 0.859553, 0, 0.239459
1008 | 10.07, -1.61049, 2, 1.76631, 0.861697, 0, 0.233689
1009 | 10.08, -1.6081, 2, 1.76631, 0.864033, 0, 0.233689
1010 | 10.09, -1.60576, 2, 1.77193, 0.866097, 0, 0.228072
1011 | 10.1, -1.60342, 2, 1.7774, 0.868139, 0, 0.222603
1012 | 10.11, -1.60114, 2, 1.7774, 0.870365, 0, 0.222603
1013 | 10.12, -1.59892, 2, 1.78272, 0.872331, 0, 0.217277
1014 | 10.13, -1.59669, 2, 1.78791, 0.874276, 0, 0.212088
1015 | 10.14, -1.59452, 2, 1.78791, 0.876397, 0, 0.212088
1016 | 10.15, -1.5924, 2, 1.79297, 0.878271, 0, 0.207031
1017 | 10.16, -1.59027, 2, 1.79786, 0.880119, 0, 0.202144
1018 | 10.17, -1.5882, 2, 1.79786, 0.881939, 0, 0.202144
1019 | 10.18, -1.58618, 2, 1.80267, 0.883729, 0, 0.197335
1020 | 10.19, -1.58416, 2, 1.80735, 0.885693, 0, 0.192647
1021 | 10.2, -1.58219, 2, 1.80735, 0.887234, 0, 0.192647
1022 | 10.21, -1.58026, 2, 1.81192, 0.888945, 0, 0.188075
1023 | 10.22, -1.57834, 2, 1.81638, 0.890638, 0, 0.188075
1024 | 10.23, -1.57645, 2, 1.81638, 0.892474, 0, 0.183617
1025 | 10.24, -1.57462, 2, 1.82077, 0.894109, 0, 0.179232
1026 | 10.25, -1.57278, 2, 1.82077, 0.895722, 0, 0.179232
1027 | 10.26, -1.57099, 2, 1.82504, 0.897476, 0, 0.174959
1028 | 10.27, -1.5692, 2, 1.82921, 0.899034, 0, 0.170795
1029 | 10.28, -1.56745, 2, 1.82921, 0.9004, 0, 0.170795
1030 | 10.29, -1.56574, 2, 1.83323, 0.902072, 0, 0.166769
1031 | 10.3, -1.56403, 2, 1.83716, 0.903394, 0, 0.162841
1032 | 10.31, -1.56236, 2, 1.83716, 0.905023, 0, 0.162841
1033 | 10.32, -1.56074, 2, 1.84099, 0.906458, 0, 0.159006
1034 | 10.33, -1.55911, 2, 1.84474, 0.907877, 0, 0.155263
1035 | 10.34, -1.55752, 2, 1.84474, 0.909275, 0, 0.155263
1036 | 10.35, -1.55596, 2, 1.84836, 0.910643, 0, 0.15164
1037 | 10.36, -1.55441, 2, 1.85193, 0.912149, 0, 0.148069
1038 | 10.37, -1.5529, 2, 1.85193, 0.913482, 0, 0.148069
1039 | 10.38, -1.55142, 2, 1.85542, 0.914934, 0, 0.144584
1040 | 10.39, -1.54993, 2, 1.85885, 0.916229, 0, 0.141153
1041 | 10.4, -1.54849, 2, 1.85885, 0.917499, 0, 0.141153
1042 | 10.41, -1.54708, 2, 1.86219, 0.918887, 0, 0.137807
1043 | 10.42, -1.54567, 2, 1.86546, 0.920121, 0, 0.134544
1044 | 10.43, -1.54429, 2, 1.86546, 0.921332, 0, 0.134544
1045 | 10.44, -1.54294, 2, 1.86867, 0.922527, 0, 0.131334
1046 | 10.45, -1.5416, 2, 1.86867, 0.923709, 0, 0.131334
1047 | 10.46, -1.54028, 2, 1.87179, 0.924991, 0, 0.128205
1048 | 10.47, -1.53897, 2, 1.87487, 0.926132, 0, 0.12513
1049 | 10.48, -1.53769, 2, 1.87487, 0.927258, 0, 0.12513
1050 | 10.49, -1.53644, 2, 1.87786, 0.928361, 0, 0.122135
1051 | 10.5, -1.53519, 2, 1.88076, 0.929448, 0, 0.119242
1052 | 10.51, -1.53396, 2, 1.88076, 0.930521, 0, 0.119242
1053 | 10.52, -1.53277, 2, 1.8836, 0.931575, 0, 0.116396
1054 | 10.53, -1.53158, 2, 1.88638, 0.932617, 0, 0.113623
1055 | 10.54, -1.53042, 2, 1.88638, 0.933639, 0, 0.113623
1056 | 10.55, -1.52928, 2, 1.88908, 0.934646, 0, 0.11092
1057 | 10.56, -1.52814, 2, 1.89174, 0.935644, 0, 0.11092
1058 | 10.57, -1.52703, 2, 1.89174, 0.936618, 0, 0.108262
1059 | 10.58, -1.52595, 2, 1.8943, 0.93758, 0, 0.105695
1060 | 10.59, -1.52487, 2, 1.89683, 0.938637, 0, 0.105695
1061 | 10.6, -1.52381, 2, 1.89683, 0.939565, 0, 0.10317
1062 | 10.61, -1.52278, 2, 1.89927, 0.940482, 0, 0.100731
1063 | 10.62, -1.52175, 2, 1.89927, 0.941388, 0, 0.100731
1064 | 10.63, -1.52074, 2, 1.90165, 0.942273, 0, 0.0983509
1065 | 10.64, -1.51973, 2, 1.90399, 0.943152, 0, 0.096009
1066 | 10.65, -1.51875, 2, 1.90399, 0.944016, 0, 0.096009
1067 | 10.66, -1.51779, 2, 1.90627, 0.944958, 0, 0.0937262
1068 | 10.67, -1.51683, 2, 1.9085, 0.945886, 0, 0.0915006
1069 | 10.68, -1.51589, 2, 1.9085, 0.946709, 0, 0.0915006
1070 | 10.69, -1.51498, 2, 1.91069, 0.947428, 0, 0.089312
1071 | 10.7, -1.51406, 2, 1.91282, 0.94823, -2.13223, 0.0871798
1072 | 10.71, -1.51317, 2, 1.91282, 0.949102, 0, 0.0871798
1073 | 10.72, -1.5123, 2, 1.9149, 0.949874, 0, 0.085102
1074 | 10.73, -1.51143, 2, 1.91692, 0.950638, -2.02521, 0.0830768
1075 | 10.74, -1.51057, 2, 1.91692, 0.951302, 0, 0.0830768
1076 | 10.75, -1.50974, 2, 1.91891, 0.952125, 0, 0.0810858
1077 | 10.76, -1.50891, 2, 1.91891, 0.952855, 0, 0.0810858
1078 | 10.77, -1.5081, 2, 1.92084, 0.953567, 0, 0.0791628
1079 | 10.78, -1.50729, 2, 1.92273, 0.954274, 0, 0.0772716
1080 | 10.79, -1.5065, 2, 1.92273, 0.95497, 0, 0.0772716
1081 | 10.8, -1.50573, 2, 1.92457, 0.955728, 0, 0.0754287
1082 | 10.81, -1.50495, 2, 1.92637, 0.956403, 0, 0.0736326
1083 | 10.82, -1.5042, 2, 1.92637, 0.957066, 0, 0.0736326
1084 | 10.83, -1.50346, 2, 1.92813, 0.957718, 0, 0.0718668
1085 | 10.84, -1.50273, 2, 1.92985, 0.958363, -1.71987, 0.0701469
1086 | 10.85, -1.50201, 2, 1.92985, 0.958994, 0, 0.0701469
1087 | 10.86, -1.50131, 2, 1.93153, 0.959617, 0, 0.0684714
1088 | 10.87, -1.50061, 2, 1.93153, 0.960233, 0, 0.0684714
1089 | 10.88, -1.49992, 2, 1.93316, 0.960835, 0, 0.0668387
1090 | 10.89, -1.49924, 2, 1.93477, 0.961432, 0, 0.0652342
1091 | 10.9, -1.49857, 2, 1.93477, 0.962019, 0, 0.0652342
1092 | 10.91, -1.49792, 2, 1.93634, 0.96266, 0, 0.0636585
1093 | 10.92, -1.49726, 2, 1.93787, 0.963292, 0, 0.0621252
1094 | 10.93, -1.49663, 2, 1.93787, 0.963789, 0, 0.0621252
1095 | 10.94, -1.49601, 2, 1.93935, 0.964398, 0, 0.060645
1096 | 10.95, -1.49538, 2, 1.9408, 0.96494, 0, 0.0592023
1097 | 10.96, -1.49478, 2, 1.9408, 0.965473, 0, 0.0592023
1098 | 10.97, -1.49419, 2, 1.94222, 0.966055, 0, 0.0577839
1099 | 10.98, -1.49359, 2, 1.9436, 0.966572, 0, 0.0564023
1100 | 10.99, -1.49302, 2, 1.9436, 0.96708, 0, 0.0564023
1101 | 11, -1.49245, 2, 1.94494, 0.967634, 0, 0.0550562
1102 | 11.01, -1.49189, 2, 1.94624, 0.968072, 0, 0.0537554
1103 | 11.02, -1.49134, 2, 1.94624, 0.968556, 0, 0.0537554
1104 | 11.03, -1.4908, 2, 1.94752, 0.969033, 0, 0.0524755
1105 | 11.04, -1.49026, 2, 1.94877, 0.969506, 0, 0.0524755
1106 | 11.05, -1.48974, 2, 1.94877, 0.970018, 0, 0.0512278
1107 | 11.06, -1.48922, 2, 1.95, 0.970474, 0, 0.0500011
1108 | 11.07, -1.48871, 2, 1.95, 0.970974, 0, 0.0500011
1109 | 11.08, -1.48821, 2, 1.95119, 0.971364, 0, 0.0488061
1110 | 11.09, -1.48771, 2, 1.95236, 0.971848, 0, 0.0476418
1111 | 11.1, -1.48722, 2, 1.95236, 0.972229, 0, 0.0476418
1112 | 11.11, -1.48675, 2, 1.95349, 0.972696, 0, 0.0465071
1113 | 11.12, -1.48627, 2, 1.9546, 0.973066, 0, 0.045401
1114 | 11.13, -1.48581, 2, 1.9546, 0.973475, 0, 0.045401
1115 | 11.14, -1.48535, 2, 1.95568, 0.973877, 0, 0.0443227
1116 | 11.15, -1.4849, 2, 1.95674, 0.974276, 0, 0.0443227
1117 | 11.16, -1.48446, 2, 1.95674, 0.974665, 0, 0.0432623
1118 | 11.17, -1.48402, 4, 1.95777, 0.98305, 0, 2.04223
1119 | 11.18, -1.46359, 4, 1.95777, 0.999388, 0, 2.04223
1120 | 11.19, -1.44317, 4, 2.04438, 1.01912, 0, 1.95562
1121 | 11.2, -1.42275, 4, 2.12433, 1.03648, 0, 1.87567
1122 | 11.21, -1.40319, 4, 2.12433, 1.05524, 0, 1.87567
1123 | 11.22, -1.38443, 4, 2.19835, 1.07152, 0, 1.80165
1124 | 11.23, -1.36568, 4, 2.26705, 1.0858, 0, 1.73295
1125 | 11.24, -1.34766, 4, 2.26705, 1.10313, 0, 1.73295
1126 | 11.25, -1.33033, 4, 2.33133, 1.11834, 0, 1.66867
1127 | 11.26, -1.313, 4, 2.39128, 1.13491, 0, 1.60872
1128 | 11.27, -1.29631, 4, 2.39128, 1.15099, 0, 1.60872
1129 | 11.28, -1.28023, 4, 2.44734, 1.16508, 0, 1.55266
1130 | 11.29, -1.26414, 4, 2.4999, 1.17895, 0, 1.5001
1131 | 11.3, -1.24861, 4, 2.4999, 1.19245, 0, 1.5001
1132 | 11.31, -1.23361, 4, 2.54961, 1.20715, 0, 1.45039
1133 | 11.32, -1.21861, 4, 2.59641, 1.22016, -46.8061, 1.40359
1134 | 11.33, -1.20411, 4, 2.59641, 1.2342, 0, 1.40359
1135 | 11.34, -1.19007, 4, 2.6406, 1.24656, 0, 1.3594
1136 | 11.35, -1.17604, 4, 2.6824, 1.25876, -41.804, 1.3176
1137 | 11.36, -1.16244, 4, 2.6824, 1.27061, 0, 1.3176
1138 | 11.37, -1.14927, 4, 2.72178, 1.28224, 0, 1.27822
1139 | 11.38, -1.13609, 4, 2.75948, 1.29374, 0, 1.27822
1140 | 11.39, -1.12331, 4, 2.75948, 1.3049, 0, 1.24052
1141 | 11.4, -1.1109, 4, 2.79537, 1.31593, 0, 1.20463
1142 | 11.41, -1.0985, 4, 2.79537, 1.32677, 0, 1.20463
1143 | 11.42, -1.08645, 4, 2.82961, 1.33733, 0, 1.17039
1144 | 11.43, -1.0744, 4, 2.86234, 1.34777, 0, 1.13766
1145 | 11.44, -1.0627, 4, 2.86234, 1.35801, 0, 1.13766
1146 | 11.45, -1.05132, 4, 2.89367, 1.36914, 0, 1.10633
1147 | 11.46, -1.03995, 4, 2.92371, 1.379, 0, 1.07629
1148 | 11.47, -1.02888, 4, 2.92371, 1.38869, 0, 1.07629
1149 | 11.48, -1.01812, 4, 2.95256, 1.39817, 0, 1.04744
1150 | 11.49, -1.00736, 4, 2.9803, 1.40754, 0, 1.0197
1151 | 11.5, -0.996883, 4, 2.9803, 1.41774, 0, 1.0197
1152 | 11.51, -0.986686, 4, 3.00681, 1.42671, 0, 0.993188
1153 | 11.52, -0.976489, 4, 3.03259, 1.43559, 0, 0.96741
1154 | 11.53, -0.966558, 4, 3.03259, 1.44527, 0, 0.96741
1155 | 11.54, -0.956883, 4, 3.05747, 1.4538, 0, 0.942532
1156 | 11.55, -0.947209, 4, 3.0815, 1.46224, 0, 0.918498
1157 | 11.56, -0.937784, 4, 3.0815, 1.47142, 0, 0.918498
1158 | 11.57, -0.928599, 4, 3.10474, 1.47952, 0, 0.895257
1159 | 11.58, -0.919414, 4, 3.12724, 1.48754, 0, 0.872763
1160 | 11.59, -0.910461, 4, 3.12724, 1.49539, 0, 0.872763
1161 | 11.6, -0.901734, 4, 3.14903, 1.50312, 0, 0.850974
1162 | 11.61, -0.893006, 4, 3.17015, 1.51075, -21.121, 0.829853
1163 | 11.62, -0.884496, 4, 3.17015, 1.51822, 0, 0.829853
1164 | 11.63, -0.876198, 4, 3.19063, 1.52559, 0, 0.809365
1165 | 11.64, -0.867899, 4, 3.19063, 1.53287, 0, 0.809365
1166 | 11.65, -0.859806, 4, 3.21052, 1.53998, 0, 0.78948
1167 | 11.66, -0.851712, 4, 3.22999, 1.54702, 0, 0.770009
1168 | 11.67, -0.843817, 4, 3.22999, 1.55472, 0, 0.770009
1169 | 11.68, -0.836117, 4, 3.24904, 1.56077, 0, 0.750955
1170 | 11.69, -0.828417, 4, 3.26738, 1.56823, 0, 0.732616
1171 | 11.7, -0.820908, 4, 3.26738, 1.57482, 0, 0.732616
1172 | 11.71, -0.813581, 4, 3.2855, 1.58204, 0, 0.7145
1173 | 11.72, -0.806255, 4, 3.30294, 1.58843, 0, 0.697062
1174 | 11.73, -0.79911, 4, 3.30294, 1.59401, 0, 0.697062
1175 | 11.74, -0.79214, 4, 3.31989, 1.6002, 0, 0.680114
1176 | 11.75, -0.785169, 4, 3.31989, 1.60632, 0, 0.680114
1177 | 11.76, -0.778368, 4, 3.3365, 1.61164, 0, 0.663499
1178 | 11.77, -0.771567, 4, 3.35265, 1.61758, 0, 0.647352
1179 | 11.78, -0.764932, 4, 3.35265, 1.62341, 0, 0.647352
1180 | 11.79, -0.758458, 4, 3.36835, 1.62914, 0, 0.631652
1181 | 11.8, -0.751985, 4, 3.38349, 1.63481, -15.1436, 0.616509
1182 | 11.81, -0.745668, 4, 3.38349, 1.64097, 0, 0.616509
1183 | 11.82, -0.739503, 4, 3.39824, 1.64642, 0, 0.601756
1184 | 11.83, -0.733338, 4, 3.41274, 1.65182, -14.4927, 0.587263
1185 | 11.84, -0.72732, 4, 3.41274, 1.65652, 0, 0.587263
1186 | 11.85, -0.721448, 4, 3.42696, 1.66234, 0, 0.573038
1187 | 11.86, -0.715575, 4, 3.42696, 1.66749, 0, 0.573038
1188 | 11.87, -0.709845, 4, 3.4408, 1.6731, 0, 0.559199
1189 | 11.88, -0.704114, 4, 3.45427, 1.67753, 0, 0.545733
1190 | 11.89, -0.698522, 4, 3.45427, 1.68244, 0, 0.545733
1191 | 11.9, -0.693065, 4, 3.46738, 1.68726, 0, 0.532623
1192 | 11.91, -0.687608, 4, 3.48014, 1.69203, 0, 0.519858
1193 | 11.92, -0.682282, 4, 3.48014, 1.69671, 0, 0.519858
1194 | 11.93, -0.677083, 4, 3.49247, 1.7013, 0, 0.507528
1195 | 11.94, -0.671884, 4, 3.5047, 1.70587, 0, 0.507528
1196 | 11.95, -0.666809, 4, 3.5047, 1.71033, 0, 0.4953
1197 | 11.96, -0.661856, 4, 3.5166, 1.71425, 0, 0.483397
1198 | 11.97, -0.656903, 4, 3.5166, 1.71909, 0, 0.483397
1199 | 11.98, -0.652069, 4, 3.52819, 1.72287, 0, 0.471807
1200 | 11.99, -0.647235, 4, 3.53958, 1.72711, -11.3828, 0.460424
1201 | 12, -0.642517, 4, 3.53958, 1.73125, 0, 0.460424
1202 | 12.01, -0.637913, 4, 3.55065, 1.73579, 0, 0.449346
1203 | 12.02, -0.633309, 4, 3.56144, 1.73982, -10.7856, 0.43856
1204 | 12.03, -0.628815, 4, 3.56144, 1.74377, 0, 0.43856
1205 | 12.04, -0.62443, 4, 3.57203, 1.7481, 0, 0.427969
1206 | 12.05, -0.620044, 4, 3.58234, 1.75237, -10.3068, 0.417662
1207 | 12.06, -0.615764, 4, 3.58234, 1.75613, 0, 0.417662
1208 | 12.07, -0.611588, 4, 3.59245, 1.76026, 0, 0.407546
1209 | 12.08, -0.607411, 4, 3.59245, 1.76393, 0, 0.407546
1210 | 12.09, -0.603336, 4, 3.6023, 1.76751, 0, 0.397704
1211 | 12.1, -0.59926, 4, 3.61195, 1.77106, 0, 0.388047
1212 | 12.11, -0.595283, 4, 3.61195, 1.77455, 0, 0.388047
1213 | 12.12, -0.591403, 4, 3.62134, 1.77797, 0, 0.378656
1214 | 12.13, -0.587522, 4, 3.63041, 1.78136, 0, 0.369594
1215 | 12.14, -0.583736, 4, 3.63041, 1.78468, 0, 0.369594
1216 | 12.15, -0.58004, 4, 3.63923, 1.78795, 0, 0.360767
1217 | 12.16, -0.576344, 4, 3.64783, 1.79118, 0, 0.352165
1218 | 12.17, -0.572736, 4, 3.64783, 1.79435, 0, 0.352165
1219 | 12.18, -0.569214, 4, 3.65622, 1.79746, 0, 0.343782
1220 | 12.19, -0.565693, 4, 3.66439, 1.80089, 0, 0.335609
1221 | 12.2, -0.562255, 4, 3.66439, 1.80391, 0, 0.335609
1222 | 12.21, -0.558899, 4, 3.67236, 1.80688, 0, 0.327641
1223 | 12.22, -0.555543, 4, 3.68019, 1.80983, 0, 0.327641
1224 | 12.23, -0.552266, 4, 3.68019, 1.81271, 0, 0.319806
1225 | 12.24, -0.549068, 4, 3.68776, 1.81523, 0, 0.312236
1226 | 12.25, -0.54587, 4, 3.68776, 1.81836, 0, 0.312236
1227 | 12.26, -0.542748, 4, 3.69515, 1.8211, 0, 0.304851
1228 | 12.27, -0.539625, 4, 3.70241, 1.82412, 0, 0.297586
1229 | 12.28, -0.536577, 4, 3.70241, 1.8268, 0, 0.297586
1230 | 12.29, -0.533601, 4, 3.7095, 1.82971, 0, 0.290505
1231 | 12.3, -0.530625, 4, 3.7164, 1.8323, 0, 0.283602
1232 | 12.31, -0.52772, 4, 3.7164, 1.83485, 0, 0.283602
1233 | 12.32, -0.524884, 4, 3.72324, 1.83764, 0, 0.276757
1234 | 12.33, -0.522048, 4, 3.7299, 1.84012, 0, 0.270096
1235 | 12.34, -0.519281, 4, 3.7299, 1.84255, 0, 0.270096
1236 | 12.35, -0.51658, 4, 3.73639, 1.84494, 0, 0.263611
1237 | 12.36, -0.513879, 4, 3.7427, 1.8473, -6.31504, 0.257296
1238 | 12.37, -0.511243, 4, 3.7427, 1.84936, 0, 0.257296
1239 | 12.38, -0.50867, 4, 3.74886, 1.85191, 0, 0.251145
1240 | 12.39, -0.506097, 4, 3.74886, 1.85391, 0, 0.251145
1241 | 12.4, -0.503585, 4, 3.75485, 1.85613, 0, 0.245152
1242 | 12.41, -0.501074, 4, 3.76074, 1.85856, 0, 0.239262
1243 | 12.42, -0.498622, 4, 3.76074, 1.86071, 0, 0.239262
1244 | 12.43, -0.49623, 4, 3.76647, 1.86283, 0, 0.233527
1245 | 12.44, -0.493837, 4, 3.77206, 1.86492, 0, 0.227941
1246 | 12.45, -0.491502, 4, 3.77206, 1.86697, 0, 0.227941
1247 | 12.46, -0.489222, 4, 3.77755, 1.86922, 0, 0.222453
1248 | 12.47, -0.486943, 4, 3.78289, 1.87121, -5.34242, 0.21711
1249 | 12.48, -0.484718, 4, 3.78289, 1.87317, 0, 0.21711
1250 | 12.49, -0.482547, 4, 3.78814, 1.8751, 0, 0.211864
1251 | 12.5, -0.480376, 4, 3.78814, 1.87701, 0, 0.211864
1252 | 12.51, -0.478258, 4, 3.79324, 1.87887, 0, 0.20676
1253 | 12.52, -0.476139, 4, 3.79821, 1.88072, 0, 0.201791
1254 | 12.53, -0.474071, 4, 3.79821, 1.88233, 0, 0.201791
1255 | 12.54, -0.472053, 4, 3.80305, 1.88412, 0, 0.196953
1256 | 12.55, -0.470035, 4, 3.80776, 1.88608, 0, 0.19224
1257 | 12.56, -0.468066, 4, 3.80776, 1.88781, 0, 0.19224
1258 | 12.57, -0.466144, 4, 3.81235, 1.88932, 0, 0.187649
1259 | 12.58, -0.464221, 4, 3.81682, 1.89101, 0, 0.187649
1260 | 12.59, -0.462345, 4, 3.81682, 1.89285, 0, 0.183176
1261 | 12.6, -0.460513, 4, 3.82118, 1.89447, 0, 0.178816
1262 | 12.61, -0.458681, 4, 3.82118, 1.89608, 0, 0.178816
1263 | 12.62, -0.456893, 4, 3.82543, 1.89765, 0, 0.174565
1264 | 12.63, -0.455105, 4, 3.82958, 1.89921, 0, 0.170421
1265 | 12.64, -0.453359, 4, 3.82958, 1.90074, 0, 0.170421
1266 | 12.65, -0.451655, 4, 3.83362, 1.90241, 0, 0.16638
1267 | 12.66, -0.449951, 4, 3.83759, 1.90389, 0, 0.162405
1268 | 12.67, -0.448287, 4, 3.83759, 1.90552, 0, 0.162405
1269 | 12.68, -0.446663, 4, 3.84147, 1.90695, 0, 0.158532
1270 | 12.69, -0.445039, 4, 3.84527, 1.90852, 0, 0.154726
1271 | 12.7, -0.443454, 4, 3.84527, 1.90992, 0, 0.154726
1272 | 12.71, -0.441906, 4, 3.84898, 1.91128, 0, 0.15102
1273 | 12.72, -0.440359, 4, 3.85259, 1.91263, 0, 0.147409
1274 | 12.73, -0.438849, 4, 3.85259, 1.91396, 0, 0.147409
1275 | 12.74, -0.437375, 4, 3.85611, 1.91527, 0, 0.143891
1276 | 12.75, -0.435901, 4, 3.85957, 1.91656, 0, 0.143891
1277 | 12.76, -0.434462, 4, 3.85957, 1.91797, 0, 0.140434
1278 | 12.77, -0.433057, 4, 3.86293, 1.91921, 0, 0.137068
1279 | 12.78, -0.431653, 4, 3.86621, 1.92045, 0, 0.137068
1280 | 12.79, -0.430282, 4, 3.86621, 1.92178, 0, 0.133789
1281 | 12.8, -0.428944, 4, 3.86943, 1.92284, 0, 0.130568
1282 | 12.81, -0.427607, 4, 3.86943, 1.92415, 0, 0.130568
1283 | 12.82, -0.426301, 4, 3.87257, 1.9253, 0, 0.127432
1284 | 12.83, -0.424995, 4, 3.87562, 1.92644, 0, 0.124379
1285 | 12.84, -0.423721, 4, 3.87562, 1.92756, 0, 0.124379
1286 | 12.85, -0.422477, 4, 3.8786, 1.92878, 0, 0.121405
1287 | 12.86, -0.421233, 4, 3.88149, 1.92998, 0, 0.118507
1288 | 12.87, -0.420019, 4, 3.88149, 1.93105, 0, 0.118507
1289 | 12.88, -0.418834, 4, 3.88434, 1.93221, 0, 0.115659
1290 | 12.89, -0.417649, 4, 3.88711, 1.93313, 0, 0.112886
1291 | 12.9, -0.416493, 4, 3.88711, 1.93426, 0, 0.112886
1292 | 12.91, -0.415364, 4, 3.88981, 1.93514, 0, 0.110186
1293 | 12.92, -0.414235, 4, 3.89247, 1.93624, -2.65317, 0.107532
1294 | 12.93, -0.413133, 4, 3.89247, 1.9371, 0, 0.107532
1295 | 12.94, -0.412058, 4, 3.89503, 1.93806, 0, 0.104971
1296 | 12.95, -0.410982, 4, 3.89503, 1.939, 0, 0.104971
1297 | 12.96, -0.409933, 4, 3.89755, 1.94003, 0, 0.102453
1298 | 12.97, -0.408883, 4, 3.9, 1.94094, 0, 0.100001
1299 | 12.98, -0.407858, 4, 3.9, 1.94184, 0, 0.100001
1300 | 12.99, -0.406858, 4, 3.90239, 1.94272, 0, 0.0976127
1301 | 13, -0.405858, 4, 3.90471, 1.9435, 0, 0.095285
1302 | 13.01, -0.404882, 4, 3.90471, 1.94445, 0, 0.095285
1303 | 13.02, -0.403929, 4, 3.90698, 1.94529, 0, 0.0930165
1304 | 13.03, -0.402976, 4, 3.90921, 1.94613, -2.23002, 0.0907864
1305 | 13.04, -0.402046, 4, 3.90921, 1.94686, 0, 0.0907864
1306 | 13.05, -0.401138, 4, 3.91139, 1.94775, 0, 0.0886144
1307 | 13.06, -0.400231, 4, 3.9135, 1.94855, 0, 0.0886144
1308 | 13.07, -0.399344, 4, 3.9135, 1.94942, 0, 0.0864983
1309 | 13.08, -0.398479, 4, 3.91556, 1.95018, 0, 0.0844363
1310 | 13.09, -0.397614, 4, 3.91556, 1.95094, 0, 0.0844363
1311 | 13.1, -0.39677, 4, 3.91759, 1.9516, 0, 0.0824097
1312 | 13.11, -0.395926, 4, 3.91956, 1.95242, 0, 0.0804361
1313 | 13.12, -0.395102, 4, 3.91956, 1.95315, 0, 0.0804361
1314 | 13.13, -0.394297, 4, 3.92147, 1.95386, 0, 0.0785296
1315 | 13.14, -0.393493, 4, 3.92333, 1.95456, 0, 0.0766701
1316 | 13.15, -0.392708, 4, 3.92333, 1.95525, 0, 0.0766701
1317 | 13.16, -0.391941, 4, 3.92516, 1.95593, 0, 0.074841
1318 | 13.17, -0.391174, 4, 3.92694, 1.9566, -1.78261, 0.0730584
1319 | 13.18, -0.390426, 4, 3.92694, 1.95733, 0, 0.0730584
1320 | 13.19, -0.389695, 4, 3.92868, 1.95798, 0, 0.0713208
1321 | 13.2, -0.388965, 4, 3.93037, 1.95862, -1.69404, 0.0696267
1322 | 13.21, -0.388251, 4, 3.93037, 1.95924, 0, 0.0696267
1323 | 13.22, -0.387555, 4, 3.93204, 1.95986, 0, 0.067961
1324 | 13.23, -0.386859, 4, 3.93204, 1.96047, 0, 0.067961
1325 | 13.24, -0.386179, 4, 3.93365, 1.96107, 0, 0.0663517
1326 | 13.25, -0.3855, 4, 3.93522, 1.96166, 0, 0.0647816
1327 | 13.26, -0.384836, 4, 3.93522, 1.96225, 0, 0.0647816
1328 | 13.27, -0.384188, 4, 3.93676, 1.96282, 0, 0.063237
1329 | 13.28, -0.383541, 4, 3.93827, 1.96345, 0, 0.0617316
1330 | 13.29, -0.382908, 4, 3.93827, 1.964, 0, 0.0617316
1331 | 13.3, -0.382291, 4, 3.93974, 1.96455, 0, 0.0602641
1332 | 13.31, -0.381674, 4, 3.94117, 1.96509, 0, 0.0588333
1333 | 13.32, -0.381071, 4, 3.94117, 1.96568, 0, 0.0588333
1334 | 13.33, -0.380483, 4, 3.94256, 1.96619, 0, 0.0574381
1335 | 13.34, -0.379894, 4, 3.94393, 1.96671, -1.3722, 0.0560659
1336 | 13.35, -0.37932, 4, 3.94393, 1.96727, 0, 0.0560659
1337 | 13.36, -0.378759, 4, 3.94526, 1.96777, 0, 0.05474
1338 | 13.37, -0.378199, 4, 3.94655, 1.9682, -1.29352, 0.0534465
1339 | 13.38, -0.377651, 4, 3.94655, 1.96874, 0, 0.0534465
1340 | 13.39, -0.377117, 4, 3.94782, 1.96921, 0, 0.0521844
1341 | 13.4, -0.376582, 4, 3.94905, 1.96968, -1.2315, 0.0509529
1342 | 13.41, -0.37606, 4, 3.94905, 1.97014, 0, 0.0509529
1343 | 13.42, -0.375551, 4, 3.95025, 1.97059, 0, 0.0497512
1344 | 13.43, -0.375041, 4, 3.95025, 1.97104, 0, 0.0497512
1345 | 13.44, -0.374544, 4, 3.95142, 1.97152, 0, 0.0485784
1346 | 13.45, -0.374046, 4, 3.95257, 1.97196, 0, 0.0474337
1347 | 13.46, -0.373561, 4, 3.95257, 1.97238, 0, 0.0474337
1348 | 13.47, -0.373086, 4, 3.95368, 1.97285, 0, 0.0463165
1349 | 13.48, -0.372612, 4, 3.95478, 1.97326, 0, 0.0452168
1350 | 13.49, -0.372149, 4, 3.95478, 1.97371, 0, 0.0452168
1351 | 13.5, -0.371696, 4, 3.95586, 1.97411, 0, 0.0441444
1352 | 13.51, -0.371244, 4, 3.95691, 1.9745, 0, 0.0430897
1353 | 13.52, -0.370803, 4, 3.95691, 1.97489, 0, 0.0430897
1354 | 13.53, -0.370372, 4, 3.95794, 1.97527, 0, 0.042062
1355 | 13.54, -0.369941, 4, 3.95895, 1.97569, 0, 0.041052
1356 | 13.55, -0.36952, 4, 3.95895, 1.97602, 0, 0.041052
1357 | 13.56, -0.36911, 4, 3.95993, 1.97638, 0, 0.0400685
1358 | 13.57, -0.368699, 4, 3.96089, 1.97678, -0.958036, 0.0391105
1359 | 13.58, -0.368299, 4, 3.96089, 1.97709, 0, 0.0391105
1360 | 13.59, -0.367908, 4, 3.96182, 1.97744, 0, 0.038177
1361 | 13.6, -0.367517, 4, 3.96182, 1.97779, 0, 0.038177
1362 | 13.61, -0.367135, 4, 3.96273, 1.97812, 0, 0.0372674
1363 | 13.62, -0.366753, 4, 3.96362, 1.97846, 0, 0.0363808
1364 | 13.63, -0.36638, 4, 3.96362, 1.97878, 0, 0.0363808
1365 | 13.64, -0.366017, 4, 3.96448, 1.9791, 0, 0.0355164
1366 | 13.65, -0.365653, 4, 3.96533, 1.97942, -0.84991, 0.0346665
1367 | 13.66, -0.365298, 4, 3.96533, 1.97977, 0, 0.0346665
1368 | 13.67, -0.364951, 4, 3.96616, 1.98008, 0, 0.0338385
1369 | 13.68, -0.364604, 4, 3.96697, 1.98038, -0.806818, 0.0330317
1370 | 13.69, -0.364266, 4, 3.96697, 1.98068, 0, 0.0330317
1371 | 13.7, -0.363936, 4, 3.96775, 1.981, 0, 0.0322453
1372 | 13.71, -0.363605, 4, 3.96852, 1.98129, -0.76655, 0.0314788
1373 | 13.72, -0.363283, 4, 3.96852, 1.98158, 0, 0.0314788
1374 | 13.73, -0.362968, 4, 3.96927, 1.98186, 0, 0.0307251
1375 | 13.74, -0.362653, 4, 3.96927, 1.98213, 0, 0.0307251
1376 | 13.75, -0.362346, 4, 3.97001, 1.9824, 0, 0.0299909
1377 | 13.76, -0.362039, 4, 3.97073, 1.98267, 0, 0.0292695
1378 | 13.77, -0.361739, 4, 3.97073, 1.98294, 0, 0.0292695
1379 | 13.78, -0.361446, 4, 3.97143, 1.98319, 0, 0.0285672
1380 | 13.79, -0.361153, 4, 3.97211, 1.98345, 0, 0.0278889
1381 | 13.8, -0.360868, 4, 3.97211, 1.9837, 0, 0.0278889
1382 | 13.81, -0.360589, 4, 3.97278, 1.98395, 0, 0.0272219
1383 | 13.82, -0.36031, 4, 3.97343, 1.98419, 0, 0.0272219
1384 | 13.83, -0.360038, 4, 3.97343, 1.98443, 0, 0.0265721
1385 | 13.84, -0.359772, 4, 3.97406, 1.98467, 0, 0.0259388
1386 | 13.85, -0.359506, 4, 3.97406, 1.9849, 0, 0.0259388
1387 | 13.86, -0.359247, 4, 3.97468, 1.98513, 0, 0.0253164
1388 | 13.87, -0.358987, 4, 3.97529, 1.98536, 0, 0.0247103
1389 | 13.88, -0.358734, 4, 3.97529, 1.98561, 0, 0.0247103
1390 | 13.89, -0.358487, 4, 3.97588, 1.98582, 0, 0.0241198
1391 | 13.9, -0.35824, 4, 3.97646, 1.98604, -0.580182, 0.0235396
1392 | 13.91, -0.357999, 4, 3.97646, 1.98623, 0, 0.0235396
1393 | 13.92, -0.357764, 4, 3.97703, 1.98646, 0, 0.0229747
1394 | 13.93, -0.357528, 4, 3.97758, 1.98667, 0, 0.0229747
1395 | 13.94, -0.357298, 4, 3.97758, 1.98689, 0, 0.0224246
1396 | 13.95, -0.357074, 4, 3.97812, 1.98709, 0, 0.0218842
1397 | 13.96, -0.35685, 4, 3.97864, 1.98729, 0, 0.0218842
1398 | 13.97, -0.356631, 4, 3.97864, 1.98748, 0, 0.0213626
1399 | 13.98, -0.356417, 4, 3.97915, 1.98767, 0, 0.0208499
1400 | 13.99, -0.356204, 4, 3.97915, 1.98786, 0, 0.0208499
1401 | 14, -0.355995, 4, 3.97965, 1.98804, 0, 0.0203548
1402 | 14.01, -0.355787, 4, 3.98013, 1.98823, 0, 0.0198679
1403 | 14.02, -0.355583, 4, 3.98013, 1.9884, 0, 0.0198679
1404 | 14.03, -0.355385, 4, 3.9806, 1.98858, 0, 0.0193976
1405 | 14.04, -0.355186, 4, 3.98107, 1.98877, 0, 0.0189349
1406 | 14.05, -0.354992, 4, 3.98107, 1.98894, 0, 0.0189349
1407 | 14.06, -0.354803, 4, 3.98152, 1.98909, 0, 0.0184839
1408 | 14.07, -0.354613, 4, 3.98196, 1.98928, 0, 0.0184839
1409 | 14.08, -0.354428, 4, 3.98196, 1.98946, 0, 0.0180407
1410 | 14.09, -0.354248, 4, 3.98239, 1.9896, 0, 0.0176054
1411 | 14.1, -0.354068, 4, 3.98239, 1.98978, 0, 0.0176054
1412 | 14.11, -0.353891, 4, 3.98282, 1.98993, 0, 0.0171817
1413 | 14.12, -0.353715, 4, 3.98323, 1.99009, 0, 0.0167658
1414 | 14.13, -0.353544, 4, 3.98323, 1.99024, 0, 0.0167658
1415 | 14.14, -0.353376, 4, 3.98364, 1.99039, 0, 0.0163612
1416 | 14.15, -0.353208, 4, 3.98403, 1.99053, -0.393788, 0.0159674
1417 | 14.16, -0.353045, 4, 3.98403, 1.99068, 0, 0.0159674
1418 | 14.17, -0.352885, 4, 3.98442, 1.99082, 0, 0.015584
1419 | 14.18, -0.352725, 4, 3.98442, 1.99096, 0, 0.015584
1420 | 14.19, -0.35257, 4, 3.98479, 1.9911, 0, 0.0152076
1421 | 14.2, -0.352414, 4, 3.98516, 1.99123, 0, 0.0148412
1422 | 14.21, -0.352262, 4, 3.98516, 1.99135, 0, 0.0148412
1423 | 14.22, -0.352113, 4, 3.98551, 1.99148, 0, 0.0144876
1424 | 14.23, -0.351965, 4, 3.98586, 1.99162, 0, 0.01414
1425 | 14.24, -0.35182, 4, 3.98586, 1.99175, 0, 0.01414
1426 | 14.25, -0.351678, 4, 3.9862, 1.99188, 0, 0.0138043
1427 | 14.26, -0.351537, 4, 3.98652, 1.992, 0, 0.013477
1428 | 14.27, -0.351399, 4, 3.98652, 1.99214, 0, 0.013477
1429 | 14.28, -0.351264, 4, 3.98684, 1.99225, 0, 0.0131577
1430 | 14.29, -0.35113, 4, 3.98716, 1.99237, -0.314027, 0.0128437
1431 | 14.3, -0.350998, 4, 3.98716, 1.99249, 0, 0.0128437
1432 | 14.31, -0.350869, 4, 3.98746, 1.9926, 0, 0.0125403
1433 | 14.32, -0.350741, 4, 3.98776, 1.99272, 0, 0.0125403
1434 | 14.33, -0.350616, 4, 3.98776, 1.99283, 0, 0.0122416
1435 | 14.34, -0.350493, 4, 3.98805, 1.99293, 0, 0.0119505
1436 | 14.35, -0.350371, 4, 3.98805, 1.99304, 0, 0.0119505
1437 | 14.36, -0.350251, 4, 3.98833, 1.99314, 0, 0.0116667
1438 | 14.37, -0.350132, 4, 3.98861, 1.99325, 0, 0.0113899
1439 | 14.38, -0.350015, 4, 3.98861, 1.99334, 0, 0.0113899
1440 | 14.39, -0.349901, 4, 3.98888, 1.99345, 0, 0.0111177
1441 | 14.4, -0.349787, 4, 3.98915, 1.99355, -0.265204, 0.0108525
1442 | 14.41, -0.349676, 4, 3.98915, 1.99366, 0, 0.0108525
1443 | 14.42, -0.349568, 4, 3.98941, 1.99376, 0, 0.0105941
1444 | 14.43, -0.349459, 4, 3.98966, 1.99385, -0.251941, 0.0103421
1445 | 14.44, -0.349353, 4, 3.98966, 1.99395, 0, 0.0103421
1446 | 14.45, -0.34925, 4, 3.98991, 1.99405, 0, 0.0100944
1447 | 14.46, -0.349146, 4, 3.99014, 1.99414, -0.239264, 0.00985516
1448 | 14.47, -0.349045, 4, 3.99014, 1.99424, 0, 0.00985516
1449 | 14.48, -0.348947, 4, 3.99038, 1.99433, 0, 0.00961983
1450 | 14.49, -0.348848, 4, 3.99061, 1.99441, 0, 0.00961983
1451 | 14.5, -0.348752, 4, 3.99061, 1.9945, 0, 0.00939051
1452 | 14.51, -0.348658, 4, 3.99083, 1.99458, 0, 0.009167
1453 | 14.52, -0.348564, 4, 3.99083, 1.99466, 0, 0.009167
1454 | 14.53, -0.348473, 4, 3.99105, 1.99475, 0, 0.00894911
1455 | 14.54, -0.348381, 4, 3.99126, 1.99483, 0, 0.00873667
1456 | 14.55, -0.348291, 4, 3.99126, 1.99491, 0, 0.00873667
1457 | 14.56, -0.348204, 4, 3.99147, 1.99499, 0, 0.00852776
1458 | 14.57, -0.348117, 4, 3.99168, 1.99506, 0, 0.00832422
1459 | 14.58, -0.348031, 4, 3.99168, 1.99514, 0, 0.00832422
1460 | 14.59, -0.347948, 4, 3.99187, 1.99521, 0, 0.00812587
1461 | 14.6, -0.347865, 4, 3.99207, 1.99529, -0.191709, 0.00793416
1462 | 14.61, -0.347784, 4, 3.99207, 1.99535, 0, 0.00793416
1463 | 14.62, -0.347704, 4, 3.99225, 1.99543, 0, 0.00774704
1464 | 14.63, -0.347625, 4, 3.99244, 1.99549, 0, 0.00774704
1465 | 14.64, -0.347548, 4, 3.99244, 1.99556, 0, 0.00756442
1466 | 14.65, -0.347472, 4, 3.99261, 1.99563, 0, 0.00738619
1467 | 14.66, -0.347396, 4, 3.99261, 1.9957, 0, 0.00738619
1468 | 14.67, -0.347322, 4, 3.99279, 1.99576, 0, 0.00721075
1469 | 14.68, -0.347249, 4, 3.99296, 1.99584, 0, 0.00703969
1470 | 14.69, -0.347176, 4, 3.99296, 1.9959, 0, 0.00703969
1471 | 14.7, -0.347106, 4, 3.99313, 1.99596, 0, 0.00687286
1472 | 14.71, -0.347036, 4, 3.99329, 1.99603, 0, 0.00670873
1473 | 14.72, -0.346967, 4, 3.99329, 1.99609, 0, 0.00670873
1474 | 14.73, -0.3469, 4, 3.99345, 1.99616, 0, 0.00654746
1475 | 14.74, -0.346833, 4, 3.99361, 1.99621, 0, 0.00639043
1476 | 14.75, -0.346767, 4, 3.99361, 1.99627, 0, 0.00639043
1477 | 14.76, -0.346703, 4, 3.99376, 1.99633, 0, 0.00623749
1478 | 14.77, -0.346639, 4, 3.99391, 1.99639, -0.150239, 0.00608726
1479 | 14.78, -0.346577, 4, 3.99391, 1.99645, 0, 0.00608726
1480 | 14.79, -0.346516, 4, 3.99406, 1.9965, 0, 0.00594101
1481 | 14.8, -0.346455, 4, 3.9942, 1.99655, 0, 0.00594101
1482 | 14.81, -0.346396, 4, 3.9942, 1.99661, 0, 0.0057986
1483 | 14.82, -0.346338, 4, 3.99434, 1.99666, 0, 0.00565989
1484 | 14.83, -0.34628, 4, 3.99447, 1.99671, -0.134005, 0.00552588
1485 | 14.84, -0.346223, 4, 3.99447, 1.99676, 0, 0.00552588
1486 | 14.85, -0.346168, 4, 3.99461, 1.99681, 0, 0.00539406
1487 | 14.86, -0.346113, 4, 3.99461, 1.99686, 0, 0.00539406
1488 | 14.87, -0.346059, 4, 3.99473, 1.99691, 0, 0.00526559
1489 | 14.88, -0.346005, 4, 3.99486, 1.99696, 0, 0.00513931
1490 | 14.89, -0.345952, 4, 3.99486, 1.997, 0, 0.00513931
1491 | 14.9, -0.345901, 3, 3.99498, 1.99605, -1000, -0.994984
1492 | 14.91, -0.35585, 3, 3.9531, 1.98709, 0, -0.994984
1493 | 14.92, -0.365799, 3, 3.9531, 1.97851, 0, -0.953105
1494 | 14.93, -0.37533, 3, 3.91442, 1.96918, 0, -0.91442
1495 | 14.94, -0.384861, 3, 3.91442, 1.96186, 0, -0.91442
1496 | 14.95, -0.394006, 3, 3.87859, 1.95392, 0, -0.87859
1497 | 14.96, -0.40315, 3, 3.84532, 1.94611, 0, -0.845317
1498 | 14.97, -0.411936, 3, 3.84532, 1.9385, 0, -0.845317
1499 | 14.98, -0.420389, 3, 3.81434, 1.9303, 0, -0.814335
1500 | 14.99, -0.428842, 3, 3.78541, 1.92384, 0, -0.785411
1501 | 15, -0.436985, 3, 3.78541, 1.91677, 0, -0.785411
1502 | 15.01, -0.44484, 3, 3.75834, 1.90911, 0, -0.758336
1503 | 15.02, -0.452694, 3, 3.73308, 1.90236, 0, -0.733081
1504 | 15.03, -0.460277, 3, 3.73308, 1.89649, 0, -0.733081
1505 | 15.04, -0.467608, 3, 3.70916, 1.88931, 0, -0.709162
1506 | 15.05, -0.474939, 3, 3.68661, 1.88295, 22.556, -0.686606
1507 | 15.06, -0.48203, 3, 3.68661, 1.87677, 0, -0.686606
1508 | 15.07, -0.488896, 3, 3.66529, 1.87069, 0, -0.665285
1509 | 15.08, -0.495762, 3, 3.64495, 1.86404, 0, -0.665285
1510 | 15.09, -0.502415, 3, 3.64495, 1.85824, 0, -0.644954
1511 | 15.1, -0.508865, 3, 3.62566, 1.85251, 0, -0.625663
1512 | 15.11, -0.515314, 3, 3.62566, 1.84688, 0, -0.625663
1513 | 15.12, -0.521571, 3, 3.60745, 1.84141, 0, -0.607446
1514 | 15.13, -0.527828, 3, 3.58996, 1.836, 0, -0.589957
1515 | 15.14, -0.533902, 3, 3.58996, 1.83069, 0, -0.589957
1516 | 15.15, -0.539802, 3, 3.57338, 1.82608, 0, -0.573382
1517 | 15.16, -0.545701, 3, 3.55752, 1.8204, 0, -0.557523
1518 | 15.17, -0.551435, 3, 3.55752, 1.81538, 0, -0.557523
1519 | 15.18, -0.55701, 3, 3.54232, 1.81047, 0, -0.542322
1520 | 15.19, -0.562585, 3, 3.52773, 1.80562, 0, -0.527732
1521 | 15.2, -0.568009, 3, 3.52773, 1.80087, 0, -0.527732
1522 | 15.21, -0.573286, 3, 3.5136, 1.79619, 0, -0.513601
1523 | 15.22, -0.578563, 3, 3.50001, 1.79107, 13.5909, -0.50001
1524 | 15.23, -0.583699, 3, 3.50001, 1.78657, 0, -0.50001
1525 | 15.24, -0.588699, 3, 3.48682, 1.78212, 0, -0.486821
1526 | 15.25, -0.593699, 3, 3.48682, 1.77774, 0, -0.486821
1527 | 15.26, -0.598568, 3, 3.47412, 1.77393, 0, -0.474117
1528 | 15.27, -0.603436, 3, 3.46186, 1.76923, 0, -0.461863
1529 | 15.28, -0.608177, 3, 3.46186, 1.76507, 0, -0.461863
1530 | 15.29, -0.612796, 3, 3.44994, 1.76099, 0, -0.449939
1531 | 15.3, -0.617414, 3, 3.43842, 1.75695, 11.5143, -0.438425
1532 | 15.31, -0.621914, 3, 3.43842, 1.75256, 0, -0.438425
1533 | 15.32, -0.626298, 3, 3.42721, 1.74867, 0, -0.427207
1534 | 15.33, -0.630682, 3, 3.41636, 1.74483, 0, -0.427207
1535 | 15.34, -0.634954, 3, 3.41636, 1.7415, 0, -0.416364
1536 | 15.35, -0.639118, 3, 3.40596, 1.73738, 0, -0.405956
1537 | 15.36, -0.643282, 3, 3.40596, 1.73372, 0, -0.405956
1538 | 15.37, -0.647341, 3, 3.39579, 1.73015, 0, -0.395785
1539 | 15.38, -0.651401, 3, 3.38593, 1.72662, 0, -0.38593
1540 | 15.39, -0.655359, 3, 3.38593, 1.72276, 0, -0.38593
1541 | 15.4, -0.659218, 3, 3.37637, 1.71936, 0, -0.376374
1542 | 15.41, -0.663077, 3, 3.36718, 1.71601, 0, -0.367178
1543 | 15.42, -0.666841, 3, 3.36718, 1.71234, 0, -0.367178
1544 | 15.43, -0.670513, 3, 3.35824, 1.70947, 0, -0.358241
1545 | 15.44, -0.674184, 3, 3.34955, 1.70592, 0, -0.349551
1546 | 15.45, -0.677767, 3, 3.34955, 1.70278, 0, -0.349551
1547 | 15.46, -0.681262, 3, 3.3411, 1.6997, 0, -0.3411
1548 | 15.47, -0.684758, 3, 3.33288, 1.69666, 0, -0.332877
1549 | 15.48, -0.688169, 3, 3.33288, 1.69366, 0, -0.332877
1550 | 15.49, -0.691498, 3, 3.32481, 1.69071, 0, -0.324806
1551 | 15.5, -0.694826, 3, 3.31696, 1.6878, 7.85018, -0.316956
1552 | 15.51, -0.698074, 3, 3.31696, 1.68494, 0, -0.316956
1553 | 15.52, -0.701244, 3, 3.30938, 1.68245, 0, -0.309381
1554 | 15.53, -0.704414, 3, 3.302, 1.67966, 0, -0.309381
1555 | 15.54, -0.707507, 3, 3.302, 1.67694, 0, -0.302
1556 | 15.55, -0.710527, 3, 3.29481, 1.67396, 0, -0.294807
1557 | 15.56, -0.713547, 3, 3.29481, 1.67131, 0, -0.294807
1558 | 15.57, -0.716495, 3, 3.28774, 1.66871, 0, -0.287736
1559 | 15.58, -0.719444, 3, 3.28085, 1.66614, 0, -0.28085
1560 | 15.59, -0.722321, 3, 3.28085, 1.66361, 0, -0.28085
1561 | 15.6, -0.725129, 3, 3.27414, 1.66113, 0, -0.274141
1562 | 15.61, -0.727938, 3, 3.2676, 1.65868, 0, -0.267604
1563 | 15.62, -0.730679, 3, 3.2676, 1.65627, 0, -0.267604
1564 | 15.63, -0.733355, 3, 3.26118, 1.65363, 0, -0.261179
1565 | 15.64, -0.736031, 3, 3.25492, 1.65129, 6.25652, -0.254923
1566 | 15.65, -0.738643, 3, 3.25492, 1.64899, 0, -0.254923
1567 | 15.66, -0.741192, 3, 3.24878, 1.64648, 0, -0.248777
1568 | 15.67, -0.743742, 3, 3.24878, 1.64424, 0, -0.248777
1569 | 15.68, -0.746229, 3, 3.2428, 1.64205, 0, -0.242796
1570 | 15.69, -0.748717, 3, 3.23697, 1.63989, 0, -0.236972
1571 | 15.7, -0.751145, 3, 3.23697, 1.63799, 0, -0.236972
1572 | 15.71, -0.753515, 3, 3.2313, 1.6359, 0, -0.2313
1573 | 15.72, -0.755885, 3, 3.22573, 1.63382, 5.57196, -0.225728
1574 | 15.73, -0.758198, 3, 3.22573, 1.63179, 0, -0.225728
1575 | 15.74, -0.760455, 3, 3.22035, 1.62957, 0, -0.220349
1576 | 15.75, -0.762712, 3, 3.21511, 1.6276, 0, -0.215106
1577 | 15.76, -0.764916, 3, 3.21511, 1.62545, 0, -0.215106
1578 | 15.77, -0.767067, 3, 3.20995, 1.62354, 0, -0.209952
1579 | 15.78, -0.769218, 3, 3.20497, 1.62166, 0, -0.204974
1580 | 15.79, -0.771317, 3, 3.20497, 1.62002, 0, -0.204974
1581 | 15.8, -0.773367, 3, 3.20008, 1.6182, 0, -0.200077
1582 | 15.81, -0.775417, 3, 3.20008, 1.6164, 0, -0.200077
1583 | 15.82, -0.777417, 3, 3.19531, 1.61444, 0, -0.195306
1584 | 15.83, -0.779418, 3, 3.19066, 1.6127, 0, -0.190656
1585 | 15.84, -0.781371, 3, 3.19066, 1.61099, 0, -0.190656
1586 | 15.85, -0.783278, 3, 3.18612, 1.60931, 0, -0.186124
1587 | 15.86, -0.785184, 3, 3.18167, 1.60764, 0, -0.181667
1588 | 15.87, -0.787046, 3, 3.18167, 1.60582, 0, -0.181667
1589 | 15.88, -0.788862, 3, 3.17736, 1.60422, 0, -0.177362
1590 | 15.89, -0.790679, 3, 3.17313, 1.60246, 0, -0.173128
1591 | 15.9, -0.792453, 3, 3.17313, 1.60108, 0, -0.173128
1592 | 15.91, -0.794184, 3, 3.169, 1.59937, 0, -0.169001
1593 | 15.92, -0.795915, 3, 3.16495, 1.59802, 0, -0.169001
1594 | 15.93, -0.797605, 3, 3.16495, 1.59637, 0, -0.164946
1595 | 15.94, -0.799255, 3, 3.16096, 1.59539, 3.98269, -0.160963
1596 | 15.95, -0.800904, 3, 3.16096, 1.59394, 0, -0.160963
1597 | 15.96, -0.802514, 3, 3.15705, 1.59251, 0, -0.157055
1598 | 15.97, -0.804123, 3, 3.15705, 1.59109, 0, -0.157055
1599 | 15.98, -0.805694, 3, 3.15325, 1.58956, 0, -0.153254
1600 | 15.99, -0.807264, 3, 3.14956, 1.58819, 0, -0.149557
1601 | 16, -0.808797, 3, 3.14956, 1.58685, 0, -0.149557
1602 | 16.01, -0.810293, 3, 3.14596, 1.58553, 0, -0.145958
1603 | 16.02, -0.811788, 3, 3.14243, 1.58422, 0, -0.142425
1604 | 16.03, -0.813248, 3, 3.14243, 1.58294, 0, -0.142425
1605 | 16.04, -0.814672, 3, 3.13899, 1.58168, 0, -0.138988
1606 | 16.05, -0.816096, 3, 3.13567, 1.58043, 0, -0.135671
1607 | 16.06, -0.817486, 3, 3.13567, 1.57908, 0, -0.135671
1608 | 16.07, -0.818843, 3, 3.13241, 1.57801, 0, -0.132411
1609 | 16.08, -0.8202, 3, 3.12921, 1.57668, 0, -0.132411
1610 | 16.09, -0.821524, 3, 3.12921, 1.57552, 0, -0.129211
1611 | 16.1, -0.822816, 3, 3.1261, 1.57437, 0, -0.126096
1612 | 16.11, -0.824108, 3, 3.1261, 1.57324, 0, -0.126096
1613 | 16.12, -0.825369, 3, 3.12304, 1.572, 0, -0.12304
1614 | 16.13, -0.82663, 3, 3.12009, 1.5709, 0, -0.120091
1615 | 16.14, -0.82786, 3, 3.12009, 1.56982, 0, -0.120091
1616 | 16.15, -0.829061, 3, 3.11719, 1.56865, 0, -0.117195
1617 | 16.16, -0.830262, 3, 3.11438, 1.5676, 0, -0.114376
1618 | 16.17, -0.831434, 3, 3.11438, 1.56646, 0, -0.114376
1619 | 16.18, -0.832578, 3, 3.11161, 1.56545, 0, -0.111609
1620 | 16.19, -0.833721, 3, 3.10892, 1.56445, 0, -0.108916
1621 | 16.2, -0.834838, 3, 3.10892, 1.56347, 0, -0.108916
1622 | 16.21, -0.835927, 3, 3.1063, 1.5625, 0, -0.106296
1623 | 16.22, -0.837016, 3, 3.10372, 1.56155, 0, -0.106296
1624 | 16.23, -0.838079, 3, 3.10372, 1.56061, 0, -0.103724
1625 | 16.24, -0.839116, 3, 3.10122, 1.55969, 0, -0.101221
1626 | 16.25, -0.840153, 3, 3.10122, 1.55878, 0, -0.101221
1627 | 16.26, -0.841166, 3, 3.09879, 1.55789, 0, -0.0987852
1628 | 16.27, -0.842178, 3, 3.09639, 1.5569, 0, -0.0963941
1629 | 16.28, -0.843166, 3, 3.09639, 1.55604, 0, -0.0963941
1630 | 16.29, -0.84413, 3, 3.09407, 1.55519, 0, -0.0940678
1631 | 16.3, -0.845093, 3, 3.0918, 1.55434, 0, -0.0918039
1632 | 16.31, -0.846034, 3, 3.0918, 1.55352, 0, -0.0918039
1633 | 16.32, -0.846952, 3, 3.0896, 1.5527, 0, -0.0895998
1634 | 16.33, -0.84787, 3, 3.08745, 1.5519, 2.14637, -0.0874534
1635 | 16.34, -0.848766, 3, 3.08745, 1.55111, 0, -0.0874534
1636 | 16.35, -0.849641, 3, 3.08535, 1.55033, 0, -0.0853452
1637 | 16.36, -0.850515, 3, 3.08535, 1.54957, 0, -0.0853452
1638 | 16.37, -0.851369, 3, 3.08331, 1.54882, 0, -0.0833102
1639 | 16.38, -0.852222, 3, 3.08133, 1.54808, 0, -0.0813268
1640 | 16.39, -0.853055, 3, 3.08133, 1.54726, 0, -0.0813268
1641 | 16.4, -0.853869, 3, 3.07938, 1.54655, 0, -0.0793772
1642 | 16.41, -0.854682, 3, 3.07749, 1.54584, 0, -0.0774941
1643 | 16.42, -0.855476, 3, 3.07749, 1.54514, 0, -0.0774941
1644 | 16.43, -0.856251, 3, 3.07564, 1.54446, 0, -0.0756421
1645 | 16.44, -0.857025, 3, 3.07384, 1.54371, 0, -0.0738377
1646 | 16.45, -0.857782, 3, 3.07384, 1.54304, 0, -0.0738377
1647 | 16.46, -0.85852, 3, 3.07208, 1.54239, 0, -0.0720791
1648 | 16.47, -0.859259, 3, 3.07036, 1.54167, 0, -0.0703649
1649 | 16.48, -0.859979, 3, 3.07036, 1.54104, 0, -0.0703649
1650 | 16.49, -0.860683, 3, 3.06868, 1.54042, 0, -0.0686796
1651 | 16.5, -0.861387, 3, 3.06704, 1.5398, 1.64167, -0.0670379
1652 | 16.51, -0.862074, 3, 3.06704, 1.53913, 0, -0.0670379
1653 | 16.52, -0.862744, 3, 3.06544, 1.53854, 0, -0.0654383
1654 | 16.53, -0.863414, 3, 3.06388, 1.53788, 0, -0.0638795
1655 | 16.54, -0.864069, 3, 3.06388, 1.53731, 0, -0.0638795
1656 | 16.55, -0.864707, 3, 3.06235, 1.53668, 0, -0.0623473
1657 | 16.56, -0.865346, 3, 3.06085, 1.53612, 1.4923, -0.060855
1658 | 16.57, -0.86597, 3, 3.06085, 1.53557, 0, -0.060855
1659 | 16.58, -0.866578, 3, 3.05939, 1.53503, 0, -0.059389
1660 | 16.59, -0.867187, 3, 3.05939, 1.53456, 0, -0.059389
1661 | 16.6, -0.867781, 3, 3.05797, 1.53403, 0, -0.0579739
1662 | 16.61, -0.868375, 3, 3.05659, 1.53352, 0, -0.0565946
1663 | 16.62, -0.868954, 3, 3.05659, 1.53301, 0, -0.0565946
1664 | 16.63, -0.86952, 3, 3.05524, 1.5325, 0, -0.0552386
1665 | 16.64, -0.870086, 3, 3.05392, 1.53201, 1.32083, -0.0539178
1666 | 16.65, -0.870639, 3, 3.05392, 1.53152, 0, -0.0539178
1667 | 16.66, -0.871178, 3, 3.05263, 1.53104, 0, -0.0526309
1668 | 16.67, -0.871717, 3, 3.05263, 1.53057, 0, -0.0526309
1669 | 16.68, -0.872243, 3, 3.05137, 1.53011, 0, -0.0513662
1670 | 16.69, -0.87277, 3, 3.05013, 1.52965, 0, -0.0501349
1671 | 16.7, -0.873283, 3, 3.05013, 1.5292, 0, -0.0501349
1672 | 16.71, -0.873785, 3, 3.04894, 1.52875, 0, -0.0489355
1673 | 


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/out.xlsx:
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https://raw.githubusercontent.com/nref/AdaptiveCruiseControl/96bb98cd247cf77f16797dc2390513a6bf8c5b75/out.xlsx


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/pid.png:
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https://raw.githubusercontent.com/nref/AdaptiveCruiseControl/96bb98cd247cf77f16797dc2390513a6bf8c5b75/pid.png


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/run.sh:
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1 | ./bin/AdaptiveCruiseControl
2 | 


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/source/accController.cpp:
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1 | #include "accController.h"


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/source/car.cpp:
--------------------------------------------------------------------------------
1 | #include "car.h"
2 | #include <iostream>
3 | 
4 | int car::idGlobal = 0;
5 | 
6 | void car::stepSim(double dt)
7 | {
8 | 	position += speed * dt;
9 | }


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/source/cruiseController.cpp:
--------------------------------------------------------------------------------
1 | #include "cruiseController.h"


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/source/main.cpp:
--------------------------------------------------------------------------------
  1 | #include "cruiseController.h"
  2 | #include "accController.h"
  3 | #include "car.h"
  4 | 
  5 | #include <thread>
  6 | #include <chrono>
  7 | #include <iostream>
  8 | #include <mutex>
  9 | #include <cmath>
 10 | #include <random>
 11 | #include <signal.h>
 12 | 
 13 | bool quit;
 14 | double pvTickResolutionSeconds = 0.016667; // ~= 1/60s 
 15 | double pidTickResolutionSeconds = .001;
 16 | double simTickResolutionSeconds = .01;
 17 | 
 18 | std::mutex coutMutex;
 19 | 
 20 | void handleSignal(int s)
 21 | {
 22 | 	std::lock_guard<std::mutex> lock(coutMutex);
 23 | 	quit = true;
 24 | }
 25 | 
 26 | void sleepSim(double seconds)
 27 | {
 28 | 	std::this_thread::sleep_for
 29 | 	(
 30 | 		std::chrono::milliseconds((int)(1000*seconds))
 31 | 	);
 32 | }
 33 | 
 34 | void runPv(pidController* controller)
 35 | {
 36 | 	while (!quit)
 37 | 	{
 38 | 		controller->pvTick();
 39 | 		sleepSim(pvTickResolutionSeconds);
 40 | 	}
 41 | }
 42 | 
 43 | void runPid(pidController* controller)
 44 | {
 45 | 	while (!quit)
 46 | 	{
 47 | 
 48 | 		controller->pidTick(pidTickResolutionSeconds);
 49 | 		sleepSim(pidTickResolutionSeconds);
 50 | 	}
 51 | }
 52 | 
 53 | void runSim(car* lead, car* follower, pidController* controller)
 54 | {
 55 | 	double t = 0;
 56 | 
 57 | 	std::cout << "time, lead distance, setpoint, PV, integral, derivative, error\n";
 58 | 	while (!quit)
 59 | 	{
 60 | 		t += simTickResolutionSeconds;
 61 | 
 62 | 		std::string delim = ", ";
 63 | 		{
 64 | 			std::lock_guard<std::mutex> lock(coutMutex);
 65 | 			std::cout 
 66 | 				<< t
 67 | 				<< delim << lead->getPosition() - follower->getPosition()
 68 | 				<< delim << controller->getSetPoint()
 69 | 				<< delim << controller->getProcessValue()
 70 | 				<< delim << controller->getIntegral()
 71 | 				<< delim << controller->getDerivative()
 72 | 				<< delim << controller->getError()
 73 | 				<< "\n";
 74 | 		}
 75 | 
 76 | 		lead->stepSim(simTickResolutionSeconds);
 77 | 		follower->stepSim(simTickResolutionSeconds);
 78 | 		follower->setSpeed(controller->getProcessValue());
 79 | 
 80 | 		sleepSim(simTickResolutionSeconds);
 81 | 	}
 82 | }
 83 | 
 84 | int main()
 85 | {
 86 | 	// Handle CTLR + C
 87 | 	struct sigaction sigIntHandler;
 88 | 	sigIntHandler.sa_handler = handleSignal;
 89 | 	sigemptyset(&sigIntHandler.sa_mask);
 90 | 	sigaction(SIGINT, &sigIntHandler, NULL);
 91 | 
 92 | 	quit = false;
 93 | 	auto lead = new car("lead");
 94 | 	auto follower = new car("follower");
 95 | 	auto controller = new pidController();
 96 | 
 97 | 	follower->setSpeed(0);
 98 | 	lead->setSpeed(0);
 99 | 	controller->setSetPoint(lead->getSpeed());
100 | 
101 | 	controller->setKi(1);
102 | 	controller->setKd(1);
103 | 	controller->setKp(.2);
104 | 
105 | 	auto pvThread = std::thread(runPv, controller);
106 | 	auto pidThread = std::thread(runPid, controller);
107 | 	auto simThread = std::thread(runSim, lead, follower, controller);
108 | 
109 | 	std::random_device rd;     // only used once to initialise (seed) engine
110 | 	std::mt19937 rng(rd());    // random-number engine used (Mersenne-Twister in this case)
111 | 	std::uniform_int_distribution<int> uni(0,4); // guaranteed unbiased
112 | 
113 | 	while (!quit)
114 | 	{
115 | 		int randomSpeed = uni(rng);
116 | 
117 | 		lead->setSpeed(randomSpeed);
118 | 		controller->setSetPoint(lead->getSpeed());
119 | 
120 | 		sleepSim(2);
121 | 	}
122 | 
123 | 	pvThread.join();
124 | 	simThread.join();
125 | 	pidThread.join();
126 | 
127 | 	delete lead;
128 | 	delete follower;
129 | 	delete controller;
130 | 
131 | 	return 0;
132 | }


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/source/pidController.cpp:
--------------------------------------------------------------------------------
1 | #include "pidController.h"


--------------------------------------------------------------------------------