ISER 2000 Singularity Handling on Puma in Operational Space FormulationAuthor: Denny Oetomo*, Marcelo Ang Jr*,
Lim Ser Yong**
ISER 2000, Honolulu, HI, Dec 12, 2000
*
*
Traditional methods
Task (operational) space methods
Motion/Forces at End-Effector are directly controlled via Joint Torques
Singularity is a phenomenon in robotics where the robot loses degree of freedom, and the determinant of the jacobian matrix is zero. This phenomenon is usually undesirable. It is a widely studied topics, with various methods explored and published.
In this paper, we address the issue of singularity in the operational space formulation. Most singularity handling algorithms cover the problem in motion control. In this paper, we explored:
The handling of singularity in terms of forces in Operational Space.
The exit algorithm from the singular configuration.
*
control
Operational space
Differential Motion
*
Remove degenerate directions
lower order (in terms of task space) non-singular but redundant mechanism
Graceful escape algorithms using null space motion
stable and smooth motions from singular to non-singular regions
Experimental verification
ISER 2000: Singularity Handling on Puma in Operational Space Formulation
Handling of Singularity
Problem:
existence of the inverse of the Jacobian matrix at singular configuration.
Cause:
Manipulator loses DOF(s). Jacobian is not full rank. There is a degenerate direction.
Proposed Solution:
*
Wrist
Elbow
Head
Z1
X1
Y1
Z2
X2
Z3
X3
Y3
d2
d4
d3
a2
*
Head Singularity
ISER 2000: Singularity Handling on Puma in Operational Space Formulation
The forces (and the Jacobian) is resolved into the frame which one of the axis
represents the singular direction.
The row of the Jacobian matrix that contains all zero is then removed.
Collapsing the Jacobian
Wrist Elbow Head
d4
a2
b
Zo
Xo
What I mean by singular direction is the degree of freedom that the robot loses when it enters the singular configuration. Therefore, the forces and the jacobian is resolved into a frame whose one of the axis represents this direction of singularity. On the wrist , ….. , elbow, …. Head, ……
*
Four sets of result were collected, consisting of the position and
orientation (tracking) error in:
PUMA going through wrist singularity, not in the singular direction.
PUMA escaping from wrist singularity into a path in singular direction
PUMA escaping from elbow singularity into a path in singular direction
Experimental Sets
creates motion in singular
creates internal motion which
shifts the singular direction.
The initially non-feasible direction
As the forces in the singular direction are removed from the control, it is no longer possible for the manipulator to move in that direction. So, when required to do so, Null Space motion is used to reconfigure the manipulator.
In Chang and Khatib 1994 paper, singularity is defined to be of type 1 and 2.
*
*
0
0
0
0
0
0
0
0.000001
0.000001
-0.000002
0.000003
0.000005
-0.000004
0.000006
0.000011
-0.000007
0.000012
0.000021
-0.000012
0.00002
0.000036
-0.000019
0.000031
0.000057
-0.000028
0.000047
0.000085
-0.00004
0.000066
0.000121
-0.000039
0.00009
0.000165
-0.000067
0.000119
0.000218
-0.000099
0.000154
0.000282
-0.000135
0.000195
0.000305
-0.000174
0.000171
0.000392
-0.000214
0.000226
0.000439
-0.000247
0.000216
0.000448
-0.000321
0.000286
0.000367
-0.000386
0.0003
0.000301
-0.000466
0.000244
0.000199
-0.000505
0.000268
0.000062
-0.000618
0.00023
-0.000007
-0.000726
0.000202
-0.000006
-0.000782
0.000191
-0.000038
-0.000898
0.000184
-0.000104
-0.000988
0.000194
-0.000202
-0.001064
0.000216
-0.000331
-0.001161
0.000242
-0.000388
-0.001319
0.000208
-0.000475
-0.001457
0.000194
-0.000592
-0.001572
0.000113
-0.000739
-0.001654
0.000117
-0.000862
-0.001789
0.000205
-0.00091
-0.0019
0.000241
-0.001038
-0.002013
0.000228
-0.001142
-0.002074
0.000172
-0.001315
-0.002006
0.000059
-0.001472
-0.001749
0.000048
-0.001655
-0.001431
0.000116
-0.001812
-0.001307
0.000054
-0.001902
-0.001223
0.000072
-0.002152
-0.001078
0.000056
-0.002242
-0.001115
-0.000009
-0.002347
-0.001373
-0.00004
-0.002435
-0.001691
0.000022
-0.002547
-0.002007
0.000016
-0.002716
-0.002214
0.000098
-0.002775
-0.002181
0.000128
-0.002789
-0.001874
0.000171
-0.002549
-0.001594
0.000175
-0.002377
-0.001327
0.000265
-0.002207
-0.001239
0.000244
-0.002124
-0.00124
0.000103
-0.002063
-0.001326
0.000052
-0.002069
-0.001333
0.000018
-0.001891
-0.001434
-0.000008
-0.001873
-0.001628
-0.000011
-0.001832
-0.001821
0.000083
-0.001769
-0.001746
0.000129
-0.001639
-0.001664
0.000202
-0.001495
-0.001589
0.000222
-0.00141
-0.001488
0.000059
-0.00131
-0.001478
-0.000013
-0.001218
-0.001508
-0.000136
-0.000951
-0.001503
-0.000099
-0.000704
-0.001521
0.000081
-0.000405
-0.001578
0.000217
-0.000372
-0.001523
0.00024
-0.000367
-0.001598
0.000088
-0.000439
-0.001635
-0.000111
-0.00064
-0.001614
-0.000213
-0.000792
-0.001671
-0.000149
-0.000771
-0.001624
0.000007
-0.000692
-0.001648
0.000101
-0.000683
-0.001654
0.000076
-0.00069
-0.001604
0.000084
-0.000653
-0.001608
0.000045
-0.000647
-0.001589
0.000032
-0.000648
-0.001589
0.00011
-0.000688
-0.001555
0.000074
-0.000625
-0.001537
-0.000019
-0.000652
-0.001557
-0.000014
-0.00067
-0.001527
0.000018
-0.000646
-0.001545
-0.000004
-0.000671
-0.001587
0.000001
-0.000662
-0.00156
-0.000046
-0.000728
-0.001621
0.000001
-0.00075
-0.001587
-0.000001
-0.000677
-0.00162
-0.000041
-0.000688
-0.001579
0.000009
-0.000705
-0.001558
-0.00005
-0.000713
-0.001578
-0.000032
-0.000765
-0.001544
-0.000047
-0.000763
-0.001504
-0.000043
-0.000795
-0.001585
0.000062
-0.000851
-0.001548
0.000049
-0.000821
-0.001587
0.000057
-0.000781
-0.001522
0.000026
-0.000761
-0.001482
0.000019
-0.000721
-0.001468
-0.00004
-0.000744
-0.00144
-0.000015
-0.000777
-0.001507
0.000028
-0.000747
-0.001603
-0.000054
-0.000737
-0.001537
-0.000037
-0.000762
-0.001548
-0.000075
-0.000717
-0.001548
-0.000093
-0.000748
-0.001465
-0.00007
-0.000786
-0.001397
-0.000021
-0.000789
-0.001413
0.000036
-0.000723
-0.001422
0.000052
-0.000738
-0.001385
0.000102
-0.000963
-0.001519
0.000006
-0.000958
-0.001738
-0.000067
-0.000841
-0.001835
-0.000102
-0.000758
-0.001735
-0.00011
-0.000851
-0.001552
-0.000099
-0.000911
-0.00146
-0.000095
-0.000735
-0.001428
-0.000132
-0.000682
-0.001311
-0.000066
-0.000789
-0.00123
-0.000032
-0.001006
-0.001353
-0.000004
-0.001199
-0.001533
0.000018
-0.001315
-0.001697
-0.000008
-0.001369
-0.001846
-0.000141
-0.001351
-0.001917
-0.000198
-0.001407
-0.002022
-0.000221
-0.0014
-0.002056
-0.000215
-0.001199
-0.001982
-0.000177
-0.000948
-0.001851
-0.000101
-0.000643
-0.001641
0.000009
-0.000522
-0.001342
0.000122
-0.000564
-0.001061
0.000142
-0.000482
-0.000968
0.000133
-0.000328
-0.00089
0.000136
-0.00022
-0.000772
0.000162
-0.000106
-0.000667
0.000208
-0.000046
-0.000511
0.000211
0.000025
-0.000363
0.0003
0.000184
-0.000205
0.000339
0.000399
0
0.000332
0.000648
0.000157
0.000453
0.000882
0.000292
0.000511
0.000932
0.000297
0.00057
0.000793
0.000153
0.000599
0.0005
-0.000066
0.000492
0.000303
-0.000256
0.000396
0.000148
-0.000377
0.000267
0.000202
-0.000406
0.000221
0.000256
-0.000382
0.000264
0.000268
-0.000333
0.000308
0.000354
-0.000193
0.000464
0.000353
-0.00013
0.000482
0.000362
-0.000128
0.00056
0.000355
-0.000104
0.000453
0.000414
-0.000194
0.000421
0.000465
-0.000254
0.000378
0.000453
-0.000305
0.00035
0.000325
-0.00031
0.000385
0.000409
-0.00031
0.0004
0.000342
-0.000266
0.000476
0.00044
-0.000275
0.000482
0.000438
-0.000185
0.000589
0.000501
-0.000181
0.000532
0.000617
-0.000151
0.000503
0.000414
-0.000132
0.000462
0.000573
-0.000212
0.000469
0.000554
-0.000207
0.000431
0.000462
-0.000241
0.000448
0.000456
-0.00029
0.000528
0.000434
-0.000251
0.000544
0.000498
-0.000236
0.000633
0.000503
-0.000247
0.000559
0.000514
-0.000246
0.000545
0.000589
-0.000242
0.00053
0.000654
-0.00024
0.000516
0.000604
-0.000208
0.000487
0.000537
-0.000197
0.000492
0.000501
-0.000185
0.000554
0.000422
-0.000187
0.000604
0.000424
-0.000239
0.00066
0.000449
-0.000327
0.000589
0.000513
-0.000365
0.000558
0.000615
-0.000399
0.000526
0.000589
-0.000401
0.000551
0.00068
-0.000346
0.000573
0.000637
-0.000311
0.000584
0.000621
-0.000219
0.000642
0.000642
-0.000234
0.000745
0.000636
-0.000194
0.000759
0.000658
-0.000206
0.000707
0.000646
-0.000215
0.000659
0.000595
-0.000314
0.000593
0.000578
-0.000339
0.000549
0.000587
-0.00032
0.000526
0.00062
-0.000339
0.00057
0.000677
-0.000285
0.000673
0.000708
-0.000253
0.000762
0.000772
-0.000262
0.000793
0.000741
-0.000238
0.000752
0.000801
-0.000268
0.000693
0.000834
-0.000315
0.00063
0.000824
-0.000359
0.000621
0.000902
-0.00034
0.000642
0.000775
-0.000317
0.000642
0.000778
-0.000258
0.000693
0.000681
-0.000263
0.000721
0.000602
-0.000274
0.000776
0.0006
-0.00031
0.000715
0.000572
-0.000353
0.000632
0.000685
-0.000378
0.000601
0.000769
-0.000421
0.00056
0.000828
-0.000393
0.000538
0.000915
-0.000389
0.000579
0.00097
-0.00038
0.000542
0.000991
-0.000337
0.000535
0.000924
-0.000331
0.000629
0.000815
-0.000297
0.000625
0.000724
-0.000316
0.000602
0.000656
-0.000339
0.00052
0.000615
-0.000324
0.000469
0.000715
-0.000312
0.00048
0.00078
-0.000292
0.000474
0.000822
-0.000173
0.000467
0.000894
-0.00009
0.000525
0.000944
-0.000012
0.000644
0.000956
0.000027
0.000744
0.000913
0.000016
0.000839
0.00093
0.000002
0.000802
0.000889
-0.000047
0.00076
0.000782
-0.00009
0.000635
0.000795
-0.000164
0.000564
0.000762
-0.000177
0.000497
0.00075
-0.000229
0.00051
0.000762
-0.000233
0.000518
0.000745
-0.000184
0.00057
0.000857
-0.000158
0.000586
0.000883
-0.000128
0.000599
0.00083
-0.00007
0.000646
0.000786
-0.000096
0.000736
0.000704
-0.000118
0.000683
0.000644
-0.000115
0.000725
0.000598
-0.000179
0.000647
0.000578
-0.000197
0.000643
0.000699
-0.000208
0.000564
0.000725
-0.000268
0.000599
0.000767
-0.000259
0.000615
0.00078
-0.000295
0.000643
0.000874
-0.000211
0.000667
0.000818
-0.000245
0.000618
0.000676
-0.000226
0.000599
0.000708
-0.000227
0.00055
0.000543
-0.000187
0.000522
0.000555
-0.000267
0.00057
0.000463
-0.00026
0.000599
0.000562
-0.000285
0.000654
0.000583
-0.000266
0.000657
0.000628
-0.000277
0.000613
0.000644
-0.000214
0.000655
0.000739
-0.000182
0.000618
0.000694
-0.000169
0.000578
0.000671
-0.000278
0.000599
0.000663
-0.000378
0.00063
0.000558
-0.000431
0.000602
0.00052
-0.000415
0.000577
0.000449
-0.000369
0.000556
0.000394
-0.000352
0.000553
0.000426
-0.000307
0.000585
0.000471
-0.000278
0.000528
0.000551
-0.000259
0.000504
0.000549
-0.000263
0.000478
0.000568
-0.000381
0.000485
0.000611
-0.000446
0.000583
0.00063
-0.000439
0.000691
0.000603
-0.000371
0.000711
0.000536
-0.000293
0.000623
0.000438
-0.000225
0.00052
0.000305
-0.000276
0.000482
0.000245
-0.000328
0.000551
0.000265
-0.000361
0.000629
0.000308
-0.000347
0.00067
0.000424
-0.000327
0.000581
0.000459
-0.000236
0.000497
0.000468
-0.00027
0.000346
0.000509
-0.000396
0.000365
0.000457
-0.000509
0.000435
0.000424
-0.000578
0.000624
0.000416
-0.000612
0.000763
0.000431
-0.000526
0.000825
0.000407
-0.000379
0.000684
0.000479
-0.000299
0.000551
0.00041
-0.000276
0.000392
0.000358
-0.000341
0.000302
0.000279
-0.000534
0.000323
0.000335
-0.000656
0.000429
0.000296
-0.000816
0.000592
0.000224
-0.000767
0.000728
0.000353
-0.00065
0.000863
0.000282
-0.000532
0.000837
0.000307
-0.000318
0.000694
0.000249
-0.000225
0.000552
0.000239
-0.000173
0.000323
0.000246
-0.000253
0.000281
0.000347
-0.000392
0.000253
0.000297
-0.000454
0.00029
0.000342
-0.000451
0.000355
0.000305
-0.000447
0.000419
0.000231
-0.000359
0.000473
0.000263
-0.000425
0.000428
0.000203
-0.000525
0.000307
0.000123
-0.000662
0.000277
0.000195
-0.000792
0.000273
0.000411
-0.000852
0.000382
0.000421
-0.000804
0.000452
0.000267
-0.000708
0.000526
0.000166
-0.000599
0.000565
0.000223
-0.000541
0.000623
0.000289
-0.000485
0.000666
0.000155
-0.000492
0.000786
0.000097
-0.000552
0.000852
0.000223
-0.000594
0.000857
0.000517
-0.000653
0.000883
0.000647
-0.000628
0.00085
0.000713
-0.00064
0.000832
0.000831
-0.000586
0.000797
0.000865
-0.000558
0.000726
0.000827
-0.000534
0.000694
0.000717
-0.000496
0.000684
0.00041
-0.000411
0.000682
0.000014
-0.000415
0.000737
-0.000269
-0.000419
0.000751
-0.000145
-0.00045
0.000732
-0.000196
-0.00048
0.000735
-0.00014
-0.000481
0.000713
-0.000139
-0.000481
0.000713
-0.000087
-0.000481
0.000713
-0.000087
-0.000481
0.000713
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000087
-0.000481
0.000722
-0.000084
-0.000481
0.000722
-0.000084
-0.000481
0.000722
-0.000084
-0.000481
0.000722
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.000481
0.00073
-0.000084
-0.00051
0.00073
-0.000084
-0.00051
0.00073
-0.000084
-0.00051
0.00073
-0.000084
-0.00051
0.00073
-0.000084
-0.00051
0.00073
-0.000084
position
-0.000001
0
0
0
0.014963
0
0
0
0.029958
0
0.000001
0.000001
0.044943
-0.000002
0.000003
0.000005
0.059945
-0.000004
0.000006
0.000011
0.074948
-0.000007
0.000012
0.000021
0.089951
-0.000012
0.00002
0.000036
0.104947
-0.000019
0.000031
0.000057
0.119948
-0.000028
0.000047
0.000085
0.134944
-0.00004
0.000066
0.000121
0.149946
-0.000039
0.00009
0.000165
0.164954
-0.000067
0.000119
0.000218
0.179951
-0.000099
0.000154
0.000282
0.194946
-0.000135
0.000195
0.000305
0.209947
-0.000174
0.000171
0.000392
0.224943
-0.000214
0.000226
0.000439
0.239946
-0.000247
0.000216
0.000448
0.254947
-0.000321
0.000286
0.000367
0.269948
-0.000386
0.0003
0.000301
0.284954
-0.000466
0.000244
0.000199
0.299952
-0.000505
0.000268
0.000062
0.314947
-0.000618
0.00023
-0.000007
0.329948
-0.000726
0.000202
-0.000006
0.344951
-0.000782
0.000191
-0.000038
0.359947
-0.000898
0.000184
-0.000104
0.374957
-0.000988
0.000194
-0.000202
0.389944
-0.001064
0.000216
-0.000331
0.404953
-0.001161
0.000242
-0.000388
0.419941
-0.001319
0.000208
-0.000475
0.434946
-0.001457
0.000194
-0.000592
0.449951
-0.001572
0.000113
-0.000739
0.464945
-0.001654
0.000117
-0.000862
0.479947
-0.001789
0.000205
-0.00091
0.494946
-0.0019
0.000241
-0.001038
0.509944
-0.002013
0.000228
-0.001142
0.524945
-0.002074
0.000172
-0.001315
0.53995
-0.002006
0.000059
-0.001472
0.554951
-0.001749
0.000048
-0.001655
0.569958
-0.001431
0.000116
-0.001812
0.584954
-0.001307
0.000054
-0.001902
0.599943
-0.001223
0.000072
-0.002152
0.614946
-0.001078
0.000056
-0.002242
0.629949
-0.001115
-0.000009
-0.002347
0.644947
-0.001373
-0.00004
-0.002435
0.659949
-0.001691
0.000022
-0.002547
0.674946
-0.002007
0.000016
-0.002716
0.689949
-0.002214
0.000098
-0.002775
0.70495
-0.002181
0.000128
-0.002789
0.71995
-0.001874
0.000171
-0.002549
0.73495
-0.001594
0.000175
-0.002377
0.749948
-0.001327
0.000265
-0.002207
0.764946
-0.001239
0.000244
-0.002124
0.77995
-0.00124
0.000103
-0.002063
0.794945
-0.001326
0.000052
-0.002069
0.809947
-0.001333
0.000018
-0.001891
0.824942
-0.001434
-0.000008
-0.001873
0.83995
-0.001628
-0.000011
-0.001832
0.854948
-0.001821
0.000083
-0.001769
0.869947
-0.001746
0.000129
-0.001639
0.884943
-0.001664
0.000202
-0.001495
0.899942
-0.001589
0.000222
-0.00141
0.914946
-0.001488
0.000059
-0.00131
0.92995
-0.001478
-0.000013
-0.001218
0.944949
-0.001508
-0.000136
-0.000951
0.959949
-0.001503
-0.000099
-0.000704
0.97496
-0.001521
0.000081
-0.000405
0.989949
-0.001578
0.000217
-0.000372
1.004944
-0.001523
0.00024
-0.000367
1.019951
-0.001598
0.000088
-0.000439
1.034952
-0.001635
-0.000111
-0.00064
1.049944
-0.001614
-0.000213
-0.000792
1.064947
-0.001671
-0.000149
-0.000771
1.079944
-0.001624
0.000007
-0.000692
1.094947
-0.001648
0.000101
-0.000683
1.109952
-0.001654
0.000076
-0.00069
1.124947
-0.001604
0.000084
-0.000653
1.139944
-0.001608
0.000045
-0.000647
1.154946
-0.001589
0.000032
-0.000648
1.169954
-0.001589
0.00011
-0.000688
1.184949
-0.001555
0.000074
-0.000625
1.199949
-0.001537
-0.000019
-0.000652
1.214945
-0.001557
-0.000014
-0.00067
1.229943
-0.001527
0.000018
-0.000646
1.244948
-0.001545
-0.000004
-0.000671
1.259945
-0.001587
0.000001
-0.000662
1.274953
-0.00156
-0.000046
-0.000728
1.289953
-0.001621
0.000001
-0.00075
1.30495
-0.001587
-0.000001
-0.000677
1.319944
-0.00162
-0.000041
-0.000688
1.334945
-0.001579
0.000009
-0.000705
1.349949
-0.001558
-0.00005
-0.000713
1.364948
-0.001578
-0.000032
-0.000765
1.379943
-0.001544
-0.000047
-0.000763
1.394943
-0.001504
-0.000043
-0.000795
1.409948
-0.001585
0.000062
-0.000851
1.424943
-0.001548
0.000049
-0.000821
1.439947
-0.001587
0.000057
-0.000781
1.454945
-0.001522
0.000026
-0.000761
1.469946
-0.001482
0.000019
-0.000721
1.484945
-0.001468
-0.00004
-0.000744
1.499952
-0.00144
-0.000015
-0.000777
1.51495
-0.001507
0.000028
-0.000747
1.529948
-0.001603
-0.000054
-0.000737
1.544946
-0.001537
-0.000037
-0.000762
1.559949
-0.001548
-0.000075
-0.000717
1.574955
-0.001548
-0.000093
-0.000748
1.589953
-0.001465
-0.00007
-0.000786
1.604949
-0.001397
-0.000021
-0.000789
1.619946
-0.001413
0.000036
-0.000723
1.634946
-0.001422
0.000052
-0.000738
1.649944
-0.001385
0.000102
-0.000963
1.664942
-0.001519
0.000006
-0.000958
1.679947
-0.001738
-0.000067
-0.000841
1.694946
-0.001835
-0.000102
-0.000758
1.709943
-0.001735
-0.00011
-0.000851
1.724946
-0.001552
-0.000099
-0.000911
1.73995
-0.00146
-0.000095
-0.000735
1.754943
-0.001428
-0.000132
-0.000682
1.769957
-0.001311
-0.000066
-0.000789
1.78495
-0.00123
-0.000032
-0.001006
1.799947
-0.001353
-0.000004
-0.001199
1.814952
-0.001533
0.000018
-0.001315
1.829949
-0.001697
-0.000008
-0.001369
1.844946
-0.001846
-0.000141
-0.001351
1.859946
-0.001917
-0.000198
-0.001407
1.874947
-0.002022
-0.000221
-0.0014
1.889947
-0.002056
-0.000215
-0.001199
1.904943
-0.001982
-0.000177
-0.000948
1.919951
-0.001851
-0.000101
-0.000643
1.934946
-0.001641
0.000009
-0.000522
1.949946
-0.001342
0.000122
-0.000564
1.964945
-0.001061
0.000142
-0.000482
1.97995
-0.000968
0.000133
-0.000328
1.994945
-0.00089
0.000136
-0.00022
2.009949
-0.000772
0.000162
-0.000106
2.02495
-0.000667
0.000208
-0.000046
2.039944
-0.000511
0.000211
0.000025
2.054949
-0.000363
0.0003
0.000184
2.069948
-0.000205
0.000339
0.000399
2.084949
0
0.000332
0.000648
2.09995
0.000157
0.000453
0.000882
2.11495
0.000292
0.000511
0.000932
2.129949
0.000297
0.00057
0.000793
2.144944
0.000153
0.000599
0.0005
2.159944
-0.000066
0.000492
0.000303
2.174954
-0.000256
0.000396
0.000148
2.189952
-0.000377
0.000267
0.000202
2.204944
-0.000406
0.000221
0.000256
2.219948
-0.000382
0.000264
0.000268
2.234945
-0.000333
0.000308
0.000354
2.249951
-0.000193
0.000464
0.000353
2.264949
-0.00013
0.000482
0.000362
2.279949
-0.000128
0.00056
0.000355
2.294947
-0.000104
0.000453
0.000414
2.309943
-0.000194
0.000421
0.000465
2.324943
-0.000254
0.000378
0.000453
2.339956
-0.000305
0.00035
0.000325
2.354952
-0.00031
0.000385
0.000409
2.369958
-0.00031
0.0004
0.000342
2.384953
-0.000266
0.000476
0.00044
2.399947
-0.000275
0.000482
0.000438
2.414947
-0.000185
0.000589
0.000501
2.429946
-0.000181
0.000532
0.000617
2.444949
-0.000151
0.000503
0.000414
2.459943
-0.000132
0.000462
0.000573
2.474948
-0.000212
0.000469
0.000554
2.489949
-0.000207
0.000431
0.000462
2.504946
-0.000241
0.000448
0.000456
2.519952
-0.00029
0.000528
0.000434
2.534949
-0.000251
0.000544
0.000498
2.549946
-0.000236
0.000633
0.000503
2.564944
-0.000247
0.000559
0.000514
2.579949
-0.000246
0.000545
0.000589
2.594948
-0.000242
0.00053
0.000654
2.609944
-0.00024
0.000516
0.000604
2.624949
-0.000208
0.000487
0.000537
2.639946
-0.000197
0.000492
0.000501
2.654946
-0.000185
0.000554
0.000422
2.669945
-0.000187
0.000604
0.000424
2.684952
-0.000239
0.00066
0.000449
2.699946
-0.000327
0.000589
0.000513
2.714943
-0.000365
0.000558
0.000615
2.729946
-0.000399
0.000526
0.000589
2.744948
-0.000401
0.000551
0.00068
2.75995
-0.000346
0.000573
0.000637
2.774952
-0.000311
0.000584
0.000621
2.789943
-0.000219
0.000642
0.000642
2.804946
-0.000234
0.000745
0.000636
2.819944
-0.000194
0.000759
0.000658
2.834951
-0.000206
0.000707
0.000646
2.849947
-0.000215
0.000659
0.000595
2.864945
-0.000314
0.000593
0.000578
2.879947
-0.000339
0.000549
0.000587
2.894949
-0.00032
0.000526
0.00062
2.909947
-0.000339
0.00057
0.000677
2.924947
-0.000285
0.000673
0.000708
2.939946
-0.000253
0.000762
0.000772
2.954951
-0.000262
0.000793
0.000741
2.969952
-0.000238
0.000752
0.000801
2.984945
-0.000268
0.000693
0.000834
2.99995
-0.000315
0.00063
0.000824
3.014943
-0.000359
0.000621
0.000902
3.029951
-0.00034
0.000642
0.000775
3.044948
-0.000317
0.000642
0.000778
3.059948
-0.000258
0.000693
0.000681
3.074945
-0.000263
0.000721
0.000602
3.089949
-0.000274
0.000776
0.0006
3.104943
-0.00031
0.000715
0.000572
3.11995
-0.000353
0.000632
0.000685
3.134947
-0.000378
0.000601
0.000769
3.149953
-0.000421
0.00056
0.000828
3.164946
-0.000393
0.000538
0.000915
3.179948
-0.000389
0.000579
0.00097
3.194944
-0.00038
0.000542
0.000991
3.209945
-0.000337
0.000535
0.000924
3.224943
-0.000331
0.000629
0.000815
3.239947
-0.000297
0.000625
0.000724
3.254944
-0.000316
0.000602
0.000656
3.269945
-0.000339
0.00052
0.000615
3.284948
-0.000324
0.000469
0.000715
3.299947
-0.000312
0.00048
0.00078
3.314948
-0.000292
0.000474
0.000822
3.329947
-0.000173
0.000467
0.000894
3.34495
-0.00009
0.000525
0.000944
3.359945
-0.000012
0.000644
0.000956
3.374955
0.000027
0.000744
0.000913
3.389947
0.000016
0.000839
0.00093
3.404949
0.000002
0.000802
0.000889
3.419949
-0.000047
0.00076
0.000782
3.434951
-0.00009
0.000635
0.000795
3.449949
-0.000164
0.000564
0.000762
3.464946
-0.000177
0.000497
0.00075
3.479951
-0.000229
0.00051
0.000762
3.494944
-0.000233
0.000518
0.000745
3.509944
-0.000184
0.00057
0.000857
3.524948
-0.000158
0.000586
0.000883
3.539948
-0.000128
0.000599
0.00083
3.554945
-0.00007
0.000646
0.000786
3.569963
-0.000096
0.000736
0.000704
3.584949
-0.000118
0.000683
0.000644
3.599943
-0.000115
0.000725
0.000598
3.614948
-0.000179
0.000647
0.000578
3.629947
-0.000197
0.000643
0.000699
3.644949
-0.000208
0.000564
0.000725
3.659946
-0.000268
0.000599
0.000767
3.674943
-0.000259
0.000615
0.00078
3.689951
-0.000295
0.000643
0.000874
3.704943
-0.000211
0.000667
0.000818
3.719948
-0.000245
0.000618
0.000676
3.734948
-0.000226
0.000599
0.000708
3.749951
-0.000227
0.00055
0.000543
3.764946
-0.000187
0.000522
0.000555
3.779942
-0.000267
0.00057
0.000463
3.794946
-0.00026
0.000599
0.000562
3.809948
-0.000285
0.000654
0.000583
3.824951
-0.000266
0.000657
0.000628
3.83995
-0.000277
0.000613
0.000644
3.854945
-0.000214
0.000655
0.000739
3.869943
-0.000182
0.000618
0.000694
3.884943
-0.000169
0.000578
0.000671
3.899947
-0.000278
0.000599
0.000663
3.91495
-0.000378
0.00063
0.000558
3.929947
-0.000431
0.000602
0.00052
3.944946
-0.000415
0.000577
0.000449
3.959948
-0.000369
0.000556
0.000394
3.974961
-0.000352
0.000553
0.000426
3.989951
-0.000307
0.000585
0.000471
4.004948
-0.000278
0.000528
0.000551
4.019949
-0.000259
0.000504
0.000549
4.034949
-0.000263
0.000478
0.000568
4.049944
-0.000381
0.000485
0.000611
4.064946
-0.000446
0.000583
0.00063
4.079948
-0.000439
0.000691
0.000603
4.094948
-0.000371
0.000711
0.000536
4.109946
-0.000293
0.000623
0.000438
4.124949
-0.000225
0.00052
0.000305
4.139947
-0.000276
0.000482
0.000245
4.154947
-0.000328
0.000551
0.000265
4.169952
-0.000361
0.000629
0.000308
4.184945
-0.000347
0.00067
0.000424
4.199947
-0.000327
0.000581
0.000459
4.214945
-0.000236
0.000497
0.000468
4.229944
-0.00027
0.000346
0.000509
4.24495
-0.000396
0.000365
0.000457
4.259947
-0.000509
0.000435
0.000424
4.274945
-0.000578
0.000624
0.000416
4.289948
-0.000612
0.000763
0.000431
4.304949
-0.000526
0.000825
0.000407
4.31995
-0.000379
0.000684
0.000479
4.334949
-0.000299
0.000551
0.00041
4.34995
-0.000276
0.000392
0.000358
4.364944
-0.000341
0.000302
0.000279
4.379946
-0.000534
0.000323
0.000335
4.394948
-0.000656
0.000429
0.000296
4.409949
-0.000816
0.000592
0.000224
4.424953
-0.000767
0.000728
0.000353
4.439948
-0.00065
0.000863
0.000282
4.454945
-0.000532
0.000837
0.000307
4.469946
-0.000318
0.000694
0.000249
4.484951
-0.000225
0.000552
0.000239
4.49995
-0.000173
0.000323
0.000246
4.514946
-0.000253
0.000281
0.000347
4.529949
-0.000392
0.000253
0.000297
4.54495
-0.000454
0.00029
0.000342
4.55995
-0.000451
0.000355
0.000305
4.574958
-0.000447
0.000419
0.000231
4.589946
-0.000359
0.000473
0.000263
4.604942
-0.000425
0.000428
0.000203
4.619951
-0.000525
0.000307
0.000123
4.634946
-0.000662
0.000277
0.000195
4.649944
-0.000792
0.000273
0.000411
4.664949
-0.000852
0.000382
0.000421
4.679953
-0.000804
0.000452
0.000267
4.694947
-0.000708
0.000526
0.000166
4.709944
-0.000599
0.000565
0.000223
4.724951
-0.000541
0.000623
0.000289
4.739946
-0.000485
0.000666
0.000155
4.754951
-0.000492
0.000786
0.000097
4.769958
-0.000552
0.000852
0.000223
4.784943
-0.000594
0.000857
0.000517
4.799949
-0.000653
0.000883
0.000647
4.814951
-0.000628
0.00085
0.000713
4.829947
-0.00064
0.000832
0.000831
4.844945
-0.000586
0.000797
0.000865
4.859952
-0.000558
0.000726
0.000827
4.874945
-0.000534
0.000694
0.000717
4.889948
-0.000496
0.000684
0.00041
4.904949
-0.000411
0.000682
0.000014
4.919948
-0.000415
0.000737
-0.000269
4.93495
-0.000419
0.000751
-0.000145
4.949947
-0.00045
0.000732
-0.000196
4.964948
-0.00048
0.000735
-0.00014
4.979945
-0.000481
0.000713
-0.000139
4.994946
-0.000481
0.000713
-0.000087
5.00983
-0.000481
0.000713
-0.000087
5.024833
-0.000481
0.000713
-0.000087
5.039824
-0.000481
0.000722
-0.000087
5.054827
-0.000481
0.000722
-0.000087
5.069824
-0.000481
0.000722
-0.000087
5.084834
-0.000481
0.000722
-0.000087
5.099831
-0.000481
0.000722
-0.000087
5.114827
-0.000481
0.000722
-0.000087
5.129825
-0.000481
0.000722
-0.000087
5.144829
-0.000481
0.000722
-0.000087
5.159826
-0.000481
0.000722
-0.000087
5.174831
-0.000481
0.000722
-0.000087
5.189834
-0.000481
0.000722
-0.000087
5.204829
-0.000481
0.000722
-0.000087
5.219827
-0.000481
0.000722
-0.000084
5.234824
-0.000481
0.000722
-0.000084
5.249827
-0.000481
0.000722
-0.000084
5.264824
-0.000481
0.000722
-0.000084
5.279828
-0.000481
0.00073
-0.000084
5.294828
-0.000481
0.00073
-0.000084
5.30983
-0.000481
0.00073
-0.000084
5.324829
-0.000481
0.00073
-0.000084
5.339826
-0.000481
0.00073
-0.000084
5.354827
-0.000481
0.00073
-0.000084
5.369828
-0.000481
0.00073
-0.000084
5.384824
-0.000481
0.00073
-0.000084
5.399825
-0.000481
0.00073
-0.000084
5.41483
-0.000481
0.00073
-0.000084
5.429828
-0.000481
0.00073
-0.000084
5.444829
-0.000481
0.00073
-0.000084
5.459828
-0.000481
0.00073
-0.000084
5.474827
-0.000481
0.00073
-0.000084
5.489826
-0.000481
0.00073
-0.000084
5.504828
-0.000481
0.00073
-0.000084
5.519828
-0.000481
0.00073
-0.000084
5.534827
-0.000481
0.00073
-0.000084
5.549823
-0.000481
0.00073
-0.000084
5.564829
-0.000481
0.00073
-0.000084
5.579831
-0.000481
0.00073
-0.000084
5.594822
-0.000481
0.00073
-0.000084
5.609825
-0.000481
0.00073
-0.000084
5.624824
-0.000481
0.00073
-0.000084
5.639829
-0.000481
0.00073
-0.000084
5.65483
-0.000481
0.00073
-0.000084
5.66983
-0.000481
0.00073
-0.000084
5.684825
-0.000481
0.00073
-0.000084
5.699827
-0.000481
0.00073
-0.000084
5.714821
-0.000481
0.00073
-0.000084
5.729824
-0.000481
0.00073
-0.000084
5.744824
-0.000481
0.00073
-0.000084
5.759826
-0.000481
0.00073
-0.000084
5.774827
-0.000481
0.00073
-0.000084
5.789826
-0.000481
0.00073
-0.000084
5.804824
-0.000481
0.00073
-0.000084
5.819824
-0.000481
0.00073
-0.000084
5.834825
-0.000481
0.00073
-0.000084
5.849821
-0.000481
0.00073
-0.000084
5.864821
-0.000481
0.00073
-0.000084
5.879825
-0.000481
0.00073
-0.000084
5.894827
-0.000481
0.00073
-0.000084
5.909828
-0.000481
0.00073
-0.000084
5.924826
-0.000481
0.00073
-0.000084
5.939827
-0.000481
0.00073
-0.000084
5.954826
-0.000481
0.00073
-0.000084
5.969828
-0.000481
0.00073
-0.000084
5.984826
-0.000481
0.00073
-0.000084
5.99983
-0.000481
0.00073
-0.000084
6.014825
-0.000481
0.00073
-0.000084
6.029827
-0.000481
0.00073
-0.000084
6.044827
-0.000481
0.00073
-0.000084
6.059823
-0.000481
0.00073
-0.000084
6.074827
-0.000481
0.00073
-0.000084
6.089824
-0.000481
0.00073
-0.000084
6.104823
-0.000481
0.00073
-0.000084
6.119827
-0.000481
0.00073
-0.000084
6.134827
-0.000481
0.00073
-0.000084
6.149832
-0.000481
0.00073
-0.000084
6.16483
-0.000481
0.00073
-0.000084
6.17983
-0.000481
0.00073
-0.000084
6.194834
-0.000481
0.00073
-0.000084
6.209825
-0.000481
0.00073
-0.000084
6.224827
-0.000481
0.00073
-0.000084
6.239829
-0.000481
0.00073
-0.000084
6.254826
-0.000481
0.00073
-0.000084
6.269833
-0.000481
0.00073
-0.000084
6.284831
-0.000481
0.00073
-0.000084
6.299827
-0.000481
0.00073
-0.000084
6.314834
-0.000481
0.00073
-0.000084
6.329828
-0.000481
0.00073
-0.000084
6.344824
-0.000481
0.00073
-0.000084
6.359826
-0.000481
0.00073
-0.000084
6.374828
-0.000481
0.00073
-0.000084
6.389828
-0.000481
0.00073
-0.000084
6.404832
-0.000481
0.00073
-0.000084
6.419828
-0.000481
0.00073
-0.000084
6.434828
-0.000481
0.00073
-0.000084
6.449831
-0.000481
0.00073
-0.000084
6.464827
-0.000481
0.00073
-0.000084
6.479834
-0.000481
0.00073
-0.000084
6.494831
-0.000481
0.00073
-0.000084
6.509831
-0.000481
0.00073
-0.000084
6.524826
-0.000481
0.00073
-0.000084
6.539827
-0.000481
0.00073
-0.000084
6.554828
-0.000481
0.00073
-0.000084
6.569831
-0.000481
0.00073
-0.000084
6.584834
-0.000481
0.00073
-0.000084
6.599832
-0.000481
0.00073
-0.000084
6.614829
-0.000481
0.00073
-0.000084
6.629829
-0.000481
0.00073
-0.000084
6.644828
-0.000481
0.00073
-0.000084
6.659826
-0.000481
0.00073
-0.000084
6.674827
-0.000481
0.00073
-0.000084
6.689826
-0.000481
0.00073
-0.000084
6.704823
-0.000481
0.00073
-0.000084
6.719826
-0.000481
0.00073
-0.000084
6.734825
-0.000481
0.00073
-0.000084
6.749824
-0.000481
0.00073
-0.000084
6.764828
-0.000481
0.00073
-0.000084
6.779826
-0.000481
0.00073
-0.000084
6.794832
-0.000481
0.00073
-0.000084
6.809828
-0.000481
0.00073
-0.000084
6.824832
-0.000481
0.00073
-0.000084
6.839823
-0.000481
0.00073
-0.000084
6.854824
-0.000481
0.00073
-0.000084
6.869825
-0.000481
0.00073
-0.000084
6.884824
-0.000481
0.00073
-0.000084
6.899824
-0.000481
0.00073
-0.000084
6.914831
-0.000481
0.00073
-0.000084
6.929826
-0.000481
0.00073
-0.000084
6.944829
-0.000481
0.00073
-0.000084
6.959827
-0.000481
0.00073
-0.000084
6.97483
-0.000481
0.00073
-0.000084
6.989831
-0.000481
0.00073
-0.000084
7.004831
-0.000481
0.00073
-0.000084
7.019824
-0.000481
0.00073
-0.000084
7.03483
-0.000481
0.00073
-0.000084
7.049828
-0.000481
0.00073
-0.000084
7.064826
-0.000481
0.00073
-0.000084
7.07983
-0.000481
0.00073
-0.000084
7.094827
-0.000481
0.00073
-0.000084
7.109825
-0.000481
0.00073
-0.000084
7.124827
-0.000481
0.00073
-0.000084
7.139823
-0.000481
0.00073
-0.000084
7.154825
-0.000481
0.00073
-0.000084
7.169831
-0.000481
0.00073
-0.000084
7.184828
-0.000481
0.00073
-0.000084
7.199823
-0.000481
0.00073
-0.000084
7.21483
-0.000481
0.00073
-0.000084
7.229825
-0.000481
0.00073
-0.000084
7.244829
-0.000481
0.00073
-0.000084
7.259831
-0.000481
0.00073
-0.000084
7.274826
-0.000481
0.00073
-0.000084
7.289825
-0.000481
0.00073
-0.000084
7.304827
-0.000481
0.00073
-0.000084
7.319834
-0.000481
0.00073
-0.000084
7.334823
-0.000481
0.00073
-0.000084
7.349825
-0.000481
0.00073
-0.000084
7.364827
-0.000481
0.00073
-0.000084
7.379827
-0.000481
0.00073
-0.000084
7.394835
-0.000481
0.00073
-0.000084
7.409831
-0.000481
0.00073
-0.000084
7.424825
-0.00051
0.00073
-0.000084
7.439827
-0.00051
0.00073
-0.000084
7.454827
-0.00051
0.00073
-0.000084
7.469829
-0.00051
0.00073
-0.000084
7.484827
-0.00051
0.00073
-0.000084
position
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
orientation
0
0
0
0
0.014961
0
0
0
0.029971
0
0
0
0.044947
0
0
0
0.059949
0
0
0
0.074948
0
0
0
0.089948
0
0
0
0.104948
0
0.000001
0
0.119953
-0.000001
0.000001
0
0.134947
-0.000001
0.000001
-0.000001
0.149947
-0.000001
0.000002
-0.000001
0.164949
-0.000001
-0.000071
-0.000001
0.179957
-0.000002
-0.00007
-0.000001
0.194949
-0.000002
-0.000142
0.000099
0.209952
-0.000003
-0.000215
0.000099
0.224949
-0.000003
-0.000287
0.000098
0.239948
-0.000004
-0.000432
0.000198
0.254945
-0.000004
-0.00065
0.000226
0.269946
-0.000005
-0.000868
0.000226
0.284949
-0.000005
-0.001158
0.000325
0.299947
0.000036
-0.001595
0.000425
0.314948
0.000035
-0.001959
0.000553
0.329955
0.000034
-0.002206
0.000682
0.344943
0.000075
-0.002642
0.000882
0.359947
0.000116
-0.003005
0.001081
0.374962
0.000116
-0.003397
0.001281
0.389945
0.000115
-0.003862
0.001509
0.404948
0.000156
-0.0044
0.001809
0.419946
0.000156
-0.00482
0.001937
0.434955
0.000156
-0.005433
0.002037
0.449944
0.000197
-0.005853
0.002136
0.464947
0.000034
-0.006273
0.002436
0.479948
0.000076
-0.006839
0.002692
0.494946
0.000118
-0.007477
0.00315
0.509946
0.000161
-0.007911
0.003365
0.524954
0.000244
-0.007951
0.003579
0.539951
0.000365
-0.007433
0.003793
0.554945
0.000366
-0.007134
0.003908
0.569946
0.00041
-0.007159
0.004093
0.584943
0.00054
-0.007141
0.004307
0.599944
0.000712
-0.007107
0.004652
0.61495
0.000925
-0.007281
0.004825
0.629949
0.001064
-0.007687
0.004957
0.644949
0.001249
-0.008297
0.004919
0.659945
0.001516
-0.008832
0.004811
0.674945
0.001741
-0.009454
0.004733
0.689942
0.001799
-0.009607
0.004826
0.704948
0.001852
-0.009
0.004749
0.719947
0.002109
-0.008612
0.004571
0.734949
0.002044
-0.008121
0.004566
0.749949
0.002184
-0.008042
0.004691
0.764943
0.00221
-0.008342
0.004748
0.779948
0.002034
-0.008657
0.005007
0.794944
0.002024
-0.008795
0.005026
0.809943
0.001888
-0.008595
0.004977
0.824946
0.001886
-0.00905
0.004827
0.839946
0.00181
-0.009346
0.004679
0.854947
0.002028
-0.009538
0.004499
0.869946
0.002323
-0.009273
0.004519
0.884946
0.002415
-0.009332
0.004597
0.899949
0.002506
-0.009244
0.004806
0.914945
0.002602
-0.009095
0.00502
0.929947
0.002708
-0.00918
0.005138
0.944949
0.002695
-0.009057
0.005162
0.959953
0.002485
-0.009076
0.004822
0.974964
0.002167
-0.009126
0.004687
0.989951
0.001891
-0.009104
0.004586
1.004942
0.001703
-0.009111
0.004715
1.019947
0.00185
-0.009322
0.004948
1.034949
0.001788
-0.009558
0.00494
1.049949
0.001986
-0.009859
0.004802
1.06495
0.001988
-0.010261
0.004765
1.079949
0.002028
-0.010541
0.00473
1.094948
0.002045
-0.010806
0.004662
1.109946
0.002106
-0.011052
0.00473
1.12495
0.002269
-0.01101
0.004831
1.139947
0.002278
-0.011055
0.004768
1.154943
0.00246
-0.010962
0.004689
1.16995
0.002254
-0.010877
0.00479
1.184944
0.002095
-0.010239
0.004828
1.199949
0.0019
-0.009701
0.004975
1.21495
0.00181
-0.009143
0.004993
1.229946
0.001935
-0.008728
0.00495
1.244944
0.001911
-0.008684
0.004946
1.259948
0.00216
-0.00868
0.004947
1.274943
0.002216
-0.008871
0.004983
1.289945
0.00244
-0.00883
0.004956
1.304947
0.00256
-0.008843
0.004868
1.319945
0.002414
-0.009054
0.004887
1.334943
0.002334
-0.00922
0.004885
1.349945
0.00222
-0.009495
0.004828
1.364948
0.002183
-0.009775
0.004884
1.379948
0.002189
-0.009748
0.004917
1.394952
0.002279
-0.009838
0.005102
1.40995
0.00253
-0.009909
0.005039
1.424948
0.002634
-0.009811
0.005091
1.439947
0.002494
-0.009834
0.005094
1.45495
0.00241
-0.009957
0.005042
1.469945
0.002298
-0.010113
0.004936
1.484945
0.002372
-0.010242
0.004883
1.499949
0.002492
-0.010188
0.004961
1.514946
0.002559
-0.010186
0.004891
1.529952
0.002527
-0.010232
0.004769
1.544947
0.002565
-0.009981
0.004681
1.559952
0.002472
-0.010143
0.00463
1.574964
0.002386
-0.010253
0.004552
1.589945
0.002583
-0.00991
0.004601
1.604943
0.002491
-0.009988
0.004598
1.619944
0.002505
-0.010134
0.004684
1.634947
0.002467
-0.00994
0.004719
1.649945
0.002511
-0.010093
0.004775
1.664946
0.002726
-0.01042
0.004796
1.679944
0.002648
-0.010186
0.004711
1.694945
0.002588
-0.009908
0.00475
1.709943
0.002604
-0.009963
0.004693
1.724948
0.002539
-0.010333
0.004706
1.739943
0.002422
-0.010557
0.004636
1.754948
0.002355
-0.010327
0.004613
1.769949
0.002218
-0.009978
0.004523
1.784947
0.002339
-0.009914
0.004523
1.799943
0.002322
-0.010213
0.004555
1.814947
0.002418
-0.010527
0.004712
1.829948
0.002508
-0.01077
0.00462
1.844949
0.002734
-0.010687
0.004652
1.859948
0.002822
-0.010569
0.004595
1.874943
0.002782
-0.010004
0.004513
1.88995
0.002829
-0.009766
0.00458
1.904948
0.00278
-0.010269
0.004564
1.919946
0.002831
-0.010626
0.004396
1.934944
0.002831
-0.010642
0.004395
1.949948
0.002717
-0.010045
0.004368
1.964943
0.002701
-0.009432
0.004362
1.979944
0.002454
-0.008954
0.004277
1.994946
0.002284
-0.008504
0.004149
2.009943
0.00204
-0.008173
0.004072
2.024945
0.001814
-0.008086
0.003969
2.039945
0.001673
-0.00781
0.003829
2.054947
0.001514
-0.00745
0.003757
2.069944
0.001444
-0.006971
0.003516
2.084949
0.001477
-0.00632
0.003297
2.099946
0.00146
-0.005525
0.003093
2.114943
0.001382
-0.004597
0.002986
2.129945
0.001523
-0.003903
0.002901
2.144946
0.001607
-0.003301
0.002827
2.159953
0.001584
-0.00319
0.003001
2.174963
0.001463
-0.003609
0.003057
2.189951
0.001378
-0.003973
0.003069
2.204951
0.001181
-0.004322
0.00306
2.219951
0.001076
-0.00499
0.00293
2.234947
0.001057
-0.005475
0.002846
2.249942
0.001115
-0.006054
0.002808
2.264948
0.001077
-0.006222
0.002771
2.279947
0.001262
-0.006345
0.002692
2.294949
0.001302
-0.006075
0.002636
2.309945
0.001428
-0.005698
0.002561
2.324948
0.001247
-0.005286
0.002541
2.339947
0.001164
-0.005066
0.002459
2.354946
0.001004
-0.004593
0.002358
2.369948
0.000849
-0.004523
0.002207
2.38495
0.000741
-0.004616
0.002086
2.399943
0.000855
-0.004659
0.002031
2.414947
0.000846
-0.005013
0.001914
2.429949
0.001004
-0.004986
0.001977
2.444949
0.000838
-0.00516
0.001893
2.459945
0.000942
-0.005263
0.001925
2.474948
0.000759
-0.004949
0.001722
2.48995
0.000779
-0.004857
0.001715
2.504948
0.000716
-0.004719
0.001561
2.519948
0.000831
-0.004825
0.001464
2.53495
0.000796
-0.005026
0.001527
2.549949
0.000894
-0.005125
0.001449
2.564946
0.000827
-0.005144
0.00143
2.579952
0.000742
-0.005187
0.001251
2.594941
0.000767
-0.005209
0.001175
2.609945
0.000713
-0.00505
0.000932
2.624952
0.000776
-0.004908
0.000655
2.639947
0.000746
-0.00458
0.000266
2.654952
0.000777
-0.004333
0.000035
2.669946
0.000742
-0.004179
-0.00022
2.684948
0.00059
-0.00401
-0.000216
2.699945
0.000631
-0.003979
-0.000192
2.714949
0.00055
-0.003922
0.00006
2.729946
0.000539
-0.004065
0.000217
2.744946
0.000572
-0.004067
0.00023
2.759943
0.000483
-0.004074
0.000253
2.774967
0.000272
-0.004029
0.000113
2.789949
0.000314
-0.004085
0.000046
2.804946
0.000491
-0.004029
-0.000042
2.819949
0.000422
-0.004125
0.000014
2.834945
0.0004
-0.00392
-0.000048
2.849946
0.000412
-0.003873
-0.00007
2.864946
0.00044
-0.003919
-0.000219
2.879951
0.000457
-0.003848
-0.000471
2.894946
0.000487
-0.004009
-0.000757
2.909944
0.000389
-0.003998
-0.001013
2.924946
0.000349
-0.004185
-0.001235
2.939953
0.000387
-0.004152
-0.00159
2.954951
0.000339
-0.004253
-0.00175
2.969948
0.000395
-0.004466
-0.002026
2.984946
0.00029
-0.004373
-0.002252
2.999947
0.000207
-0.004329
-0.002535
3.014942
0.00041
-0.004351
-0.002578
3.029947
0.000345
-0.004123
-0.002702
3.044952
0.000258
-0.003799
-0.002761
3.059945
0.00024
-0.003613
-0.002708
3.074952
0.000203
-0.003459
-0.002624
3.089949
0.000212
-0.003117
-0.002658
3.104954
0.000101
-0.002896
-0.002586
3.119943
0.000231
-0.002684
-0.002428
3.134952
0.000152
-0.00242
-0.002237
3.149949
0.000044
-0.002272
-0.002054
3.164945
-0.00002
-0.002086
-0.00182
3.179948
0.000137
-0.001996
-0.001462
3.194949
0.000135
-0.001731
-0.001157
3.209948
0.000121
-0.001362
-0.000496
3.224948
0.000253
-0.001119
0.000136
3.239949
0.000097
-0.000868
0.000945
3.254946
-0.000025
-0.00065
0.00179
3.26995
-0.000042
-0.000325
0.002774
3.284944
-0.000048
-0.000065
0.003579
3.299947
-0.000276
0.000312
0.004405
3.314974
-0.00026
0.000382
0.005304
3.329949
-0.000411
0.000598
0.006027
3.344942
-0.000312
0.000978
0.006582
3.359944
-0.000383
0.001052
0.007096
3.374964
-0.00022
0.001412
0.007281
3.389945
-0.000466
0.001671
0.007324
3.404948
-0.00061
0.001827
0.007309
3.419946
-0.000717
0.001817
0.007143
3.434951
-0.000574
0.001763
0.006797
3.449951
-0.000531
0.001595
0.006534
3.464944
-0.000415
0.001295
0.006448
3.479947
-0.000533
0.000707
0.006343
3.494947
-0.000569
0.000304
0.006316
3.509945
-0.000584
-0.000123
0.006346
3.524951
-0.000518
-0.00051
0.006347
3.539947
-0.000255
-0.000692
0.00634
3.55495
-0.000166
-0.000677
0.006494
3.569948
-0.00038
-0.000816
0.006522
3.58495
-0.000498
-0.000897
0.006421
3.599943
-0.000522
-0.000824
0.006553
3.614946
-0.000505
-0.000622
0.006729
3.62995
-0.00048
-0.000609
0.00696
3.644945
-0.000414
-0.000513
0.00732
3.659949
-0.000517
-0.000734
0.007643
3.67495
-0.000346
-0.000982
0.008029
3.689949
-0.000357
-0.001199
0.008186
3.70495
-0.000341
-0.001446
0.008197
3.719949
-0.000413
-0.001427
0.007873
3.734949
-0.000348
-0.001736
0.007511
3.749952
-0.000292
-0.001738
0.007004
3.764945
-0.000347
-0.00176
0.006456
3.779948
-0.000266
-0.00188
0.005757
3.794943
-0.000309
-0.001909
0.005453
3.809947
-0.000541
-0.002133
0.005175
3.824952
-0.000466
-0.002193
0.005009
3.839951
-0.000458
-0.002257
0.004938
3.854943
-0.000547
-0.002412
0.004878
3.869944
-0.000349
-0.002393
0.005108
3.884952
-0.000259
-0.002421
0.005257
3.899948
-0.000396
-0.002447
0.005408
3.914949
-0.000325
-0.00251
0.005559
3.929948
-0.000359
-0.002562
0.00555
3.944943
-0.00042
-0.002532
0.005565
3.959949
-0.000548
-0.002556
0.005312
3.974961
-0.000678
-0.002601
0.005065
3.989949
-0.000755
-0.002839
0.004911
4.004948
-0.000585
-0.002985
0.004958
4.019944
-0.000497
-0.003189
0.005121
4.034947
-0.000446
-0.003336
0.00526
4.049947
-0.000313
-0.0035
0.0053
4.06495
-0.000187
-0.003543
0.005216
4.079955
-0.000124
-0.003527
0.00541
4.094946
-0.000191
-0.003642
0.005614
4.109947
-0.000188
-0.003532
0.005726
4.124946
-0.000387
-0.003731
0.005723
4.13994
-0.00063
-0.003693
0.005366
4.154945
-0.000669
-0.003619
0.005026
4.169947
-0