diff --git a/MobileRobot/docking_data/Pose_left.txt b/MobileRobot/docking_data/Pose_left.txt
index ff9b963bf07cb0163c0676f12dcb0be9fa4067c7..793c969ed913d19297d400f50884c4ffc92d959c 100644
--- a/MobileRobot/docking_data/Pose_left.txt
+++ b/MobileRobot/docking_data/Pose_left.txt
@@ -1,235 +1,311 @@
 %time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
-1470584451561550889,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
-1470584451669094613,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
-1470584451744373731,0.189782574773,0.284923613071,1.41210186481,0.136530320647,-0.0201770556777,0.8003464302,-0.583436328689
-1470584451823016596,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
-1470584451897106714,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
-1470584451971332117,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
-1470584452043076422,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
-1470584452114389516,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
-1470584452187646845,0.190137758851,0.285465806723,1.41527831554,0.157334268153,-0.022784384949,0.798758474269,-0.58026864438
-1470584452261083261,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
-1470584452339494722,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
-1470584452409738051,0.18973210454,0.284786939621,1.4116808176,0.13084862454,-0.0190996695271,0.799758476321,-0.585576826413
-1470584452487437204,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
-1470584452560592996,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
-1470584452631559963,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
-1470584452703726448,0.189782574773,0.284923613071,1.41210186481,0.136530320647,-0.0201770556777,0.8003464302,-0.583436328689
-1470584452775471440,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584452846591038,0.190044999123,0.285351097584,1.41451489925,0.140775641517,-0.019898922484,0.798469822286,-0.585006149146
-1470584452917451700,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584452989194817,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584453071609248,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584453147683381,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584453220587286,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584453299243049,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
-1470584453376179527,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
-1470584453459474721,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
-1470584453532587577,0.190601214767,0.285168796778,1.41344547272,0.0233400183764,-0.00896783857753,0.799055811149,-0.600736741079
-1470584453640109699,0.194017827511,0.26833152771,1.42414283752,0.20290763926,-0.028536348253,0.798828423657,-0.565585816933
-1470584453774229279,0.195851013064,0.244434475899,1.41636168957,0.0864912346093,-0.0124983896994,0.79969055709,-0.594018576723
-1470584453936981942,0.18582598865,0.0420602783561,1.24397718906,0.139173387538,-0.0170508144984,0.797218072025,-0.587182581114
-1470584454073143709,0.18259857595,0.0141977025196,1.21573770046,0.129782016783,-0.0188070649136,0.80272733596,-0.581748868956
-1470584454179572253,0.180420964956,-0.0282347872853,1.18472898006,0.060283499347,-0.00875848800185,0.820378616752,-0.568566718839
-1470584454306886157,0.17824113369,-0.0839482918382,1.14335358143,0.089408654531,-0.011231863688,0.780046469943,-0.619199032995
-1470584454490883561,0.175814419985,-0.110883288085,1.11353349686,-0.0207168210479,0.000317165241074,0.79168552613,-0.61057738285
-1470584454719137533,0.175543025136,-0.139354586601,1.10113310814,0.151106733472,-0.0264255386964,0.821624171673,-0.54900106241
-1470584454937691849,0.173585101962,-0.171928420663,1.07398998737,0.163835974658,-0.0256799287459,0.795650788862,-0.582613196599
-1470584455092771533,0.170633077621,-0.193342283368,1.05153894424,0.18588291389,-0.0317610050774,0.802920413646,-0.565471122367
-1470584455188659207,0.168470963836,-0.209612712264,1.01362454891,0.071436957215,-0.0130352263266,0.791567237032,-0.606752134958
-1470584455392961226,0.156718537211,-0.186034291983,0.973992228508,0.15495311556,-0.0284879020852,0.806710358188,-0.569558047441
-1470584455462492809,0.158805191517,-0.154320567846,0.964336931705,0.204399381173,-0.0349114994369,0.802618433509,-0.559290381085
-1470584455619781873,0.160427227616,-0.139019280672,0.937291562557,0.141424870376,-0.023221793628,0.798623277355,-0.584517420789
-1470584455727756892,0.153668537736,-0.104120232165,0.913650393486,0.203758697215,-0.0302190726709,0.784304348791,-0.58518021961
-1470584455847055074,0.153106212616,-0.0865158066154,0.902187049389,0.342380591453,-0.0607066921805,0.795132254439,-0.496844971869
-1470584455969391231,0.150522053242,-0.0657042860985,0.887289702892,0.140732062695,-0.0224686488585,0.800300023631,-0.582416962772
-1470584456112912757,0.146684840322,-0.0358872935176,0.862281024456,0.117162807531,-0.0176838579204,0.796924704232,-0.592343796696
-1470584456247695661,0.14476506412,-0.00622130651027,0.846837162971,0.235983914433,-0.0336707014463,0.788830655443,-0.566501609023
-1470584456421490195,0.141410574317,0.0273339375854,0.82148963213,0.121337107599,-0.0158823985824,0.796830513181,-0.591680816825
-1470584456544070970,0.139318853617,0.0606570653617,0.79686665535,0.172060873794,-0.0244555419802,0.78230664384,-0.598158254293
-1470584456699447325,0.136622205377,0.0736171528697,0.78076595068,0.226322043692,-0.0280526805876,0.781432846603,-0.580821905493
-1470584456881368128,0.133589208126,0.0869556516409,0.757238268852,0.0605300313341,-0.00685112435944,0.782196335308,-0.620046829225
-1470584457073526245,0.131668359041,0.098197221756,0.740563094616,0.143969552382,-0.0161795929036,0.777531434625,-0.611927983451
-1470584457265320679,0.128461658955,0.109513781965,0.717373907566,0.193018190061,-0.0218081510262,0.774051327754,-0.602588520349
-1470584457395106804,0.12393976748,0.118613421917,0.681459605694,0.13384648297,-0.0146078018361,0.768083554943,-0.626034650597
-1470584457526881412,0.122512921691,0.118477500975,0.65793889761,0.15042784985,-0.0171869508231,0.770423342364,-0.619293100439
-1470584457657997246,0.119297765195,0.112320385873,0.629941880703,0.11613375439,-0.0141392423572,0.770243620151,-0.626927267339
-1470584457755265168,0.119000941515,0.109745137393,0.618669033051,0.161391027522,-0.0176228949766,0.769908836765,-0.617156992085
-1470584457924814091,0.116718612611,0.105082154274,0.601059436798,0.163435119569,-0.018049663534,0.769416844995,-0.617220292907
-1470584458055524640,0.11407469213,0.0962174236774,0.57892781496,0.131692364629,-0.0159689427559,0.768760441726,-0.625627282975
-1470584458220544054,0.113179005682,0.0908358618617,0.564237773418,0.128174552387,-0.0149374958596,0.768537115208,-0.626656890081
-1470584458338920016,0.11082149297,0.0816999599338,0.543475151062,0.174193910478,-0.0193249682707,0.768313473776,-0.615611430343
-1470584458436282856,0.108588457108,0.0714300498366,0.51754796505,0.127081657825,-0.0150481521987,0.769738661778,-0.625400829808
-1470584458593183729,0.106989055872,0.0632268637419,0.498131096363,0.149911106324,-0.0170451490414,0.766472474559,-0.624304468058
-1470584458693244414,0.105292625725,0.0555674619973,0.478507399559,0.170546570197,-0.0196484032916,0.767606814802,-0.617501081384
-1470584458817721201,0.103792093694,0.0488439872861,0.460124015808,0.158870956808,-0.0187215031187,0.766718010924,-0.621733878865
-1470584459054710613,0.102504014969,0.0436854176223,0.445566356182,0.196560521638,-0.0227219372982,0.765853971759,-0.611813181322
-1470584459147699389,0.100784212351,0.0374990701675,0.426200211048,0.198606182591,-0.0225738747419,0.764422778321,-0.612946833257
-1470584459312714062,0.0995110943913,0.0332622267306,0.411841273308,0.205760252697,-0.0230161241739,0.762698362652,-0.612718682631
-1470584459388065770,0.0970145389438,0.0279518254101,0.386694341898,0.198090242369,-0.0218142300486,0.762959224698,-0.61496147578
-1470584459492635101,0.0954724252224,0.0249627958983,0.368170201778,0.201004353051,-0.0223901065319,0.761716581014,-0.615535363234
-1470584459649439317,0.0965076461434,0.0242241285741,0.358891010284,0.22346233972,-0.0241354329141,0.762779878649,-0.60634059763
-1470584459770047170,0.0914243906736,0.0216907914728,0.338134467602,0.183994435034,-0.0202389579641,0.762684067956,-0.619717229826
-1470584459918594383,0.0914773419499,0.0209674052894,0.330169290304,0.199137115448,-0.0220715157453,0.76071514862,-0.617389439579
-1470584460071624069,0.0914199054241,0.0220335181803,0.325491070747,0.197099978414,-0.0209686324745,0.759225704842,-0.619909867698
-1470584460203908154,0.0908318683505,0.021436650306,0.322356045246,0.201857550748,-0.0217578587575,0.758912338407,-0.618734343157
-1470584460279062468,0.0911214575171,0.0225343853235,0.322884202003,0.216469257042,-0.0225088118613,0.757675183348,-0.615274516523
-1470584460413042123,0.0912004709244,0.0226776301861,0.322954058647,0.216803415483,-0.022560126341,0.75767525459,-0.615154881568
-1470584460530867576,0.0911627188325,0.0230953227729,0.322799474001,0.223043403173,-0.0230429808092,0.756706046052,-0.614098217881
-1470584460665078360,0.0911262109876,0.0242181830108,0.322732418776,0.213756694613,-0.0221479137555,0.757222741872,-0.616791102899
-1470584460821044539,0.091173671186,0.024615386501,0.323056161404,0.231918231283,-0.0234431559802,0.755988256026,-0.611674839426
-1470584460957001789,0.0911148190498,0.0254262890667,0.322939246893,0.235512366372,-0.0237387177555,0.755612820832,-0.610753357387
-1470584461043493030,0.0910561606288,0.0259001031518,0.322732448578,0.227702376737,-0.0230478040275,0.75586936676,-0.613418231512
-1470584461175610426,0.0910492762923,0.0267280284315,0.322703659534,0.221038615201,-0.0222449402133,0.754527557806,-0.617523487599
-1470584461311438948,0.0909915715456,0.0274321138859,0.322625219822,0.223639807268,-0.0223780972993,0.753855963553,-0.617402335258
-1470584461449548129,0.0909528583288,0.0280542001128,0.322488695383,0.215435796031,-0.0212117717634,0.753901840569,-0.620297906907
-1470584461625313593,0.0909502953291,0.0284983552992,0.322495877743,0.227051149188,-0.0221040529313,0.752705497829,-0.617570740916
-1470584461716960689,0.090966142714,0.0289656594396,0.32259953022,0.231049597354,-0.0222523539932,0.752237465533,-0.616652018364
-1470584461871978151,0.0909292772412,0.0291803516448,0.322407126427,0.216336460101,-0.0210564635751,0.75123476631,-0.623218651245
-1470584461963905392,0.0909589082003,0.0294268466532,0.322478920221,0.204208399808,-0.019877978966,0.750742827058,-0.627924360907
-1470584462150001457,0.0909715220332,0.0294956080616,0.322609335184,0.220404431983,-0.0210966733736,0.750965743925,-0.622115156692
-1470584462224448590,0.0909286811948,0.0295924562961,0.322543412447,0.229259489277,-0.021759535839,0.751064035381,-0.618764433313
-1470584462339727591,0.0909551158547,0.0295566823334,0.322602063417,0.232789646367,-0.0218739049687,0.750041115422,-0.618683148309
-1470584462488036734,0.0910291969776,0.0294538158923,0.322792381048,0.236450337824,-0.0217030848269,0.748179882394,-0.619553934241
-1470584462619417853,0.090949177742,0.0292867571115,0.322353243828,0.217524143232,-0.0203965145458,0.748522212116,-0.62608444101
-1470584462776779982,0.0909527540207,0.029154619202,0.322407364845,0.233578654176,-0.0214448289768,0.748491984941,-0.620274842391
-1470584462849109130,0.0910041704774,0.0288712456822,0.322498589754,0.248786898738,-0.022080803331,0.747120820521,-0.615977269616
-1470584462992031228,0.0909925922751,0.0286243390292,0.322345435619,0.23810712718,-0.0210440464437,0.746459125111,-0.621016037341
-1470584463123241504,0.0909741297364,0.0283333137631,0.322269767523,0.245112902082,-0.021694437222,0.747115755759,-0.61746826973
-1470584463264749554,0.0910604596138,0.0280346106738,0.322629421949,0.277869004325,-0.023317457033,0.744407130728,-0.606715037191
-1470584463396745911,0.0910579413176,0.0277030430734,0.322562754154,0.267246574798,-0.022446920214,0.745379822718,-0.610314938304
-1470584463549055715,0.0910597071052,0.0273015983403,0.322444528341,0.26899989492,-0.0228099907325,0.744849962958,-0.610178083462
-1470584463637193588,0.091048642993,0.0269856080413,0.322337448597,0.25755868037,-0.0220932630925,0.745335178332,-0.614533063254
-1470584463816947693,0.0910673141479,0.0266318880022,0.322316110134,0.266512925735,-0.0223532219939,0.744039528048,-0.612271487646
-1470584463982211256,0.0910932272673,0.0263407249004,0.322479009628,0.282968616413,-0.0236587658658,0.745580219632,-0.602892329539
-1470584464135332057,0.091109752655,0.0259622745216,0.322505176067,0.29088498103,-0.0238606356285,0.742975749693,-0.602331829847
-1470584464276318744,0.0911668762565,0.0255300849676,0.322613894939,0.294006918869,-0.0240130024748,0.743204899227,-0.600524591615
-1470584464397726510,0.0911167636514,0.025229183957,0.322387963533,0.277234545878,-0.0232029819603,0.744734544947,-0.606607851715
-1470584464551760248,0.0911211892962,0.0248386468738,0.322422683239,0.281813135741,-0.0230293907159,0.743809222085,-0.60563920351
-1470584464682068206,0.0911237150431,0.0244869850576,0.322437316179,0.301900598363,-0.0242555785637,0.742548666865,-0.597402019542
-1470584464824918045,0.0911385565996,0.0241938959807,0.322393774986,0.281250957504,-0.0225620369441,0.741426712747,-0.608831079214
-1470584464924641548,0.0911411494017,0.0238869804889,0.322348356247,0.280751475979,-0.0230137952393,0.742585557039,-0.607631191136
-1470584465142479451,0.0911341607571,0.0235776267946,0.32232311368,0.288971352474,-0.0228094495922,0.742102131476,-0.604367200398
-1470584465286882130,0.0911165103316,0.0232578199357,0.32222700119,0.277686043681,-0.0226515925718,0.742581509237,-0.60905670396
-1470584465415427447,0.0910754129291,0.022956687957,0.322010815144,0.252700985681,-0.0208626941434,0.743048592519,-0.619342997849
-1470584465631334568,0.0910580307245,0.0227240361273,0.321974605322,0.278064231938,-0.0221505958517,0.741648713502,-0.610038375663
-1470584465759816227,0.0910983234644,0.0226782225072,0.322135716677,0.273935754211,-0.0220605814057,0.742406839892,-0.610986593466
-1470584465928237932,0.0911560431123,0.0224452316761,0.322362244129,0.294514915134,-0.0231715558351,0.741624291752,-0.60226028729
-1470584466039022595,0.0911409780383,0.0222823433578,0.322221964598,0.282449359592,-0.0222741801622,0.74107045884,-0.608720621631
-1470584466194246041,0.0911703705788,0.0222603883594,0.322326540947,0.294871695156,-0.0230418274344,0.740977921982,-0.602885956645
-1470584466288863401,0.0911181867123,0.022193428129,0.322098165751,0.281676687178,-0.0217139329206,0.740427442771,-0.609880275964
-1470584466434943846,0.0910760685802,0.0222382918,0.32207006216,0.295371354744,-0.0229370897459,0.740286953909,-0.603493892748
-1470584466611330004,0.091186709702,0.0222660433501,0.322384119034,0.312836286867,-0.0236086149316,0.739517057941,-0.595559075101
-1470584466734574750,0.0911086499691,0.0223493892699,0.32209649682,0.283725887422,-0.0224356829108,0.741764938338,-0.607273445156
-1470584466843322073,0.0911294668913,0.0223472509533,0.322177737951,0.313048688142,-0.0234395342199,0.739261950633,-0.595770824592
-1470584466973828115,0.0911209955812,0.0224305521697,0.322186797857,0.296679218619,-0.0226710430658,0.739785081958,-0.603477835184
-1470584467067402079,0.0911671370268,0.0224828608334,0.322413891554,0.327457464892,-0.0239499487564,0.738109898308,-0.589399513625
-1470584467175730932,0.0910912305117,0.0225244238973,0.32203027606,0.283991044928,-0.0219274207657,0.740294407551,-0.608960150394
-1470584467366675884,0.0910973250866,0.0225576758385,0.322065800428,0.291463390443,-0.0222330318076,0.740076368715,-0.605674626179
-1470584467448245347,0.0910830944777,0.0225263219327,0.322048008442,0.298067613492,-0.0225880614533,0.73989065546,-0.60266681942
-1470584467611557270,0.0910986587405,0.0224674120545,0.322075128555,0.290956663531,-0.022285057059,0.740002833553,-0.606006107652
-1470584467792937481,0.0911531299353,0.0224278550595,0.322327196598,0.300570652485,-0.0226261978375,0.739261406456,-0.602194246869
-1470584467959501680,0.0911760851741,0.0223843138665,0.322372436523,0.324196296283,-0.023403598797,0.737499243662,-0.591983022255
-1470584468126385273,0.091198220849,0.0223293136805,0.322450637817,0.32380862596,-0.0233441739448,0.737538020551,-0.592149213914
-1470584468247715765,0.0911909267306,0.0222630463541,0.322382569313,0.319508523989,-0.0226859115997,0.736255441767,-0.596093597501
-1470584468345787026,0.0912365987897,0.022257052362,0.32256218791,0.350450657501,-0.0238400885905,0.734850795589,-0.580181260518
-1470584468436617388,0.0911983475089,0.0222579780966,0.322449713945,0.337319898658,-0.023874773239,0.73684846577,-0.585405517282
-1470584468521302001,0.0911547914147,0.0222315695137,0.322268903255,0.32181739561,-0.0226980077849,0.736095796632,-0.59504734476
-1470584468642773431,0.0912066176534,0.0222250912338,0.322430729866,0.342779695678,-0.0236910055952,0.73487839839,-0.584717501076
-1470584468778848185,0.0912007018924,0.0221989583224,0.32237893343,0.321688965274,-0.0225215112462,0.735575723684,-0.5957661839
-1470584468906100056,0.0911590978503,0.0220663305372,0.322163879871,0.340618502943,-0.0229444514991,0.734526091621,-0.586450346002
-1470584469057185345,0.0911528617144,0.0216747652739,0.322271257639,0.335433351079,-0.0233745813953,0.735439505659,-0.588274450783
-1470584469156855090,0.0911341309547,0.0214246697724,0.322102576494,0.337285858151,-0.0229547481335,0.73428523075,-0.588673533745
-1470584469288016166,0.0911837145686,0.0210837051272,0.322342514992,0.345106271964,-0.0238052575888,0.735996889099,-0.581930880774
-1470584469376961504,0.0911663100123,0.0207925625145,0.322109758854,0.327156101868,-0.0224261259783,0.734317196456,-0.594343510836
-1470584469528835599,0.0911956429482,0.0205523520708,0.322302043438,0.340142582533,-0.0234043852549,0.735428388014,-0.58557693295
-1470584469648427581,0.0911547467113,0.0202679894865,0.322191655636,0.349286985662,-0.0239941023497,0.734971335599,-0.580723704137
-1470584469818109510,0.0911845490336,0.0198458973318,0.322374075651,0.342276665433,-0.023696495255,0.735948533915,-0.583665071629
-1470584469991706326,0.091216892004,0.0195310264826,0.322433024645,0.358901227412,-0.024848718822,0.735703156208,-0.573858271772
-1470584470121761235,0.0912114903331,0.0190870128572,0.322466880083,0.366430779397,-0.024749033801,0.734480606507,-0.57066120238
-1470584470225652730,0.0912581756711,0.0187414586544,0.322467833757,0.37367830093,-0.0248509711819,0.733260120423,-0.567517887333
-1470584470420583919,0.0912022441626,0.0184937436134,0.322277992964,0.330865321324,-0.0231222566071,0.735730975279,-0.590502694668
-1470584470497697698,0.0911743342876,0.018263829872,0.32225009799,0.338231175525,-0.0237239743166,0.735571474518,-0.586490793467
-1470584470671473316,0.0911719948053,0.0180053897202,0.322159349918,0.345466758913,-0.0240505860863,0.73582675047,-0.581922057571
-1470584470800244130,0.0912775248289,0.0180548112839,0.322271198034,0.353475537035,-0.0236817456471,0.733919411995,-0.579531290214
-1470584470937314048,0.0912161767483,0.0181169491261,0.321727275848,0.331610296219,-0.0233216845078,0.736301081904,-0.589365274902
-1470584471016205174,0.0910314619541,0.0180010925978,0.320646107197,0.31254104972,-0.0227793486286,0.737460758801,-0.598289915296
-1470584471162570568,0.0910832956433,0.0179308634251,0.320462793112,0.324837634469,-0.0228857724074,0.736535384376,-0.592851060737
-1470584471272698110,0.0910110324621,0.0178725123405,0.319792568684,0.343228261914,-0.0240869524418,0.736062320647,-0.582946343216
-1470584471427678715,0.090891905129,0.0178469456732,0.31891387701,0.313195163217,-0.0226747590052,0.736482050865,-0.599156768964
-1470584471529961638,0.0908143892884,0.0178647395223,0.318257153034,0.33900005849,-0.0239779569538,0.735877972456,-0.585651455713
-1470584471687105732,0.0907530039549,0.017770042643,0.317520916462,0.347603159403,-0.0239425708289,0.734500375723,-0.582329799116
-1470584471878112672,0.0907814651728,0.0177702009678,0.317278981209,0.343676776899,-0.0239856296689,0.735027743974,-0.583990734668
-1470584472058580501,0.0906199887395,0.0177583452314,0.316238194704,0.318370996384,-0.0228406669327,0.736351079848,-0.596577991382
-1470584472191446637,0.0905173569918,0.0177388302982,0.315447300673,0.317567155623,-0.0225973114553,0.736040700296,-0.597398150894
-1470584472322095312,0.0905159562826,0.0178432688117,0.315080851316,0.340676068389,-0.0245583604934,0.736727833074,-0.583582730494
-1470584472461264636,0.090449437499,0.0179973430932,0.314492195845,0.356912346545,-0.0244409745392,0.734691893893,-0.576406138669
-1470584472575190175,0.0903909057379,0.018124025315,0.313833624125,0.318574666714,-0.0234483079714,0.737010896888,-0.595630167511
-1470584472691743919,0.0902445018291,0.0181494727731,0.313208013773,0.334598160775,-0.0234676416521,0.735750574539,-0.588357402152
-1470584472834076514,0.0902494266629,0.0182207394391,0.312770783901,0.329275489449,-0.0237084283606,0.736283904451,-0.590678909831
-1470584472960058071,0.0901326239109,0.0183957330883,0.312045186758,0.313292642239,-0.0228032956515,0.737274940665,-0.598124896568
-1470584473167831392,0.0901276171207,0.0184818375856,0.311652630568,0.325934808247,-0.0234104987579,0.737397225476,-0.591154616984
-1470584473285097490,0.090098798275,0.0185295268893,0.311355531216,0.350155821856,-0.0246330072789,0.736783125871,-0.577870868624
-1470584473473265652,0.0899705886841,0.0187120828778,0.310321480036,0.333908445693,-0.0234493198153,0.736348075423,-0.588002373393
-1470584473593100584,0.0899351090193,0.018872378394,0.309735625982,0.310820981476,-0.0224167424341,0.737434594293,-0.599231196012
-1470584473703701645,0.0899364575744,0.0190091524273,0.309279978275,0.342690563492,-0.0233973195447,0.734818950873,-0.584856266589
-1470584473835943893,0.0898038893938,0.0190803203732,0.308613747358,0.342497258461,-0.0235471265065,0.735340387388,-0.58430786017
-1470584473969796820,0.0898146852851,0.0192437320948,0.308167725801,0.339921752287,-0.0233587838059,0.735302270181,-0.585865292544
-1470584474101024276,0.0896835699677,0.0193497128785,0.307160437107,0.320915163875,-0.022760349107,0.73647454668,-0.595063581642
-1470584474198665384,0.0896260291338,0.0194116793573,0.306608140469,0.329903922282,-0.0230246447036,0.735716104692,-0.591062671039
-1470584474353214778,0.0895845144987,0.0194751881063,0.30614772439,0.324142932115,-0.0230130979589,0.736768347637,-0.592936892765
-1470584474496855565,0.0894840806723,0.01964741759,0.305307239294,0.323302469883,-0.022814463127,0.736199694347,-0.594108595531
-1470584474639988336,0.0894009768963,0.0197112131864,0.304657042027,0.328983896784,-0.0233605299056,0.736819972184,-0.590186589046
-1470584474748402978,0.0893227681518,0.0197753030807,0.303737819195,0.293802164238,-0.0217406550365,0.738025987921,-0.607062824888
-1470584474952098672,0.0892834663391,0.0198314394802,0.303322404623,0.350073573201,-0.0241885620088,0.735202996251,-0.579948240034
-1470584475110302694,0.0892039388418,0.0199155025184,0.302639335394,0.326132702286,-0.0231752569211,0.736160323698,-0.592594588043
-1470584475277105621,0.0892011299729,0.0199716966599,0.302369952202,0.368189645372,-0.0249973646461,0.734223926269,-0.569847999817
-1470584475397049697,0.0890971198678,0.0199109259993,0.301815569401,0.349350463997,-0.0246146511137,0.736334133514,-0.578930406938
-1470584475528763120,0.0890830308199,0.0201876219362,0.301388204098,0.347010562529,-0.0243136434901,0.735514829887,-0.581386662429
-1470584475672980111,0.0890325903893,0.0205848626792,0.301080107689,0.367593064572,-0.0255336944958,0.73612534532,-0.567752450723
-1470584475861930992,0.088980294764,0.0207768213004,0.300695955753,0.372245348104,-0.0254676642003,0.735337572448,-0.565741507618
-1470584475974815325,0.0888277739286,0.0211200844496,0.299539715052,0.33551828678,-0.0235822511729,0.736443247782,-0.586960560398
-1470584476076066642,0.0887478888035,0.0213169697672,0.298835992813,0.346560098779,-0.0243916844972,0.737112975574,-0.579625400497
-1470584476200353294,0.0887369513512,0.0213644392788,0.298389226198,0.336059553496,-0.0236679342407,0.736199333775,-0.586953444783
-1470584476346127086,0.088634505868,0.0214692912996,0.297744899988,0.319502410036,-0.0227115065896,0.736889059166,-0.595312448998
-1470584476462937673,0.08857627213,0.0215638559312,0.297239840031,0.31653842907,-0.0224657128173,0.736329642382,-0.597592982237
-1470584476572194715,0.0885622724891,0.0212159566581,0.296888530254,0.321697228705,-0.0230967928978,0.737772125116,-0.593017472426
-1470584476739475795,0.0886559188366,0.0207306090742,0.29707801342,0.340145056371,-0.0235128058987,0.735079910563,-0.586008544027
-1470584476847048745,0.0886695981026,0.0203959215432,0.296993136406,0.35909842218,-0.024493564115,0.73398627778,-0.575944904079
-1470584476967309561,0.0887025147676,0.0201177895069,0.297185778618,0.374721766221,-0.0254603650119,0.735162324246,-0.56433299101
-1470584477115087502,0.0886694714427,0.0197534412146,0.296917378902,0.349858368926,-0.0240900681943,0.735427419,-0.579797638569
-1470584477242390294,0.0886332392693,0.019506175071,0.296738654375,0.3296018253,-0.0234427969992,0.736912830583,-0.589722436533
-1470584477413025498,0.0886696204543,0.0191703848541,0.296851336956,0.350338282438,-0.0241278416097,0.735348172357,-0.579606763702
-1470584477518946639,0.0886802747846,0.0189380608499,0.296961605549,0.36869447448,-0.025621841135,0.7359095493,-0.56731388225
-1470584477616040675,0.0886885076761,0.018759958446,0.29696303606,0.360115924077,-0.024418211677,0.735190366341,-0.573772949348
-1470584477784314278,0.0886760652065,0.0186126027256,0.296764671803,0.337758325474,-0.0235555206007,0.736071348499,-0.586142833224
-1470584477918114183,0.0886427536607,0.0182635840029,0.296633601189,0.340797924856,-0.0237317606496,0.735728674308,-0.584805006605
-1470584478047900207,0.0885635390878,0.0181150678545,0.296519845724,0.334534166173,-0.0233173965367,0.73503151622,-0.589297769251
-1470584478195632423,0.0886108651757,0.0182520709932,0.296645313501,0.3387707845,-0.0235003807061,0.735374417041,-0.586435464853
-1470584478285460708,0.0885390788317,0.0181354954839,0.296052008867,0.33179865826,-0.0232502916855,0.735228580104,-0.590599703108
-1470584478430980140,0.0884530618787,0.017969282344,0.295322597027,0.350024770385,-0.0241715461041,0.7355322809,-0.579560747661
-1470584478560954943,0.0883556231856,0.0179070848972,0.294794112444,0.356176998755,-0.0242458844748,0.735227084624,-0.576186789748
-1470584478655991191,0.0883288010955,0.0179133415222,0.294214516878,0.336860692227,-0.023379935462,0.735975396027,-0.586786561787
-1470584478827756319,0.0882824808359,0.0179098267108,0.293638467789,0.346070418408,-0.0237307894588,0.735698589207,-0.581738515979
-1470584478946017566,0.0881853252649,0.0178664010018,0.292884349823,0.348734667793,-0.0236523878574,0.734836513628,-0.581240048746
-1470584479045329540,0.0881121009588,0.0178616400808,0.292302101851,0.354625960891,-0.0238445668354,0.734803311383,-0.577698847217
-1470584479214568470,0.08806450665,0.0178115684539,0.291302889585,0.364025950646,-0.0249826892965,0.735354475093,-0.571064592189
-1470584479330051051,0.0880853533745,0.0176135338843,0.290522992611,0.360704023401,-0.0250548616433,0.73608081553,-0.572232377989
-1470584479462904277,0.0880824699998,0.0172349475324,0.28934392333,0.331875921273,-0.0235991045709,0.736908992765,-0.588444212756
-1470584479641640201,0.0881787315011,0.0172167234123,0.28871807456,0.351793527257,-0.0245603004684,0.73616335094,-0.577669132423
-1470584479802684538,0.0882501900196,0.0171882268041,0.288289815187,0.358959413887,-0.0249389983052,0.735868089707,-0.573606433103
-1470584479908135034,0.0881459861994,0.0169756710529,0.286583691835,0.349364529537,-0.0251899013617,0.737024628608,-0.578017812178
-1470584480147494480,0.0881573334336,0.0168882757425,0.286211550236,0.393632833111,-0.0266392287321,0.734139789566,-0.552614072898
-1470584480303724360,0.0879095643759,0.0169490426779,0.284669548273,0.340439894234,-0.0248880303399,0.737453045876,-0.582790073258
-1470584480490158179,0.0878942534328,0.0169262476265,0.284022510052,0.374602654734,-0.0259287341781,0.73560511394,-0.563813504765
-1470584480613121645,0.0877713561058,0.0168696772307,0.28321069479,0.359525685398,-0.0252686447869,0.735684781397,-0.573472474973
-1470584480904769785,0.0876936540008,0.0168624147773,0.282663822174,0.372786063193,-0.0259204140184,0.735390977115,-0.565295315746
-1470584480977244493,0.087606087327,0.0168743990362,0.281778365374,0.361366738081,-0.0251819017362,0.735106192628,-0.573060937417
-1470584481106996735,0.0875547528267,0.0168912094086,0.281246364117,0.334227589632,-0.0239647887742,0.735742338616,-0.588558254038
-1470584481325898893,0.0876007005572,0.0168702546507,0.281059443951,0.377730034276,-0.0259215540054,0.734268242458,-0.563469823825
-1470584481421393162,0.0874767452478,0.0168692562729,0.280355662107,0.389478669439,-0.0264764135343,0.7341819913,-0.555501727476
-1470584481548505045,0.0873755216599,0.0168732982129,0.279845267534,0.351754115298,-0.0246186070461,0.735465087002,-0.578579357011
-1470584481722520203,0.0873701050878,0.0168962646276,0.279320269823,0.364316831564,-0.0252252368195,0.735221672094,-0.571039426442
-1470584481938531310,0.0873985365033,0.0169033464044,0.279330104589,0.346725576176,-0.024509500913,0.735776121591,-0.581217823271
-1470584482054508752,0.0872866585851,0.016900755465,0.278637766838,0.370157032642,-0.0254451467741,0.734908401582,-0.567667118103
-1470584482141849829,0.0872808694839,0.0169632527977,0.277865260839,0.362833793557,-0.0255197021819,0.735968008576,-0.571009171035
+1471706369142496995,-0.0277012493461,0.354317843914,1.33567750454,1.56772577763,-0.169508859515,3.04981398582,0.0
+1471706369231398485,-0.027756024152,0.354545801878,1.33669662476,1.56637239456,-0.170052573085,3.05904626846,0.0
+1471706369319059334,-0.0279353782535,0.355509847403,1.34032762051,1.5672107935,-0.169926419854,3.06199622154,0.0
+1471706369400100679,-0.0279327314347,0.355484992266,1.34023308754,1.56711781025,-0.170279532671,3.06178307533,0.0
+1471706369475760148,-0.0278140045702,0.354867786169,1.3378739357,1.56772243977,-0.170072227716,3.05204057693,0.0
+1471706369553806531,-0.0278733987361,0.355182170868,1.33906459808,1.56771552563,-0.170079901814,3.05452227592,0.0
+1471706369628829706,-0.0278756357729,0.355236917734,1.33913719654,1.56805181503,-0.169803440571,3.05229926109,0.0
+1471706369709032425,-0.027385732159,0.353310465813,1.33225107193,1.57092428207,-0.156326875091,3.0416765213,0.0
+1471706369790060576,-0.0270663015544,0.365533709526,1.3737231493,1.56609284878,-0.027520313859,3.13858437538,0.0
+1471706369868018780,-0.0270880945027,0.364944249392,1.37148094177,1.56618523598,-0.0271606948227,3.13261246681,0.0
+1471706369949670498,-0.0268024764955,0.364527672529,1.37019193172,1.56634151936,-0.0693316981196,3.14077615738,0.0
+1471706370023556933,-0.0260300654918,0.346188396215,1.31815779209,1.55495798588,-0.136452928185,3.03418970108,0.0
+1471706370101331296,-0.0273192189634,0.343015402555,1.33443140984,1.5742071867,-0.0672654956579,3.10184955597,0.0
+1471706370177887266,-0.0276902411133,0.320741683245,1.29822158813,1.57085323334,-0.063375480473,3.1103219986,0.0
+1471706370251918265,-0.0255274605006,0.316404044628,1.29704606533,1.56704044342,-0.0472589209676,3.13459014893,0.0
+1471706370328676957,-0.0256206002086,0.308741420507,1.29438340664,1.59976398945,0.0462013557553,-2.63763165474,0.0
+1471706370401121871,-0.0261903051287,0.28970181942,1.26814258099,1.56400775909,-0.0791053548455,3.05406427383,0.0
+1471706370478106394,-0.0258062966168,0.278239548206,1.252581954,1.5635778904,-0.127261400223,3.06389737129,0.0
+1471706370551023516,-0.0260210633278,0.272551834583,1.25744235516,1.58879101276,0.0357708260417,-2.6847653389,0.0
+1471706370621274054,-0.0261415168643,0.260526448488,1.23998725414,1.58841907978,0.0507693700492,-2.65639519691,0.0
+1471706370691644987,-0.0261028464884,0.247137978673,1.22680330276,1.57124578953,-0.0620412454009,3.08433008194,0.0
+1471706370764141856,-0.0253070499748,0.237363636494,1.21110081673,1.55972397327,-0.073926448822,3.0669529438,0.0
+1471706370836280933,-0.0245922524482,0.228873774409,1.19925320148,1.57207477093,-0.0274738389999,3.041629076,0.0
+1471706370910594689,-0.0245814882219,0.220801442862,1.19918096066,1.57197463512,-0.0349028520286,3.04398846626,0.0
+1471706370988087642,-0.0248399116099,0.20210711658,1.17862200737,1.58959519863,0.0479256957769,-2.64520025253,0.0
+1471706371063809062,-0.0249816328287,0.192245185375,1.16934752464,1.57161092758,-0.025694090873,3.03759288788,0.0
+1471706371136743298,-0.0248754750937,0.184700906277,1.16652154922,1.56740319729,-0.0202855467796,3.1259431839,0.0
+1471706371210122099,-0.0232187565416,0.179647937417,1.14559435844,1.56272423267,-0.111304625869,3.06491851807,0.0
+1471706371281147745,-0.023395806551,0.173832759261,1.14038336277,1.57207012177,-0.0185385905206,3.12690353394,0.0
+1471706371358445438,-0.0238590463996,0.170448973775,1.12221896648,1.57906472683,0.0468538962305,-2.76206970215,0.0
+1471706371436720358,-0.0238094851375,0.172380715609,1.11287891865,1.57079589367,0.000241120476858,3.13986563683,0.0
+1471706371512045463,-0.0219723954797,0.169413074851,1.09460437298,1.55786919594,-0.171912655234,3.03501343727,0.0
+1471706371591346677,-0.0219965931028,0.167808234692,1.11129522324,1.58137786388,0.0348206199706,-2.86243057251,0.0
+1471706371663272534,-0.0222231633961,0.157103151083,1.08688414097,1.57590866089,-0.0684094801545,3.01445627213,0.0
+1471706371735899726,-0.0227253772318,0.139643251896,1.06112027168,1.57214474678,-0.10884411633,2.99399662018,0.0
+1471706371808056321,-0.0227322615683,0.133578538895,1.06219065189,1.56672298908,-0.037535239011,3.13122391701,0.0
+1471706371877935654,-0.0220135748386,0.126692220569,1.04794251919,1.56280434132,-0.112448088825,3.04761981964,0.0
+1471706371954412270,-0.0214063245803,0.116732150316,1.03652977943,1.57155096531,0.00919994339347,-2.90433168411,0.0
+1471706372027500540,-0.0216252580285,0.109695099294,1.02134287357,1.57722043991,0.0386094935238,-2.82467746735,0.0
+1471706372106540319,-0.0217319782823,0.10283202678,1.01688063145,1.57051432133,-0.0275273956358,3.02663826942,0.0
+1471706372180380308,-0.021381162107,0.0977135673165,1.00941479206,1.56334137917,-0.0726761892438,3.0816514492,0.0
+1471706372258226232,-0.0204254984856,0.0936170071363,0.994408249855,1.57079541683,0.000213256731513,3.14056396484,0.0
+1471706372333924406,-0.0206735637039,0.0832855850458,0.977818369865,1.57828354836,0.0542830303311,-2.85736989975,0.0
+1471706372407682147,-0.0209083463997,0.0769559442997,0.970743060112,1.57190918922,0.0185809414834,-2.95247745514,0.0
+1471706372478778045,-0.0209337882698,0.0706013068557,0.953705847263,1.57867944241,0.0762338414788,-2.85807490349,0.0
+1471706372555921867,-0.0201612636447,0.0661688894033,0.940036952496,1.56130456924,-0.125803843141,3.02265977859,0.0
+1471706372629475180,-0.0199096649885,0.0618225596845,0.933246672153,1.56351590157,-0.0063003138639,3.07141661644,0.0
+1471706372709277100,-0.0194501858205,0.05820761621,0.919842123985,1.55773961544,-0.170832291245,-3.10439944267,0.0
+1471706372784512810,-0.0200418066233,0.0562878958881,0.911399185658,1.56647706032,-0.0633525028825,3.06894159317,0.0
+1471706372863353595,-0.0194630660117,0.0543137192726,0.902271807194,1.56548345089,-0.0850672796369,3.00947618484,0.0
+1471706372935659409,-0.019625518471,0.0538627617061,0.879102110863,1.57846665382,0.138990059495,-2.96886968613,0.0
+1471706373009526843,-0.0196394827217,0.0544300526381,0.881548285484,1.5678576231,0.00600552046672,3.11890721321,0.0
+1471706373087603551,-0.0188598725945,0.0540449619293,0.863756000996,1.55916905403,-0.167091846466,3.0978679657,0.0
+1471706373166976696,-0.0189040806144,0.0523718744516,0.848124146461,1.56357085705,-0.126593664289,3.08235788345,0.0
+1471706373254833802,-0.019123096019,0.0517563559115,0.845354318619,1.57298910618,0.0534245036542,-2.96248197556,0.0
+1471706373334792321,-0.0191718209535,0.0521209686995,0.833362698555,1.56871163845,-0.0235865041614,3.11280703545,0.0
+1471706373410270861,-0.0185646079481,0.0517500340939,0.824471414089,1.56653344631,-0.0982846468687,3.02783942223,0.0
+1471706373486528823,-0.0185362864286,0.050799485296,0.809337079525,1.57241821289,0.0314033068717,-2.90461111069,0.0
+1471706373559831227,-0.0185746476054,0.0495786070824,0.802544116974,1.56311786175,-0.122177146375,3.05948281288,0.0
+1471706373632836649,-0.0187755245715,0.0460516884923,0.789715051651,1.56679046154,-0.0500834174454,3.09588575363,0.0
+1471706373705140175,-0.0182608384639,0.0444508455694,0.771944224834,1.55989813805,-0.14995495975,3.0502974987,0.0
+1471706373779259237,-0.0183125119656,0.0420276932418,0.765104413033,1.56516981125,-0.100440725684,3.08350515366,0.0
+1471706373860317594,-0.0185222495347,0.0380711592734,0.751978695393,1.56804609299,-0.0360049754381,3.09434485435,0.0
+1471706373939709875,-0.017912350595,0.0365594401956,0.744169592857,1.56574308872,-0.09080478549,3.01900148392,0.0
+1471706374014953755,-0.0179452113807,0.0334289036691,0.732208013535,1.57265067101,0.0619091652334,-2.93649792671,0.0
+1471706374095790754,-0.0174293313175,0.0318199247122,0.722099840641,1.56706655025,-0.084290355444,3.02436375618,0.0
+1471706374174998167,-0.0170723292977,0.0305947735906,0.717033326626,1.56267392635,-0.0675531551242,-3.13241386414,0.0
+1471706374253862576,-0.0167282372713,0.0278538241982,0.69865000248,1.56197679043,-0.0719710886478,3.07697796822,0.0
+1471706374328323183,-0.0165837015957,0.0254910327494,0.690036475658,1.55445516109,-0.0999063849449,-3.08405852318,0.0
+1471706374402706251,-0.0162713360041,0.0233277957886,0.676864624023,1.56606435776,-0.122715033591,3.0744946003,0.0
+1471706374473635213,-0.0163610354066,0.0202612858266,0.666961252689,1.56483256817,-0.0716072693467,3.09401631355,0.0
+1471706374546268235,-0.0163302477449,0.0191863868386,0.652799427509,1.56500184536,-0.0755434781313,3.03847527504,0.0
+1471706374619172566,-0.0160582419485,0.0165951084346,0.640868246555,1.56104540825,-0.0856337025762,3.13427996635,0.0
+1471706374696164842,-0.0156863480806,0.0155221614987,0.626856505871,1.5651204586,-0.171682760119,3.05050110817,0.0
+1471706374769106551,-0.0158308632672,0.0138719454408,0.621856987476,1.56485402584,-0.0908543467522,3.09649372101,0.0
+1471706374843419942,-0.0158347096294,0.0122930631042,0.610963702202,1.56737482548,-0.0686079785228,3.03575253487,0.0
+1471706374920129093,-0.0158819649369,0.00999851338565,0.6026917696,1.56683909893,0.0576382577419,-3.02170801163,0.0
+1471706375001470270,-0.0151966344565,0.00930483080447,0.591073274612,1.56626725197,-0.110938496888,3.067527771,0.0
+1471706375080533953,-0.0149368401617,0.00804701820016,0.577245950699,1.56498432159,-0.100360967219,3.08360743523,0.0
+1471706375155847471,-0.014940851368,0.00751506304368,0.568770349026,1.5674226284,-0.0639388114214,3.06078219414,0.0
+1471706375230791220,-0.0148315532133,0.00692943949252,0.558562099934,1.56583952904,-0.0727893710136,3.03473329544,0.0
+1471706375312304358,-0.0144162429497,0.00623380346224,0.543817341328,1.56644451618,-0.0742753520608,3.07279992104,0.0
+1471706375385761714,-0.0143160838634,0.0056186132133,0.534672796726,1.56567299366,-0.0649918615818,3.06819367409,0.0
+1471706375466371687,-0.014362309128,0.00528307165951,0.524593889713,1.55928897858,-0.00954222865403,3.05028176308,0.0
+1471706375541540092,-0.0139889717102,0.00467452872545,0.511705696583,1.56186401844,-0.00355004845187,3.07859683037,0.0
+1471706375614891692,-0.0135946515948,0.0044790818356,0.501595795155,1.56564223766,-0.0745800212026,3.06960892677,0.0
+1471706375693507783,-0.013345438987,0.0042100250721,0.490646481514,1.56202602386,-0.113904967904,3.0987508297,0.0
+1471706375776009283,-0.013196086511,0.00377341685817,0.475459784269,1.56423425674,-0.0860362574458,3.06686234474,0.0
+1471706375851699683,-0.0130396392196,0.00312220235355,0.467218190432,1.56557416916,-0.0667739659548,3.06211686134,0.0
+1471706375927605356,-0.0129159586504,0.00268319621682,0.457728296518,1.56042206287,-0.0337793044746,3.07606101036,0.0
+1471706376005525865,-0.0125682419166,0.00202334928326,0.448292344809,1.5623087883,-0.0901491865516,3.08759307861,0.0
+1471706376079752636,-0.0123152500018,0.00160129717551,0.4348346591,1.56434130669,-0.0618841052055,3.07841968536,0.0
+1471706376151188394,-0.0123288379982,0.00147961522453,0.425488650799,1.55677449703,-0.0162879619747,3.12459731102,0.0
+1471706376224456612,-0.0119779175147,0.00176176859532,0.414673894644,1.5645878315,-0.0710628032684,3.08488488197,0.0
+1471706376295235672,-0.0116513678804,0.00188016227912,0.401011139154,1.56365323067,-0.0675177276134,3.07128429413,0.0
+1471706376373589364,-0.0113486032933,0.0019837282598,0.391390502453,1.56086027622,-0.0788493454456,3.10995459557,0.0
+1471706376451233261,-0.0111626069993,0.00233237352222,0.381490796804,1.56211423874,-0.082027733326,3.0861184597,0.0
+1471706376528869614,-0.0110506005585,0.00247264304198,0.371547281742,1.56267476082,-0.0821726620197,3.08887267113,0.0
+1471706376605397469,-0.0108422422782,0.00261478847824,0.357526898384,1.56121492386,-0.0644322261214,3.09747171402,0.0
+1471706376681498905,-0.0106860008091,0.002795108594,0.347857236862,1.56306421757,-0.064095646143,3.08645105362,0.0
+1471706376755033079,-0.0105230677873,0.00295112584718,0.338778436184,1.56280851364,-0.0615912526846,3.08528590202,0.0
+1471706376828004020,-0.0104135964066,0.00317247002386,0.328936398029,1.56117749214,-0.0600095316768,3.1067199707,0.0
+1471706376908555642,-0.0103374505416,0.00336470012553,0.314899146557,1.56014716625,-0.0315050035715,3.08889007568,0.0
+1471706376987115057,-0.00994662661105,0.00331549276598,0.305647224188,1.56006860733,-0.0679628625512,3.10955286026,0.0
+1471706377061014281,-0.0096993567422,0.00356131861918,0.294012695551,1.56160676479,-0.0444536134601,3.11799240112,0.0
+1471706377132982375,-0.00948862172663,0.00386066036299,0.278627514839,1.56102144718,-0.052134513855,3.1013944149,0.0
+1471706377209993310,-0.009457282722,0.0041477442719,0.269331097603,1.56088113785,-0.0536141917109,3.10953140259,0.0
+1471706377285850380,-0.00961350649595,0.00460578687489,0.263322204351,1.5624986887,-0.0483896508813,3.09753417969,0.0
+1471706377363595104,-0.00957572180778,0.00465189246461,0.260861068964,1.56046831608,-0.0623942650855,3.10057544708,0.0
+1471706377437313336,-0.0093538267538,0.00479428470135,0.261696755886,1.55983531475,-0.0673223957419,3.10526847839,0.0
+1471706377517207750,-0.00928394310176,0.00491453474388,0.262002766132,1.56134653091,-0.0742313116789,3.10034704208,0.0
+1471706377592323235,-0.00930831115693,0.00491685979068,0.262060135603,1.56070721149,-0.0770524591208,3.10265254974,0.0
+1471706377671930063,-0.00939243752509,0.00533623760566,0.262215912342,1.55968952179,-0.0667249336839,3.10312771797,0.0
+1471706377746078829,-0.00937655102462,0.0057365372777,0.262235760689,1.56049144268,-0.0713958144188,3.10177350044,0.0
+1471706377820441568,-0.00943784974515,0.00579391699284,0.26236474514,1.56001460552,-0.0643672794104,3.1026198864,0.0
+1471706377892989526,-0.00944022834301,0.00581016205251,0.262418359518,1.55997943878,-0.0644264444709,3.10222101212,0.0
+1471706377970972423,-0.00943136401474,0.00585067179054,0.262508392334,1.5604364872,-0.0666527971625,3.10183691978,0.0
+1471706378048736320,-0.00933058839291,0.0060104932636,0.262385129929,1.56229126453,-0.0826954692602,3.09703207016,0.0
+1471706378123187184,-0.00930159445852,0.00606818124652,0.262397676706,1.56229281425,-0.0893758311868,3.09809613228,0.0
+1471706378200792719,-0.0094510903582,0.00622454797849,0.262404382229,1.55992484093,-0.065100826323,3.10414385796,0.0
+1471706378274673707,-0.00941023509949,0.00634501455352,0.262473732233,1.5609331131,-0.072762966156,3.10183548927,0.0
+1471706378347252841,-0.00938082206994,0.00638738740236,0.262440621853,1.56168067455,-0.0771638229489,3.1010863781,0.0
+1471706378418759085,-0.00931426696479,0.00649251136929,0.262431174517,1.56230247021,-0.0888938233256,3.09871912003,0.0
+1471706378497309308,-0.00938616786152,0.00662819296122,0.262388378382,1.56118309498,-0.0766704976559,3.1017434597,0.0
+1471706378570965614,-0.00947182998061,0.00671875383705,0.262489646673,1.55979335308,-0.0633668601513,3.10382151604,0.0
+1471706378646736373,-0.00942636094987,0.00680483784527,0.262524217367,1.56128621101,-0.0720746666193,3.10354804993,0.0
+1471706378720597687,-0.00935673061758,0.00688262563199,0.262406677008,1.56230723858,-0.0830438360572,3.10092139244,0.0
+1471706378791032571,-0.00937700271606,0.00702888472006,0.262393862009,1.56120955944,-0.08336982131,3.10471916199,0.0
+1471706378880186185,-0.00949950516224,0.00715845590457,0.262548804283,1.55975961685,-0.0615730211139,3.10499238968,0.0
+1471706378958078836,-0.0094736488536,0.00720851542428,0.262536108494,1.56036484241,-0.0651863515377,3.104793787,0.0
+1471706379035577805,-0.00938617996871,0.00731260562316,0.262499630451,1.56172716618,-0.0804666653275,3.10221028328,0.0
+1471706379113390284,-0.00931158103049,0.00739914271981,0.262414485216,1.56176590919,-0.0924461260438,3.1007065773,0.0
+1471706379188144561,-0.00936436839402,0.00751251913607,0.262462288141,1.56140637398,-0.0851337611675,3.10277843475,0.0
+1471706379266153787,-0.00950620695949,0.00762074068189,0.262533456087,1.55993533134,-0.0621248632669,3.10606861115,0.0
+1471706379343157680,-0.00939717516303,0.0077246800065,0.262414872646,1.56136858463,-0.0798714905977,3.10447788239,0.0
+1471706379415999908,-0.00935609731823,0.00781571585685,0.262414455414,1.56202876568,-0.0877424404025,3.10519886017,0.0
+1471706379486035955,-0.00939942523837,0.00795072317123,0.262348204851,1.56040453911,-0.0799138620496,3.10574793816,0.0
+1471706379566536905,-0.00949442759156,0.00804268568754,0.262440502644,1.55977022648,-0.0655056536198,3.10709285736,0.0
+1471706379647587092,-0.00950265675783,0.00807666871697,0.262517184019,1.56002378464,-0.0638650655746,3.10712313652,0.0
+1471706379731067078,-0.00941496528685,0.00817191228271,0.26245111227,1.56139755249,-0.077166698873,3.10472154617,0.0
+1471706379807770829,-0.00934886559844,0.00825610477477,0.262362867594,1.5617300272,-0.0874421596527,3.10066723824,0.0
+1471706379884303406,-0.00933172088116,0.0083218831569,0.262368500233,1.56160950661,-0.0917400047183,3.10426640511,0.0
+1471706379953710887,-0.00943204108626,0.00841246917844,0.262371063232,1.56024467945,-0.0748257935047,3.10645008087,0.0
+1471706380029517427,-0.00951240491122,0.00847956817597,0.262428879738,1.55954682827,-0.0622160248458,3.10784769058,0.0
+1471706380119877679,-0.00944752153009,0.00856057275087,0.262400209904,1.56064939499,-0.0745039060712,3.10624241829,0.0
+1471706380198684342,-0.00943986140192,0.00859936606139,0.262425333261,1.56095588207,-0.0744964107871,3.10401630402,0.0
+1471706380286438031,-0.00936882942915,0.0086811631918,0.26237487793,1.56177794933,-0.085839420557,3.10488033295,0.0
+1471706380370066894,-0.00936089735478,0.0087802130729,0.262398123741,1.56171607971,-0.0868563205004,3.10457968712,0.0
+1471706380448724226,-0.00950699392706,0.00896426383406,0.262522101402,1.5596820116,-0.0639707818627,3.10852169991,0.0
+1471706380520982882,-0.00949680060148,0.0094055403024,0.2625041008,1.55957734585,-0.060788217932,3.10599660873,0.0
+1471706380592884542,-0.00932089425623,0.00966068822891,0.26241505146,1.56173586845,-0.0890865549445,3.10289049149,0.0
+1471706380663844915,-0.00938561093062,0.0100199291483,0.262472271919,1.56101930141,-0.0800228267908,3.10260820389,0.0
+1471706380744766970,-0.00938826333731,0.010603222996,0.262241631746,1.56069755554,-0.0816329345107,3.10736680031,0.0
+1471706380819200878,-0.00948269478977,0.0111079774797,0.262091189623,1.55895018578,-0.0664108321071,3.11105680466,0.0
+1471706380896962864,-0.00942702777684,0.0114180995151,0.261702746153,1.56089901924,-0.0748898610473,3.10636138916,0.0
+1471706380975193841,-0.00950693525374,0.0115062557161,0.261606574059,1.56024491787,-0.062021125108,3.10598468781,0.0
+1471706381061001082,-0.00937722437084,0.011720860377,0.261164963245,1.5625692606,-0.0844747796655,3.09656262398,0.0
+1471706381141286079,-0.00943249464035,0.011921598576,0.260739803314,1.5624037981,-0.0720757767558,3.10289025307,0.0
+1471706381215991785,-0.00951558444649,0.0121107725427,0.260415941477,1.56063389778,-0.0534286163747,3.11122345924,0.0
+1471706381289715045,-0.00933309830725,0.0122056789696,0.260009497404,1.56128227711,-0.0811486169696,3.1100320816,0.0
+1471706381369070517,-0.0092856772244,0.0122431274503,0.259812831879,1.56115579605,-0.0865069851279,3.10932087898,0.0
+1471706381447345433,-0.00934310350567,0.0123707279563,0.259045958519,1.55997371674,-0.0745264813304,3.1083920002,0.0
+1471706381528186767,-0.00933444313705,0.0123926755041,0.258798807859,1.56092298031,-0.077440738678,3.10397291183,0.0
+1471706381602270203,-0.00930742919445,0.0124654490501,0.258120238781,1.56263589859,-0.0817498639226,3.09464764595,0.0
+1471706381673399321,-0.00939312390983,0.0124992784113,0.257853329182,1.56090342999,-0.0655787289143,3.10719180107,0.0
+1471706381747307964,-0.00931100919843,0.0124963680282,0.257564723492,1.56119346619,-0.0729783549905,3.11338329315,0.0
+1471706381822700537,-0.00924232415855,0.0125118875876,0.257201820612,1.56116688251,-0.0809053331614,3.11307311058,0.0
+1471706381898013819,-0.0092139551416,0.0125251822174,0.256832897663,1.56107902527,-0.0855903625488,3.11193561554,0.0
+1471706381970809792,-0.00923660676926,0.0125468652695,0.256474107504,1.56099534035,-0.0799241214991,3.11081528664,0.0
+1471706382052580268,-0.00934120360762,0.0126008493826,0.256135135889,1.5606212616,-0.0653613582253,3.10763549805,0.0
+1471706382125968795,-0.00932336971164,0.0126432972029,0.255539655685,1.56194090843,-0.0696346983314,3.0993142128,0.0
+1471706382200340203,-0.00923373457044,0.0126620549709,0.255299001932,1.56197345257,-0.0789910405874,3.10082554817,0.0
+1471706382277867616,-0.00920318625867,0.0126229310408,0.254994869232,1.56204998493,-0.0813142210245,3.10686445236,0.0
+1471706382361038063,-0.00920011661947,0.0126031106338,0.254844874144,1.56185460091,-0.0791179612279,3.11028671265,0.0
+1471706382437021423,-0.00928429141641,0.012597233057,0.254466533661,1.56097853184,-0.0634598135948,3.1173813343,0.0
+1471706382514807676,-0.00926832482219,0.0126147605479,0.254098981619,1.56088507175,-0.0645569339395,3.11578536034,0.0
+1471706382598578222,-0.00923141464591,0.0126397572458,0.253416031599,1.56176567078,-0.0734601989388,3.1040802002,0.0
+1471706382674674652,-0.00918124709278,0.0126562267542,0.25290197134,1.56209158897,-0.0785467475653,3.09567093849,0.0
+1471706382750302089,-0.00914892926812,0.0126136392355,0.252583622932,1.56179594994,-0.080952771008,3.10173630714,0.0
+1471706382829812934,-0.00913556944579,0.0126405255869,0.252259492874,1.56094229221,-0.0796623528004,3.10568881035,0.0
+1471706382914363404,-0.00920981448144,0.0126370135695,0.252049803734,1.5601336956,-0.067908398807,3.11172175407,0.0
+1471706382991048598,-0.00917285773903,0.0126204388216,0.251738548279,1.56058812141,-0.072250276804,3.11161637306,0.0
+1471706383066652499,-0.00910949055105,0.0126038920134,0.251516461372,1.56088161469,-0.0788059532642,3.11366319656,0.0
+1471706383136292197,-0.00913308560848,0.0126163158566,0.251044988632,1.56199884415,-0.0779076442122,3.1085870266,0.0
+1471706383209634405,-0.00916065368801,0.0126364687458,0.250673145056,1.5630210638,-0.0762881934643,3.10275578499,0.0
+1471706383279625582,-0.00916879530996,0.0126831643283,0.250486850739,1.56222999096,-0.0740868747234,3.10483264923,0.0
+1471706383355618757,-0.00913717970252,0.0126641541719,0.250395983458,1.56240785122,-0.0760656222701,3.10279226303,0.0
+1471706383432356808,-0.00913527607918,0.0126162897795,0.250338405371,1.56225728989,-0.0764420181513,3.10267186165,0.0
+1471706383506564206,-0.00909806787968,0.0125356093049,0.25017362833,1.56183552742,-0.0812900289893,3.10468959808,0.0
+1471706383580453481,-0.00907646398991,0.0123943034559,0.249801918864,1.56102561951,-0.0838468745351,3.10636425018,0.0
+1471706383660316721,-0.00908763799816,0.0122968424112,0.249475330114,1.56127285957,-0.0796940624714,3.10713863373,0.0
+1471706383739116497,-0.00909091252834,0.0122156627476,0.248792991042,1.56186616421,-0.0809298306704,3.10185909271,0.0
+1471706383818605024,-0.0091268569231,0.012182331644,0.248474240303,1.56280446053,-0.0778508707881,3.10014200211,0.0
+1471706383897601356,-0.00907490495592,0.0121056744829,0.248101338744,1.56235897541,-0.0801190510392,3.10089826584,0.0
+1471706383981320828,-0.00910865329206,0.0120908459648,0.247842505574,1.56170725822,-0.0717142820358,3.11083912849,0.0
+1471706384068632570,-0.00907863862813,0.012097004801,0.247614070773,1.56152176857,-0.0740210562944,3.11008954048,0.0
+1471706384153497630,-0.00910643767565,0.0121089071035,0.24727229774,1.56071925163,-0.0699628219008,3.11231231689,0.0
+1471706384231678099,-0.00909273419529,0.0121019463986,0.247052431107,1.56108117104,-0.0712256878614,3.11090302467,0.0
+1471706384314171579,-0.00906938314438,0.0121088847518,0.246673315763,1.56142950058,-0.0766086131334,3.10688972473,0.0
+1471706384393550444,-0.00907146651298,0.0121047282591,0.246379509568,1.5617711544,-0.0778218209743,3.10225987434,0.0
+1471706384471994850,-0.00907649565488,0.0120987575501,0.245985776186,1.56226539612,-0.0779643803835,3.09843277931,0.0
+1471706384550448235,-0.00903607811779,0.012080126442,0.245836481452,1.56194210052,-0.0805673375726,3.09965109825,0.0
+1471706384623230261,-0.00902430061251,0.0120167220011,0.245535373688,1.56175911427,-0.0783660560846,3.10486412048,0.0
+1471706384698621017,-0.00899046286941,0.0119653334841,0.245204105973,1.56181359291,-0.081677056849,3.10812425613,0.0
+1471706384778627979,-0.00898751243949,0.0119389165193,0.244872450829,1.56160759926,-0.0788049250841,3.10981869698,0.0
+1471706384857270639,-0.00897652842104,0.0119135454297,0.244626373053,1.56154513359,-0.0797272995114,3.11106920242,0.0
+1471706384933133265,-0.00906204152852,0.0119089670479,0.243959799409,1.56203091145,-0.0734098032117,3.10145282745,0.0
+1471706385008217074,-0.0090568093583,0.0118371751159,0.243559956551,1.56183302402,-0.0725475177169,3.10462784767,0.0
+1471706385087780051,-0.00901644956321,0.0117965498939,0.243243813515,1.5614386797,-0.0757937207818,3.10520672798,0.0
+1471706385163006700,-0.00898138526827,0.0117682060227,0.242884889245,1.56130683422,-0.0784270688891,3.1071395874,0.0
+1471706385235769520,-0.00896667223424,0.011743391864,0.242497444153,1.56136596203,-0.0781349018216,3.10773658752,0.0
+1471706385311010687,-0.00891561526805,0.0117452209815,0.242306053638,1.56170868874,-0.0828233733773,3.10977888107,0.0
+1471706385389401739,-0.00905251316726,0.0118022030219,0.241687804461,1.56196022034,-0.0682536736131,3.1030600071,0.0
+1471706385468611674,-0.00903971679509,0.0117650832981,0.241335719824,1.56149971485,-0.0666585415602,3.10476279259,0.0
+1471706385544849424,-0.00897246226668,0.0117262629792,0.240936681628,1.56131243706,-0.0731722414494,3.10617947578,0.0
+1471706385622341957,-0.00895009282976,0.0116743231192,0.240576341748,1.56124150753,-0.0760600194335,3.10760450363,0.0
+1471706385699718774,-0.0089301103726,0.0116628790274,0.240055724978,1.56160211563,-0.0778861567378,3.10665082932,0.0
+1471706385775704707,-0.00895899999887,0.0116874258965,0.239530652761,1.5621560812,-0.0769304409623,3.09891366959,0.0
+1471706385849731659,-0.00895568169653,0.0117102777585,0.239110097289,1.5617364645,-0.0722923800349,3.1038351059,0.0
+1471706385923029367,-0.00891054980457,0.011659312062,0.238785907626,1.56130349636,-0.074681289494,3.10893368721,0.0
+1471706385999170580,-0.00892246514559,0.0116401733831,0.238386839628,1.56126821041,-0.0764050111175,3.10961675644,0.0
+1471706386077176564,-0.00888832192868,0.0116922324523,0.237845405936,1.56205129623,-0.0804737508297,3.10325098038,0.0
+1471706386151211603,-0.00899164937437,0.0117538459599,0.237178429961,1.56174039841,-0.0650517866015,3.09853792191,0.0
+1471706386227598056,-0.00895026046783,0.0117300460115,0.237049773335,1.56152415276,-0.0710133463144,3.1023671627,0.0
+1471706386301338571,-0.00888774823397,0.0116807352751,0.236631840467,1.56115615368,-0.0768683552742,3.10700368881,0.0
+1471706386378018337,-0.00881371460855,0.0116845751181,0.23616707325,1.56163680553,-0.0824101790786,3.10723853111,0.0
+1471706386451610094,-0.00893867015839,0.0117656774819,0.235486522317,1.56209599972,-0.0686967819929,3.10117459297,0.0
+1471706386527285393,-0.00889190658927,0.0117612332106,0.235103532672,1.56174230576,-0.0744681283832,3.10132265091,0.0
+1471706386600510917,-0.00882644299418,0.0117490254343,0.234738618135,1.56133663654,-0.0803595110774,3.1031601429,0.0
+1471706386675928754,-0.0087770735845,0.0117375254631,0.234482914209,1.56140506268,-0.0853815823793,3.10462594032,0.0
+1471706386746953816,-0.00882416032255,0.0117300525308,0.234135001898,1.5606020689,-0.0771005228162,3.10866451263,0.0
+1471706386824290570,-0.00886359252036,0.0117773264647,0.233536660671,1.56126284599,-0.0708002373576,3.10308170319,0.0
+1471706386900156798,-0.00886611361057,0.0117568792775,0.233072564006,1.56263208389,-0.0713252648711,3.10410499573,0.0
+1471706386975104751,-0.00878159981221,0.0117545342073,0.232599273324,1.56196308136,-0.0802662670612,3.10768032074,0.0
+1471706387048936226,-0.00880000833422,0.0117618096992,0.232409104705,1.56152284145,-0.0785319954157,3.1092748642,0.0
+1471706387121617716,-0.00882593449205,0.0117871472612,0.231918141246,1.56093752384,-0.0725054964423,3.10787653923,0.0
+1471706387198461225,-0.00880423374474,0.0118714477867,0.231262773275,1.56281030178,-0.0771089494228,3.09488368034,0.0
+1471706387272867875,-0.00877041276544,0.0118304733187,0.230823650956,1.56198239326,-0.0777721405029,3.10567164421,0.0
+1471706387348104465,-0.00878767948598,0.011846951209,0.230610847473,1.56133818626,-0.0733449459076,3.10589909554,0.0
+1471706387421893247,-0.0087449317798,0.0118353329599,0.230231866241,1.56091749668,-0.0749746412039,3.1086397171,0.0
+1471706387503262377,-0.00873212423176,0.0118603454903,0.229732051492,1.56183362007,-0.0801332220435,3.10473608971,0.0
+1471706387579220881,-0.00876342505217,0.0119239334017,0.2290841043,1.56231737137,-0.077131703496,3.09886884689,0.0
+1471706387658379136,-0.00876476243138,0.0119140045717,0.228689789772,1.56110501289,-0.0722463428974,3.10174942017,0.0
+1471706387738089976,-0.00874746125191,0.0118797402829,0.228565275669,1.56112599373,-0.071876168251,3.10544490814,0.0
+1471706387819758986,-0.00866996496916,0.0118659269065,0.228094533086,1.56139993668,-0.0799791067839,3.10856103897,0.0
+1471706387897263906,-0.00872689578682,0.011896439828,0.227485254407,1.56179440022,-0.0740631595254,3.10539340973,0.0
+1471706387973984720,-0.00868573226035,0.0118276271969,0.22490042448,1.5620598793,-0.0694008916616,3.1070599556,0.0
+1471706388050928133,-0.00860142242163,0.0117965079844,0.223610118032,1.56127440929,-0.0677894353867,3.11543083191,0.0
+1471706388123916144,-0.00869242381305,0.0118788303807,0.222824692726,1.56225562096,-0.0569590702653,3.10632681847,0.0
+1471706388199964452,-0.00863117724657,0.0118709271774,0.222778439522,1.56205940247,-0.0691540390253,3.11033010483,0.0
+1471706388274385781,-0.00864222273231,0.0118974000216,0.223010838032,1.56268239021,-0.0699380636215,3.10823440552,0.0
+1471706388360868116,-0.00863946788013,0.0119009548798,0.222727224231,1.56194245815,-0.0671918615699,3.11001944542,0.0
+1471706388441538849,-0.00866904202849,0.0118800103664,0.222463518381,1.56113898754,-0.0633338540792,3.11428570747,0.0
+1471706388517918801,-0.00859890691936,0.0118841864169,0.222034320235,1.56119322777,-0.0714379101992,3.11426281929,0.0
+1471706388595820336,-0.00862019415945,0.0119842877612,0.221258983016,1.56236553192,-0.0712861269712,3.10209035873,0.0
+1471706388672426822,-0.00863076839596,0.0119660627097,0.2209084481,1.56123435497,-0.0649293661118,3.10917305946,0.0
+1471706388750285189,-0.00859069172293,0.0119104413316,0.220590725541,1.56150400639,-0.0699226856232,3.11615490913,0.0
+1471706388825096901,-0.00856896210462,0.0119491145015,0.220062449574,1.56159448624,-0.0738266259432,3.11245298386,0.0
+1471706388898274180,-0.00863222591579,0.0120196677744,0.219627544284,1.56262302399,-0.0689179748297,3.10379123688,0.0
+1471706388977415353,-0.00861410144717,0.0120218703523,0.219252228737,1.56156933308,-0.0655383020639,3.10579872131,0.0
+1471706389058247466,-0.00857809837908,0.011987356469,0.218909651041,1.56151044369,-0.0695783793926,3.10957765579,0.0
+1471706389133927353,-0.00855259317905,0.0119914691895,0.218441739678,1.5613796711,-0.0699925348163,3.11389303207,0.0
+1471706389208923219,-0.00863404665142,0.0120405470952,0.217806503177,1.56247186661,-0.0625330135226,3.10687184334,0.0
+1471706389284600008,-0.00852789357305,0.0120438514277,0.217428922653,1.56209397316,-0.0737961903214,3.10843086243,0.0
+1471706389360048310,-0.00854476261884,0.0120439361781,0.217089027166,1.56133568287,-0.0710107311606,3.11289715767,0.0
+1471706389435236634,-0.00856451969594,0.0120554082096,0.216783985496,1.56024551392,-0.0654340237379,3.11286330223,0.0
+1471706389508746377,-0.00857753865421,0.0121149355546,0.216156765819,1.56184911728,-0.0686664953828,3.102445364,0.0
+1471706389580736202,-0.00852442439646,0.0120751261711,0.21581093967,1.56220602989,-0.0724001973867,3.10952496529,0.0
+1471706389651318647,-0.00852530170232,0.0121494149789,0.215960770845,1.5615940094,-0.0782696008682,3.10455870628,0.0
+1471706389724398289,-0.00858243647963,0.0122113935649,0.216265022755,1.56183040142,-0.0748400762677,3.09972977638,0.0
+1471706389798901103,-0.00864834804088,0.0122256474569,0.216468006372,1.56199967861,-0.0690685212612,3.09811592102,0.0
+1471706389878837782,-0.00856225006282,0.012199706398,0.216164961457,1.5618005991,-0.0765713080764,3.10070610046,0.0
+1471706389952515933,-0.0085280649364,0.0122064743191,0.215798094869,1.56111979485,-0.0801895707846,3.10445857048,0.0
+1471706390028095590,-0.00862844940275,0.0122178541496,0.215356335044,1.5610666275,-0.0671257525682,3.10554718971,0.0
+1471706390108720759,-0.00862509571016,0.0122462054715,0.214995861053,1.56194841862,-0.0718454569578,3.10111737251,0.0
+1471706390182100604,-0.00855473615229,0.0122296763584,0.214618757367,1.56242346764,-0.0767728686333,3.10459208488,0.0
+1471706390258979279,-0.0085237827152,0.0122507875785,0.214191406965,1.56132936478,-0.0762481912971,3.10344910622,0.0
+1471706390334166970,-0.00854872819036,0.0122732482851,0.213592261076,1.56179201603,-0.0748612880707,3.10294795036,0.0
+1471706390407235446,-0.00847498048097,0.0122599257156,0.213157474995,1.56219339371,-0.0773384943604,3.10287570953,0.0
+1471706390480974562,-0.00840811897069,0.012252160348,0.212691798806,1.56242370605,-0.0782396122813,3.09781694412,0.0
+1471706390553547703,-0.00840719789267,0.0122583480552,0.212494015694,1.56215822697,-0.0755053237081,3.09704136848,0.0
+1471706390630091304,-0.00837463606149,0.0122625594959,0.212055787444,1.56160676479,-0.0704729035497,3.10037493706,0.0
+1471706390706383987,-0.00825934670866,0.0122914798558,0.211685240269,1.56139624119,-0.0768580511212,3.10559916496,0.0
+1471706390778971008,-0.00821346230805,0.0125441141427,0.211389243603,1.56136739254,-0.0774428024888,3.1043817997,0.0
+1471706390849554606,-0.00820192229003,0.012871760875,0.211130663753,1.56108880043,-0.0773353949189,3.1077504158,0.0
+1471706390924742233,-0.00823102518916,0.0129588861018,0.21074141562,1.56072306633,-0.0722784250975,3.10732793808,0.0
+1471706391006152309,-0.00821925885975,0.0128882220015,0.209653660655,1.56098985672,-0.0755790397525,3.10832071304,0.0
+1471706391081072495,-0.00824609771371,0.0129112973809,0.209181964397,1.56087815762,-0.0712164416909,3.10716366768,0.0
+1471706391151954198,-0.00826242566109,0.0129039427266,0.208980321884,1.56112527847,-0.0710919424891,3.10463476181,0.0
+1471706391222747923,-0.00824228487909,0.0129389213398,0.208648443222,1.56197035313,-0.0741207972169,3.1004281044,0.0
+1471706391297442451,-0.00820899941027,0.0129118012264,0.208226114511,1.56123483181,-0.0758482217789,3.10471987724,0.0
+1471706391369682428,-0.00822709221393,0.012904709205,0.207964152098,1.56042158604,-0.0718508139253,3.10673451424,0.0
+1471706391440081571,-0.00820546131581,0.012906123884,0.207482337952,1.56086814404,-0.0727996230125,3.10584115982,0.0
+1471706391515309249,-0.00818314123899,0.0128863127902,0.206851959229,1.56158614159,-0.0760616138577,3.10403084755,0.0
+1471706391587085007,-0.00818448979408,0.0128911472857,0.206767231226,1.56139194965,-0.075887337327,3.10548973083,0.0
+1471706391659241876,-0.00819287821651,0.0128661766648,0.206357330084,1.56078577042,-0.0720225647092,3.1082804203,0.0
+1471706391735695170,-0.00819852482527,0.012879550457,0.205745950341,1.56182348728,-0.0727065205574,3.10341405869,0.0
+1471706391811575612,-0.00817648414522,0.0128734689206,0.205336987972,1.56196820736,-0.0756351649761,3.10293698311,0.0
+1471706391885869075,-0.00818824674934,0.0128532936797,0.205124795437,1.56136894226,-0.0732105895877,3.10634970665,0.0
+1471706391956917595,-0.00817404687405,0.0128703927621,0.204632028937,1.56101024151,-0.0719937756658,3.10856699944,0.0
+1471706392030043609,-0.00819164328277,0.0129418009892,0.204053238034,1.56226480007,-0.0735635012388,3.10031747818,0.0
+1471706392102406043,-0.00819082185626,0.0129675790668,0.203677490354,1.56103384495,-0.0702924281359,3.10630702972,0.0
+1471706392181546387,-0.00813947152346,0.0129629466683,0.203315004706,1.5615209341,-0.0739591345191,3.10949158669,0.0
+1471706392256351759,-0.0081134242937,0.0129808066413,0.203161120415,1.56137061119,-0.0766289979219,3.1088809967,0.0
+1471706392330003103,-0.00818228442222,0.0130776287988,0.202498570085,1.56196057796,-0.0700158774853,3.10344171524,0.0
+1471706392408670669,-0.00813168659806,0.013090015389,0.202184960246,1.56200361252,-0.0739824920893,3.10565757751,0.0
+1471706392482904805,-0.00813409686089,0.0131447101012,0.201843425632,1.56110680103,-0.0713569000363,3.10711240768,0.0
+1471706392551285393,-0.00813451781869,0.0131693435833,0.201812386513,1.56077027321,-0.0697261467576,3.10720252991,0.0
+1471706392623614621,-0.00808886066079,0.0131772840396,0.201682761312,1.56091284752,-0.0717133507133,3.10663676262,0.0
+1471706392697851819,-0.008041087538,0.0132033051923,0.201643317938,1.5615093708,-0.0735887736082,3.10802268982,0.0
diff --git a/MobileRobot/docking_data/Pose_left.txt~ b/MobileRobot/docking_data/Pose_left.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..ff9b963bf07cb0163c0676f12dcb0be9fa4067c7
--- /dev/null
+++ b/MobileRobot/docking_data/Pose_left.txt~
@@ -0,0 +1,235 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1470584451561550889,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
+1470584451669094613,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
+1470584451744373731,0.189782574773,0.284923613071,1.41210186481,0.136530320647,-0.0201770556777,0.8003464302,-0.583436328689
+1470584451823016596,0.189881742001,0.285048425198,1.41291868687,0.153719511269,-0.0232357723723,0.800595769128,-0.57868542853
+1470584451897106714,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
+1470584451971332117,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
+1470584452043076422,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
+1470584452114389516,0.190092682838,0.285483181477,1.4149132967,0.146385005996,-0.0209735340097,0.799071157133,-0.58276652849
+1470584452187646845,0.190137758851,0.285465806723,1.41527831554,0.157334268153,-0.022784384949,0.798758474269,-0.58026864438
+1470584452261083261,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
+1470584452339494722,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
+1470584452409738051,0.18973210454,0.284786939621,1.4116808176,0.13084862454,-0.0190996695271,0.799758476321,-0.585576826413
+1470584452487437204,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
+1470584452560592996,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
+1470584452631559963,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
+1470584452703726448,0.189782574773,0.284923613071,1.41210186481,0.136530320647,-0.0201770556777,0.8003464302,-0.583436328689
+1470584452775471440,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584452846591038,0.190044999123,0.285351097584,1.41451489925,0.140775641517,-0.019898922484,0.798469822286,-0.585006149146
+1470584452917451700,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584452989194817,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584453071609248,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584453147683381,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584453220587286,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584453299243049,0.189835831523,0.284918636084,1.41253185272,0.148368714128,-0.022168607847,0.799999296511,-0.580944406183
+1470584453376179527,0.19018779695,0.285601824522,1.41569936275,0.163824833189,-0.0240628141301,0.799331346226,-0.577626006986
+1470584453459474721,0.190144732594,0.285476714373,1.415335536,0.158568261804,-0.0229992402716,0.798721155621,-0.579975565743
+1470584453532587577,0.190601214767,0.285168796778,1.41344547272,0.0233400183764,-0.00896783857753,0.799055811149,-0.600736741079
+1470584453640109699,0.194017827511,0.26833152771,1.42414283752,0.20290763926,-0.028536348253,0.798828423657,-0.565585816933
+1470584453774229279,0.195851013064,0.244434475899,1.41636168957,0.0864912346093,-0.0124983896994,0.79969055709,-0.594018576723
+1470584453936981942,0.18582598865,0.0420602783561,1.24397718906,0.139173387538,-0.0170508144984,0.797218072025,-0.587182581114
+1470584454073143709,0.18259857595,0.0141977025196,1.21573770046,0.129782016783,-0.0188070649136,0.80272733596,-0.581748868956
+1470584454179572253,0.180420964956,-0.0282347872853,1.18472898006,0.060283499347,-0.00875848800185,0.820378616752,-0.568566718839
+1470584454306886157,0.17824113369,-0.0839482918382,1.14335358143,0.089408654531,-0.011231863688,0.780046469943,-0.619199032995
+1470584454490883561,0.175814419985,-0.110883288085,1.11353349686,-0.0207168210479,0.000317165241074,0.79168552613,-0.61057738285
+1470584454719137533,0.175543025136,-0.139354586601,1.10113310814,0.151106733472,-0.0264255386964,0.821624171673,-0.54900106241
+1470584454937691849,0.173585101962,-0.171928420663,1.07398998737,0.163835974658,-0.0256799287459,0.795650788862,-0.582613196599
+1470584455092771533,0.170633077621,-0.193342283368,1.05153894424,0.18588291389,-0.0317610050774,0.802920413646,-0.565471122367
+1470584455188659207,0.168470963836,-0.209612712264,1.01362454891,0.071436957215,-0.0130352263266,0.791567237032,-0.606752134958
+1470584455392961226,0.156718537211,-0.186034291983,0.973992228508,0.15495311556,-0.0284879020852,0.806710358188,-0.569558047441
+1470584455462492809,0.158805191517,-0.154320567846,0.964336931705,0.204399381173,-0.0349114994369,0.802618433509,-0.559290381085
+1470584455619781873,0.160427227616,-0.139019280672,0.937291562557,0.141424870376,-0.023221793628,0.798623277355,-0.584517420789
+1470584455727756892,0.153668537736,-0.104120232165,0.913650393486,0.203758697215,-0.0302190726709,0.784304348791,-0.58518021961
+1470584455847055074,0.153106212616,-0.0865158066154,0.902187049389,0.342380591453,-0.0607066921805,0.795132254439,-0.496844971869
+1470584455969391231,0.150522053242,-0.0657042860985,0.887289702892,0.140732062695,-0.0224686488585,0.800300023631,-0.582416962772
+1470584456112912757,0.146684840322,-0.0358872935176,0.862281024456,0.117162807531,-0.0176838579204,0.796924704232,-0.592343796696
+1470584456247695661,0.14476506412,-0.00622130651027,0.846837162971,0.235983914433,-0.0336707014463,0.788830655443,-0.566501609023
+1470584456421490195,0.141410574317,0.0273339375854,0.82148963213,0.121337107599,-0.0158823985824,0.796830513181,-0.591680816825
+1470584456544070970,0.139318853617,0.0606570653617,0.79686665535,0.172060873794,-0.0244555419802,0.78230664384,-0.598158254293
+1470584456699447325,0.136622205377,0.0736171528697,0.78076595068,0.226322043692,-0.0280526805876,0.781432846603,-0.580821905493
+1470584456881368128,0.133589208126,0.0869556516409,0.757238268852,0.0605300313341,-0.00685112435944,0.782196335308,-0.620046829225
+1470584457073526245,0.131668359041,0.098197221756,0.740563094616,0.143969552382,-0.0161795929036,0.777531434625,-0.611927983451
+1470584457265320679,0.128461658955,0.109513781965,0.717373907566,0.193018190061,-0.0218081510262,0.774051327754,-0.602588520349
+1470584457395106804,0.12393976748,0.118613421917,0.681459605694,0.13384648297,-0.0146078018361,0.768083554943,-0.626034650597
+1470584457526881412,0.122512921691,0.118477500975,0.65793889761,0.15042784985,-0.0171869508231,0.770423342364,-0.619293100439
+1470584457657997246,0.119297765195,0.112320385873,0.629941880703,0.11613375439,-0.0141392423572,0.770243620151,-0.626927267339
+1470584457755265168,0.119000941515,0.109745137393,0.618669033051,0.161391027522,-0.0176228949766,0.769908836765,-0.617156992085
+1470584457924814091,0.116718612611,0.105082154274,0.601059436798,0.163435119569,-0.018049663534,0.769416844995,-0.617220292907
+1470584458055524640,0.11407469213,0.0962174236774,0.57892781496,0.131692364629,-0.0159689427559,0.768760441726,-0.625627282975
+1470584458220544054,0.113179005682,0.0908358618617,0.564237773418,0.128174552387,-0.0149374958596,0.768537115208,-0.626656890081
+1470584458338920016,0.11082149297,0.0816999599338,0.543475151062,0.174193910478,-0.0193249682707,0.768313473776,-0.615611430343
+1470584458436282856,0.108588457108,0.0714300498366,0.51754796505,0.127081657825,-0.0150481521987,0.769738661778,-0.625400829808
+1470584458593183729,0.106989055872,0.0632268637419,0.498131096363,0.149911106324,-0.0170451490414,0.766472474559,-0.624304468058
+1470584458693244414,0.105292625725,0.0555674619973,0.478507399559,0.170546570197,-0.0196484032916,0.767606814802,-0.617501081384
+1470584458817721201,0.103792093694,0.0488439872861,0.460124015808,0.158870956808,-0.0187215031187,0.766718010924,-0.621733878865
+1470584459054710613,0.102504014969,0.0436854176223,0.445566356182,0.196560521638,-0.0227219372982,0.765853971759,-0.611813181322
+1470584459147699389,0.100784212351,0.0374990701675,0.426200211048,0.198606182591,-0.0225738747419,0.764422778321,-0.612946833257
+1470584459312714062,0.0995110943913,0.0332622267306,0.411841273308,0.205760252697,-0.0230161241739,0.762698362652,-0.612718682631
+1470584459388065770,0.0970145389438,0.0279518254101,0.386694341898,0.198090242369,-0.0218142300486,0.762959224698,-0.61496147578
+1470584459492635101,0.0954724252224,0.0249627958983,0.368170201778,0.201004353051,-0.0223901065319,0.761716581014,-0.615535363234
+1470584459649439317,0.0965076461434,0.0242241285741,0.358891010284,0.22346233972,-0.0241354329141,0.762779878649,-0.60634059763
+1470584459770047170,0.0914243906736,0.0216907914728,0.338134467602,0.183994435034,-0.0202389579641,0.762684067956,-0.619717229826
+1470584459918594383,0.0914773419499,0.0209674052894,0.330169290304,0.199137115448,-0.0220715157453,0.76071514862,-0.617389439579
+1470584460071624069,0.0914199054241,0.0220335181803,0.325491070747,0.197099978414,-0.0209686324745,0.759225704842,-0.619909867698
+1470584460203908154,0.0908318683505,0.021436650306,0.322356045246,0.201857550748,-0.0217578587575,0.758912338407,-0.618734343157
+1470584460279062468,0.0911214575171,0.0225343853235,0.322884202003,0.216469257042,-0.0225088118613,0.757675183348,-0.615274516523
+1470584460413042123,0.0912004709244,0.0226776301861,0.322954058647,0.216803415483,-0.022560126341,0.75767525459,-0.615154881568
+1470584460530867576,0.0911627188325,0.0230953227729,0.322799474001,0.223043403173,-0.0230429808092,0.756706046052,-0.614098217881
+1470584460665078360,0.0911262109876,0.0242181830108,0.322732418776,0.213756694613,-0.0221479137555,0.757222741872,-0.616791102899
+1470584460821044539,0.091173671186,0.024615386501,0.323056161404,0.231918231283,-0.0234431559802,0.755988256026,-0.611674839426
+1470584460957001789,0.0911148190498,0.0254262890667,0.322939246893,0.235512366372,-0.0237387177555,0.755612820832,-0.610753357387
+1470584461043493030,0.0910561606288,0.0259001031518,0.322732448578,0.227702376737,-0.0230478040275,0.75586936676,-0.613418231512
+1470584461175610426,0.0910492762923,0.0267280284315,0.322703659534,0.221038615201,-0.0222449402133,0.754527557806,-0.617523487599
+1470584461311438948,0.0909915715456,0.0274321138859,0.322625219822,0.223639807268,-0.0223780972993,0.753855963553,-0.617402335258
+1470584461449548129,0.0909528583288,0.0280542001128,0.322488695383,0.215435796031,-0.0212117717634,0.753901840569,-0.620297906907
+1470584461625313593,0.0909502953291,0.0284983552992,0.322495877743,0.227051149188,-0.0221040529313,0.752705497829,-0.617570740916
+1470584461716960689,0.090966142714,0.0289656594396,0.32259953022,0.231049597354,-0.0222523539932,0.752237465533,-0.616652018364
+1470584461871978151,0.0909292772412,0.0291803516448,0.322407126427,0.216336460101,-0.0210564635751,0.75123476631,-0.623218651245
+1470584461963905392,0.0909589082003,0.0294268466532,0.322478920221,0.204208399808,-0.019877978966,0.750742827058,-0.627924360907
+1470584462150001457,0.0909715220332,0.0294956080616,0.322609335184,0.220404431983,-0.0210966733736,0.750965743925,-0.622115156692
+1470584462224448590,0.0909286811948,0.0295924562961,0.322543412447,0.229259489277,-0.021759535839,0.751064035381,-0.618764433313
+1470584462339727591,0.0909551158547,0.0295566823334,0.322602063417,0.232789646367,-0.0218739049687,0.750041115422,-0.618683148309
+1470584462488036734,0.0910291969776,0.0294538158923,0.322792381048,0.236450337824,-0.0217030848269,0.748179882394,-0.619553934241
+1470584462619417853,0.090949177742,0.0292867571115,0.322353243828,0.217524143232,-0.0203965145458,0.748522212116,-0.62608444101
+1470584462776779982,0.0909527540207,0.029154619202,0.322407364845,0.233578654176,-0.0214448289768,0.748491984941,-0.620274842391
+1470584462849109130,0.0910041704774,0.0288712456822,0.322498589754,0.248786898738,-0.022080803331,0.747120820521,-0.615977269616
+1470584462992031228,0.0909925922751,0.0286243390292,0.322345435619,0.23810712718,-0.0210440464437,0.746459125111,-0.621016037341
+1470584463123241504,0.0909741297364,0.0283333137631,0.322269767523,0.245112902082,-0.021694437222,0.747115755759,-0.61746826973
+1470584463264749554,0.0910604596138,0.0280346106738,0.322629421949,0.277869004325,-0.023317457033,0.744407130728,-0.606715037191
+1470584463396745911,0.0910579413176,0.0277030430734,0.322562754154,0.267246574798,-0.022446920214,0.745379822718,-0.610314938304
+1470584463549055715,0.0910597071052,0.0273015983403,0.322444528341,0.26899989492,-0.0228099907325,0.744849962958,-0.610178083462
+1470584463637193588,0.091048642993,0.0269856080413,0.322337448597,0.25755868037,-0.0220932630925,0.745335178332,-0.614533063254
+1470584463816947693,0.0910673141479,0.0266318880022,0.322316110134,0.266512925735,-0.0223532219939,0.744039528048,-0.612271487646
+1470584463982211256,0.0910932272673,0.0263407249004,0.322479009628,0.282968616413,-0.0236587658658,0.745580219632,-0.602892329539
+1470584464135332057,0.091109752655,0.0259622745216,0.322505176067,0.29088498103,-0.0238606356285,0.742975749693,-0.602331829847
+1470584464276318744,0.0911668762565,0.0255300849676,0.322613894939,0.294006918869,-0.0240130024748,0.743204899227,-0.600524591615
+1470584464397726510,0.0911167636514,0.025229183957,0.322387963533,0.277234545878,-0.0232029819603,0.744734544947,-0.606607851715
+1470584464551760248,0.0911211892962,0.0248386468738,0.322422683239,0.281813135741,-0.0230293907159,0.743809222085,-0.60563920351
+1470584464682068206,0.0911237150431,0.0244869850576,0.322437316179,0.301900598363,-0.0242555785637,0.742548666865,-0.597402019542
+1470584464824918045,0.0911385565996,0.0241938959807,0.322393774986,0.281250957504,-0.0225620369441,0.741426712747,-0.608831079214
+1470584464924641548,0.0911411494017,0.0238869804889,0.322348356247,0.280751475979,-0.0230137952393,0.742585557039,-0.607631191136
+1470584465142479451,0.0911341607571,0.0235776267946,0.32232311368,0.288971352474,-0.0228094495922,0.742102131476,-0.604367200398
+1470584465286882130,0.0911165103316,0.0232578199357,0.32222700119,0.277686043681,-0.0226515925718,0.742581509237,-0.60905670396
+1470584465415427447,0.0910754129291,0.022956687957,0.322010815144,0.252700985681,-0.0208626941434,0.743048592519,-0.619342997849
+1470584465631334568,0.0910580307245,0.0227240361273,0.321974605322,0.278064231938,-0.0221505958517,0.741648713502,-0.610038375663
+1470584465759816227,0.0910983234644,0.0226782225072,0.322135716677,0.273935754211,-0.0220605814057,0.742406839892,-0.610986593466
+1470584465928237932,0.0911560431123,0.0224452316761,0.322362244129,0.294514915134,-0.0231715558351,0.741624291752,-0.60226028729
+1470584466039022595,0.0911409780383,0.0222823433578,0.322221964598,0.282449359592,-0.0222741801622,0.74107045884,-0.608720621631
+1470584466194246041,0.0911703705788,0.0222603883594,0.322326540947,0.294871695156,-0.0230418274344,0.740977921982,-0.602885956645
+1470584466288863401,0.0911181867123,0.022193428129,0.322098165751,0.281676687178,-0.0217139329206,0.740427442771,-0.609880275964
+1470584466434943846,0.0910760685802,0.0222382918,0.32207006216,0.295371354744,-0.0229370897459,0.740286953909,-0.603493892748
+1470584466611330004,0.091186709702,0.0222660433501,0.322384119034,0.312836286867,-0.0236086149316,0.739517057941,-0.595559075101
+1470584466734574750,0.0911086499691,0.0223493892699,0.32209649682,0.283725887422,-0.0224356829108,0.741764938338,-0.607273445156
+1470584466843322073,0.0911294668913,0.0223472509533,0.322177737951,0.313048688142,-0.0234395342199,0.739261950633,-0.595770824592
+1470584466973828115,0.0911209955812,0.0224305521697,0.322186797857,0.296679218619,-0.0226710430658,0.739785081958,-0.603477835184
+1470584467067402079,0.0911671370268,0.0224828608334,0.322413891554,0.327457464892,-0.0239499487564,0.738109898308,-0.589399513625
+1470584467175730932,0.0910912305117,0.0225244238973,0.32203027606,0.283991044928,-0.0219274207657,0.740294407551,-0.608960150394
+1470584467366675884,0.0910973250866,0.0225576758385,0.322065800428,0.291463390443,-0.0222330318076,0.740076368715,-0.605674626179
+1470584467448245347,0.0910830944777,0.0225263219327,0.322048008442,0.298067613492,-0.0225880614533,0.73989065546,-0.60266681942
+1470584467611557270,0.0910986587405,0.0224674120545,0.322075128555,0.290956663531,-0.022285057059,0.740002833553,-0.606006107652
+1470584467792937481,0.0911531299353,0.0224278550595,0.322327196598,0.300570652485,-0.0226261978375,0.739261406456,-0.602194246869
+1470584467959501680,0.0911760851741,0.0223843138665,0.322372436523,0.324196296283,-0.023403598797,0.737499243662,-0.591983022255
+1470584468126385273,0.091198220849,0.0223293136805,0.322450637817,0.32380862596,-0.0233441739448,0.737538020551,-0.592149213914
+1470584468247715765,0.0911909267306,0.0222630463541,0.322382569313,0.319508523989,-0.0226859115997,0.736255441767,-0.596093597501
+1470584468345787026,0.0912365987897,0.022257052362,0.32256218791,0.350450657501,-0.0238400885905,0.734850795589,-0.580181260518
+1470584468436617388,0.0911983475089,0.0222579780966,0.322449713945,0.337319898658,-0.023874773239,0.73684846577,-0.585405517282
+1470584468521302001,0.0911547914147,0.0222315695137,0.322268903255,0.32181739561,-0.0226980077849,0.736095796632,-0.59504734476
+1470584468642773431,0.0912066176534,0.0222250912338,0.322430729866,0.342779695678,-0.0236910055952,0.73487839839,-0.584717501076
+1470584468778848185,0.0912007018924,0.0221989583224,0.32237893343,0.321688965274,-0.0225215112462,0.735575723684,-0.5957661839
+1470584468906100056,0.0911590978503,0.0220663305372,0.322163879871,0.340618502943,-0.0229444514991,0.734526091621,-0.586450346002
+1470584469057185345,0.0911528617144,0.0216747652739,0.322271257639,0.335433351079,-0.0233745813953,0.735439505659,-0.588274450783
+1470584469156855090,0.0911341309547,0.0214246697724,0.322102576494,0.337285858151,-0.0229547481335,0.73428523075,-0.588673533745
+1470584469288016166,0.0911837145686,0.0210837051272,0.322342514992,0.345106271964,-0.0238052575888,0.735996889099,-0.581930880774
+1470584469376961504,0.0911663100123,0.0207925625145,0.322109758854,0.327156101868,-0.0224261259783,0.734317196456,-0.594343510836
+1470584469528835599,0.0911956429482,0.0205523520708,0.322302043438,0.340142582533,-0.0234043852549,0.735428388014,-0.58557693295
+1470584469648427581,0.0911547467113,0.0202679894865,0.322191655636,0.349286985662,-0.0239941023497,0.734971335599,-0.580723704137
+1470584469818109510,0.0911845490336,0.0198458973318,0.322374075651,0.342276665433,-0.023696495255,0.735948533915,-0.583665071629
+1470584469991706326,0.091216892004,0.0195310264826,0.322433024645,0.358901227412,-0.024848718822,0.735703156208,-0.573858271772
+1470584470121761235,0.0912114903331,0.0190870128572,0.322466880083,0.366430779397,-0.024749033801,0.734480606507,-0.57066120238
+1470584470225652730,0.0912581756711,0.0187414586544,0.322467833757,0.37367830093,-0.0248509711819,0.733260120423,-0.567517887333
+1470584470420583919,0.0912022441626,0.0184937436134,0.322277992964,0.330865321324,-0.0231222566071,0.735730975279,-0.590502694668
+1470584470497697698,0.0911743342876,0.018263829872,0.32225009799,0.338231175525,-0.0237239743166,0.735571474518,-0.586490793467
+1470584470671473316,0.0911719948053,0.0180053897202,0.322159349918,0.345466758913,-0.0240505860863,0.73582675047,-0.581922057571
+1470584470800244130,0.0912775248289,0.0180548112839,0.322271198034,0.353475537035,-0.0236817456471,0.733919411995,-0.579531290214
+1470584470937314048,0.0912161767483,0.0181169491261,0.321727275848,0.331610296219,-0.0233216845078,0.736301081904,-0.589365274902
+1470584471016205174,0.0910314619541,0.0180010925978,0.320646107197,0.31254104972,-0.0227793486286,0.737460758801,-0.598289915296
+1470584471162570568,0.0910832956433,0.0179308634251,0.320462793112,0.324837634469,-0.0228857724074,0.736535384376,-0.592851060737
+1470584471272698110,0.0910110324621,0.0178725123405,0.319792568684,0.343228261914,-0.0240869524418,0.736062320647,-0.582946343216
+1470584471427678715,0.090891905129,0.0178469456732,0.31891387701,0.313195163217,-0.0226747590052,0.736482050865,-0.599156768964
+1470584471529961638,0.0908143892884,0.0178647395223,0.318257153034,0.33900005849,-0.0239779569538,0.735877972456,-0.585651455713
+1470584471687105732,0.0907530039549,0.017770042643,0.317520916462,0.347603159403,-0.0239425708289,0.734500375723,-0.582329799116
+1470584471878112672,0.0907814651728,0.0177702009678,0.317278981209,0.343676776899,-0.0239856296689,0.735027743974,-0.583990734668
+1470584472058580501,0.0906199887395,0.0177583452314,0.316238194704,0.318370996384,-0.0228406669327,0.736351079848,-0.596577991382
+1470584472191446637,0.0905173569918,0.0177388302982,0.315447300673,0.317567155623,-0.0225973114553,0.736040700296,-0.597398150894
+1470584472322095312,0.0905159562826,0.0178432688117,0.315080851316,0.340676068389,-0.0245583604934,0.736727833074,-0.583582730494
+1470584472461264636,0.090449437499,0.0179973430932,0.314492195845,0.356912346545,-0.0244409745392,0.734691893893,-0.576406138669
+1470584472575190175,0.0903909057379,0.018124025315,0.313833624125,0.318574666714,-0.0234483079714,0.737010896888,-0.595630167511
+1470584472691743919,0.0902445018291,0.0181494727731,0.313208013773,0.334598160775,-0.0234676416521,0.735750574539,-0.588357402152
+1470584472834076514,0.0902494266629,0.0182207394391,0.312770783901,0.329275489449,-0.0237084283606,0.736283904451,-0.590678909831
+1470584472960058071,0.0901326239109,0.0183957330883,0.312045186758,0.313292642239,-0.0228032956515,0.737274940665,-0.598124896568
+1470584473167831392,0.0901276171207,0.0184818375856,0.311652630568,0.325934808247,-0.0234104987579,0.737397225476,-0.591154616984
+1470584473285097490,0.090098798275,0.0185295268893,0.311355531216,0.350155821856,-0.0246330072789,0.736783125871,-0.577870868624
+1470584473473265652,0.0899705886841,0.0187120828778,0.310321480036,0.333908445693,-0.0234493198153,0.736348075423,-0.588002373393
+1470584473593100584,0.0899351090193,0.018872378394,0.309735625982,0.310820981476,-0.0224167424341,0.737434594293,-0.599231196012
+1470584473703701645,0.0899364575744,0.0190091524273,0.309279978275,0.342690563492,-0.0233973195447,0.734818950873,-0.584856266589
+1470584473835943893,0.0898038893938,0.0190803203732,0.308613747358,0.342497258461,-0.0235471265065,0.735340387388,-0.58430786017
+1470584473969796820,0.0898146852851,0.0192437320948,0.308167725801,0.339921752287,-0.0233587838059,0.735302270181,-0.585865292544
+1470584474101024276,0.0896835699677,0.0193497128785,0.307160437107,0.320915163875,-0.022760349107,0.73647454668,-0.595063581642
+1470584474198665384,0.0896260291338,0.0194116793573,0.306608140469,0.329903922282,-0.0230246447036,0.735716104692,-0.591062671039
+1470584474353214778,0.0895845144987,0.0194751881063,0.30614772439,0.324142932115,-0.0230130979589,0.736768347637,-0.592936892765
+1470584474496855565,0.0894840806723,0.01964741759,0.305307239294,0.323302469883,-0.022814463127,0.736199694347,-0.594108595531
+1470584474639988336,0.0894009768963,0.0197112131864,0.304657042027,0.328983896784,-0.0233605299056,0.736819972184,-0.590186589046
+1470584474748402978,0.0893227681518,0.0197753030807,0.303737819195,0.293802164238,-0.0217406550365,0.738025987921,-0.607062824888
+1470584474952098672,0.0892834663391,0.0198314394802,0.303322404623,0.350073573201,-0.0241885620088,0.735202996251,-0.579948240034
+1470584475110302694,0.0892039388418,0.0199155025184,0.302639335394,0.326132702286,-0.0231752569211,0.736160323698,-0.592594588043
+1470584475277105621,0.0892011299729,0.0199716966599,0.302369952202,0.368189645372,-0.0249973646461,0.734223926269,-0.569847999817
+1470584475397049697,0.0890971198678,0.0199109259993,0.301815569401,0.349350463997,-0.0246146511137,0.736334133514,-0.578930406938
+1470584475528763120,0.0890830308199,0.0201876219362,0.301388204098,0.347010562529,-0.0243136434901,0.735514829887,-0.581386662429
+1470584475672980111,0.0890325903893,0.0205848626792,0.301080107689,0.367593064572,-0.0255336944958,0.73612534532,-0.567752450723
+1470584475861930992,0.088980294764,0.0207768213004,0.300695955753,0.372245348104,-0.0254676642003,0.735337572448,-0.565741507618
+1470584475974815325,0.0888277739286,0.0211200844496,0.299539715052,0.33551828678,-0.0235822511729,0.736443247782,-0.586960560398
+1470584476076066642,0.0887478888035,0.0213169697672,0.298835992813,0.346560098779,-0.0243916844972,0.737112975574,-0.579625400497
+1470584476200353294,0.0887369513512,0.0213644392788,0.298389226198,0.336059553496,-0.0236679342407,0.736199333775,-0.586953444783
+1470584476346127086,0.088634505868,0.0214692912996,0.297744899988,0.319502410036,-0.0227115065896,0.736889059166,-0.595312448998
+1470584476462937673,0.08857627213,0.0215638559312,0.297239840031,0.31653842907,-0.0224657128173,0.736329642382,-0.597592982237
+1470584476572194715,0.0885622724891,0.0212159566581,0.296888530254,0.321697228705,-0.0230967928978,0.737772125116,-0.593017472426
+1470584476739475795,0.0886559188366,0.0207306090742,0.29707801342,0.340145056371,-0.0235128058987,0.735079910563,-0.586008544027
+1470584476847048745,0.0886695981026,0.0203959215432,0.296993136406,0.35909842218,-0.024493564115,0.73398627778,-0.575944904079
+1470584476967309561,0.0887025147676,0.0201177895069,0.297185778618,0.374721766221,-0.0254603650119,0.735162324246,-0.56433299101
+1470584477115087502,0.0886694714427,0.0197534412146,0.296917378902,0.349858368926,-0.0240900681943,0.735427419,-0.579797638569
+1470584477242390294,0.0886332392693,0.019506175071,0.296738654375,0.3296018253,-0.0234427969992,0.736912830583,-0.589722436533
+1470584477413025498,0.0886696204543,0.0191703848541,0.296851336956,0.350338282438,-0.0241278416097,0.735348172357,-0.579606763702
+1470584477518946639,0.0886802747846,0.0189380608499,0.296961605549,0.36869447448,-0.025621841135,0.7359095493,-0.56731388225
+1470584477616040675,0.0886885076761,0.018759958446,0.29696303606,0.360115924077,-0.024418211677,0.735190366341,-0.573772949348
+1470584477784314278,0.0886760652065,0.0186126027256,0.296764671803,0.337758325474,-0.0235555206007,0.736071348499,-0.586142833224
+1470584477918114183,0.0886427536607,0.0182635840029,0.296633601189,0.340797924856,-0.0237317606496,0.735728674308,-0.584805006605
+1470584478047900207,0.0885635390878,0.0181150678545,0.296519845724,0.334534166173,-0.0233173965367,0.73503151622,-0.589297769251
+1470584478195632423,0.0886108651757,0.0182520709932,0.296645313501,0.3387707845,-0.0235003807061,0.735374417041,-0.586435464853
+1470584478285460708,0.0885390788317,0.0181354954839,0.296052008867,0.33179865826,-0.0232502916855,0.735228580104,-0.590599703108
+1470584478430980140,0.0884530618787,0.017969282344,0.295322597027,0.350024770385,-0.0241715461041,0.7355322809,-0.579560747661
+1470584478560954943,0.0883556231856,0.0179070848972,0.294794112444,0.356176998755,-0.0242458844748,0.735227084624,-0.576186789748
+1470584478655991191,0.0883288010955,0.0179133415222,0.294214516878,0.336860692227,-0.023379935462,0.735975396027,-0.586786561787
+1470584478827756319,0.0882824808359,0.0179098267108,0.293638467789,0.346070418408,-0.0237307894588,0.735698589207,-0.581738515979
+1470584478946017566,0.0881853252649,0.0178664010018,0.292884349823,0.348734667793,-0.0236523878574,0.734836513628,-0.581240048746
+1470584479045329540,0.0881121009588,0.0178616400808,0.292302101851,0.354625960891,-0.0238445668354,0.734803311383,-0.577698847217
+1470584479214568470,0.08806450665,0.0178115684539,0.291302889585,0.364025950646,-0.0249826892965,0.735354475093,-0.571064592189
+1470584479330051051,0.0880853533745,0.0176135338843,0.290522992611,0.360704023401,-0.0250548616433,0.73608081553,-0.572232377989
+1470584479462904277,0.0880824699998,0.0172349475324,0.28934392333,0.331875921273,-0.0235991045709,0.736908992765,-0.588444212756
+1470584479641640201,0.0881787315011,0.0172167234123,0.28871807456,0.351793527257,-0.0245603004684,0.73616335094,-0.577669132423
+1470584479802684538,0.0882501900196,0.0171882268041,0.288289815187,0.358959413887,-0.0249389983052,0.735868089707,-0.573606433103
+1470584479908135034,0.0881459861994,0.0169756710529,0.286583691835,0.349364529537,-0.0251899013617,0.737024628608,-0.578017812178
+1470584480147494480,0.0881573334336,0.0168882757425,0.286211550236,0.393632833111,-0.0266392287321,0.734139789566,-0.552614072898
+1470584480303724360,0.0879095643759,0.0169490426779,0.284669548273,0.340439894234,-0.0248880303399,0.737453045876,-0.582790073258
+1470584480490158179,0.0878942534328,0.0169262476265,0.284022510052,0.374602654734,-0.0259287341781,0.73560511394,-0.563813504765
+1470584480613121645,0.0877713561058,0.0168696772307,0.28321069479,0.359525685398,-0.0252686447869,0.735684781397,-0.573472474973
+1470584480904769785,0.0876936540008,0.0168624147773,0.282663822174,0.372786063193,-0.0259204140184,0.735390977115,-0.565295315746
+1470584480977244493,0.087606087327,0.0168743990362,0.281778365374,0.361366738081,-0.0251819017362,0.735106192628,-0.573060937417
+1470584481106996735,0.0875547528267,0.0168912094086,0.281246364117,0.334227589632,-0.0239647887742,0.735742338616,-0.588558254038
+1470584481325898893,0.0876007005572,0.0168702546507,0.281059443951,0.377730034276,-0.0259215540054,0.734268242458,-0.563469823825
+1470584481421393162,0.0874767452478,0.0168692562729,0.280355662107,0.389478669439,-0.0264764135343,0.7341819913,-0.555501727476
+1470584481548505045,0.0873755216599,0.0168732982129,0.279845267534,0.351754115298,-0.0246186070461,0.735465087002,-0.578579357011
+1470584481722520203,0.0873701050878,0.0168962646276,0.279320269823,0.364316831564,-0.0252252368195,0.735221672094,-0.571039426442
+1470584481938531310,0.0873985365033,0.0169033464044,0.279330104589,0.346725576176,-0.024509500913,0.735776121591,-0.581217823271
+1470584482054508752,0.0872866585851,0.016900755465,0.278637766838,0.370157032642,-0.0254451467741,0.734908401582,-0.567667118103
+1470584482141849829,0.0872808694839,0.0169632527977,0.277865260839,0.362833793557,-0.0255197021819,0.735968008576,-0.571009171035
diff --git a/MobileRobot/docking_data/Velocity_left.txt b/MobileRobot/docking_data/Velocity_left.txt
index 4ace3c20b18be4cffdbd18cb02cc0a46dbe8018f..bff1e98162bd1a95522e8616e467845cddffc2fd 100644
--- a/MobileRobot/docking_data/Velocity_left.txt
+++ b/MobileRobot/docking_data/Velocity_left.txt
@@ -1,524 +1,310 @@
 %time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
-1470144914813604949,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914823361638,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914833628144,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914843345923,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914853473566,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914863337160,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914873570241,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914883462966,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914893391222,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914903323605,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914913370240,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914923457682,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914933344238,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914943439011,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914953350783,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914963273482,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914973399319,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144914983332293,-0.0,-0.0,0.0,0.0,0.0,-0.0
-1470144915235818914,0.0,0.0,0.0,0.0,0.0,0.0
-1470144917579223800,0.15,-0.909429292459,0.0,0.0,0.0,0.0249776152756
-1470144917660372235,0.15,-0.182303725505,0.0,0.0,0.0,0.0256183530492
-1470144917740573519,0.15,-0.181667515109,0.0,0.0,0.0,0.0251022938983
-1470144917820105469,0.15,-0.182776813213,0.0,0.0,0.0,0.0268680756184
-1470144917901241305,0.15,-0.182055934041,0.0,0.0,0.0,0.0265178412592
-1470144917981138018,0.15,-0.18133980715,0.0,0.0,0.0,0.0249529320142
-1470144918058582182,0.15,-0.182016343077,0.0,0.0,0.0,0.025085120655
-1470144918133621536,0.15,-0.182395027137,0.0,0.0,0.0,0.0256346008345
-1470144918210072162,0.15,-0.190036382655,0.0,0.0,0.0,0.0373102464456
-1470144918287022092,0.15,-0.187320981659,0.0,0.0,0.0,0.0268416672456
-1470144918362494437,0.15,-0.182840580294,0.0,0.0,0.0,0.0276323749075
-1470144918439304302,0.15,-0.142494813803,0.0,0.0,0.0,0.0287863823563
-1470144918514509944,0.15,-0.162420280513,0.0,0.0,0.0,0.0336831977952
-1470144918590754198,0.15,-0.139959087604,0.0,0.0,0.0,0.0314976080267
-1470144918667030022,0.15,-0.13379157,0.0,0.0,0.0,0.0302040245465
-1470144918747126686,0.15,-0.137517198728,0.0,0.0,0.0,0.0202290593089
-1470144918820470997,0.15,-0.130837165745,0.0,0.0,0.0,0.0332378274926
-1470144918891119756,0.15,-0.127531069085,0.0,0.0,0.0,0.0272108468704
-1470144918962432358,0.15,-0.111344520196,0.0,0.0,0.0,0.0415480249283
-1470144919033962694,0.15,-0.119535567124,0.0,0.0,0.0,0.0207308685952
-1470144919107462293,0.15,-0.113135715935,0.0,0.0,0.0,0.0220355902425
-1470144919182472509,0.15,-0.105963905313,0.0,0.0,0.0,0.0265079847175
-1470144919262058616,0.15,-0.103937593914,0.0,0.0,0.0,0.0185925530749
-1470144919338970770,0.15,-0.102728489725,0.0,0.0,0.0,0.0280416767813
-1470144919415708887,0.15,-0.0949092433658,0.0,0.0,0.0,0.041562106249
-1470144919491966149,0.15,-0.0952493727378,0.0,0.0,0.0,0.0308270631747
-1470144919566531015,0.15,-0.092291603415,0.0,0.0,0.0,0.0253366312106
-1470144919642538903,0.15,-0.0846073434866,0.0,0.0,0.0,0.0378667410941
-1470144919718229101,0.15,-0.0911408867928,0.0,0.0,0.0,0.0299960835761
-1470144919790904602,0.15,-0.0816378336711,0.0,0.0,0.0,0.0171259861317
-1470144919866196456,0.15,-0.0787077295409,0.0,0.0,0.0,0.0303993831485
-1470144919936686115,0.15,-0.0835382139851,0.0,0.0,0.0,0.0231704612096
-1470144920013077159,0.15,-0.0783949163005,0.0,0.0,0.0,0.0161912484852
-1470144920093997847,0.15,-0.070564076886,0.0,0.0,0.0,0.0288580127896
-1470144920176110890,0.15,-0.0689470026269,0.0,0.0,0.0,0.0284817411715
-1470144920249761885,0.15,-0.0754438890788,0.0,0.0,0.0,0.0222965642967
-1470144920324951093,0.15,-0.0740365283242,0.0,0.0,0.0,0.0154541938056
-1470144920401855339,0.15,-0.0715734701159,0.0,0.0,0.0,0.0179529965954
-1470144920479377868,0.15,-0.0594067017494,0.0,0.0,0.0,0.0169247931352
-1470144920559756748,0.15,-0.0684954059342,0.0,0.0,0.0,0.0219782375856
-1470144920639387901,0.15,-0.0582775751417,0.0,0.0,0.0,0.0238502692765
-1470144920718986697,0.15,-0.0622476110265,0.0,0.0,0.0,0.0184646285491
-1470144920798702852,0.15,-0.0628465421219,0.0,0.0,0.0,0.0181654266116
-1470144920874464136,0.15,-0.0546178977243,0.0,0.0,0.0,0.0258975021481
-1470144920952768217,0.15,-0.055123248874,0.0,0.0,0.0,0.0277060174914
-1470144921030882973,0.15,-0.0589028348564,0.0,0.0,0.0,0.0279085423716
-1470144921110757389,0.15,-0.045288630111,0.0,0.0,0.0,0.0151713033031
-1470144921186737025,0.15,-0.0523698318245,0.0,0.0,0.0,0.0156606205734
-1470144921266684020,0.15,-0.0487131935818,0.0,0.0,0.0,0.0202891366486
-1470144921340784953,0.15,-0.0449524044511,0.0,0.0,0.0,0.0158241016342
-1470144921413515790,0.15,-0.0477816684943,0.0,0.0,0.0,0.0157512928118
-1470144921486553450,0.15,-0.0429975695391,0.0,0.0,0.0,0.0257332407167
-1470144921567213653,0.15,-0.0435048999064,0.0,0.0,0.0,0.0189657334106
-1470144921641383431,0.15,-0.0459091133602,0.0,0.0,0.0,0.0272787187187
-1470144921713960550,0.15,-0.039535495685,0.0,0.0,0.0,0.0147518534812
-1470144921793133421,0.15,-0.0426645991909,0.0,0.0,0.0,0.0109410479056
-1470144921866547414,0.15,-0.0390031353357,0.0,0.0,0.0,0.0326691067111
-1470144921937961516,0.15,-0.0403943267038,0.0,0.0,0.0,0.0180526486037
-1470144922010347496,0.15,-0.0361184919884,0.0,0.0,0.0,0.0187202148357
-1470144922089425145,0.15,-0.039278043737,0.0,0.0,0.0,0.0182501596394
-1470144922167058677,0.15,-0.0344062246528,0.0,0.0,0.0,0.0325140526243
-1470144922242171088,0.15,-0.0366166588642,0.0,0.0,0.0,0.0324765198572
-1470144922314019151,0.15,-0.0355552488207,0.0,0.0,0.0,0.016411639733
-1470144922395798951,0.15,-0.0324880408163,0.0,0.0,0.0,0.0316840081457
-1470144922468969686,0.15,-0.0333539197924,0.0,0.0,0.0,0.0158542000273
-1470144922545071223,0.15,-0.0313812608829,0.0,0.0,0.0,0.018551886827
-1470144922620903890,0.15,-0.0323805818645,0.0,0.0,0.0,0.0309760180628
-1470144922695643984,0.15,-0.0308488213347,0.0,0.0,0.0,0.0173306077495
-1470144922767034731,0.15,-0.0288772037906,0.0,0.0,0.0,0.0123116151839
-1470144922839924456,0.15,-0.0309372014583,0.0,0.0,0.0,0.0162220544541
-1470144922912045601,0.15,-0.0291743296653,0.0,0.0,0.0,0.0210212799422
-1470144922983460598,0.15,-0.0296654285792,0.0,0.0,0.0,0.0169350815801
-1470144923055488551,0.15,-0.0285018945846,0.0,0.0,0.0,0.0190690238982
-1470144923130441368,0.15,-0.0303387985582,0.0,0.0,0.0,0.0165622058199
-1470144923211508063,0.15,-0.0291389989527,0.0,0.0,0.0,0.0167892289758
-1470144923286562944,0.15,-0.0286527162885,0.0,0.0,0.0,0.0287235845597
-1470144923359093221,0.15,-0.0268286907753,0.0,0.0,0.0,0.0146895213635
-1470144923437188181,0.15,-0.0272402905931,0.0,0.0,0.0,0.0222311573681
-1470144923512718814,0.15,-0.0256721260474,0.0,0.0,0.0,0.0159298356087
-1470144923592744632,0.15,-0.0265917348109,0.0,0.0,0.0,0.0242976042201
-1470144923664973273,0.15,-0.0242989666175,0.0,0.0,0.0,0.0200814123166
-1470144923738331817,0.15,-0.0257512584067,0.0,0.0,0.0,0.00798481570249
-1470144923811304724,0.15,-0.022796066589,0.0,0.0,0.0,0.0162384716182
-1470144923887502818,0.15,-0.0242609669282,0.0,0.0,0.0,0.00947268741249
-1470144923963824774,0.15,-0.0228031055402,0.0,0.0,0.0,0.0199287123573
-1470144924040013613,0.15,-0.0225678901009,0.0,0.0,0.0,0.0119787292165
-1470144924111108509,0.15,-0.0218946091737,0.0,0.0,0.0,0.0109691746835
-1470144924186115184,0.15,-0.021234858868,0.0,0.0,0.0,0.0171387511991
-1470144924270321259,0.15,-0.0203266905263,0.0,0.0,0.0,0.00942276124446
-1470144924351873862,0.15,-0.0212215646472,0.0,0.0,0.0,0.0192547694467
-1470144924431928502,0.15,-0.0203104512516,0.0,0.0,0.0,0.0128819606348
-1470144924509297138,0.15,-0.0200457889785,0.0,0.0,0.0,0.0111026843174
-1470144924579960060,0.15,-0.0188559162982,0.0,0.0,0.0,0.0102876873925
-1470144924652908539,0.15,-0.019107610333,0.0,0.0,0.0,0.00810156437967
-1470144924724841353,0.15,-0.0192240014855,0.0,0.0,0.0,0.0138610539575
-1470144924799601544,0.15,-0.0170167061826,0.0,0.0,0.0,0.0112232988639
-1470144924875517729,0.15,-0.0174911984556,0.0,0.0,0.0,0.0122169582827
-1470144924949172399,0.0,-0.0174971006874,0.0,0.0,0.0,0.0153150467081
-1470144925022769012,0.0,-0.0161092127273,0.0,0.0,0.0,0.0110202742267
-1470144925102202512,0.0,-0.0159080001441,0.0,0.0,0.0,0.00920882174035
-1470144925178310244,0.0,-0.0160598880963,0.0,0.0,0.0,0.00954478929952
-1470144925249951656,0.0,-0.015861379296,0.0,0.0,0.0,0.0128078352684
-1470144925320983046,0.0,-0.0145210361099,0.0,0.0,0.0,0.0144146745856
-1470144925393537011,0.0,-0.0137554266661,0.0,0.0,0.0,0.016886274609
-1470144925470686664,0.0,-0.0137366072527,0.0,0.0,0.0,0.011360272416
-1470144925542929695,0.0,-0.0141848417762,0.0,0.0,0.0,0.0114378840247
-1470144925620585687,0.0,-0.0133627092725,0.0,0.0,0.0,0.0124830622487
-1470144925695738626,0.0,-0.0148252224397,0.0,0.0,0.0,0.00737304207146
-1470144925767085880,0.0,-0.0159921516254,0.0,0.0,0.0,0.0122223572388
-1470144925839822099,0.0,-0.0151846202548,0.0,0.0,0.0,0.0111875462803
-1470144925910378634,0.0,-0.0127580970525,0.0,0.0,0.0,0.00875352328946
-1470144925983665083,0.0,-0.0133611568045,0.0,0.0,0.0,0.0123740713372
-1470144926054728119,0.0,-0.0139915313629,0.0,0.0,0.0,0.00901194282892
-1470144926132333711,0.0,-0.0127267312115,0.0,0.0,0.0,0.00625508113398
-1470144926208633442,0.0,-0.0128406115814,0.0,0.0,0.0,0.0066004529549
-1470144926281877441,0.0,-0.0130899446959,0.0,0.0,0.0,0.00605813933093
-1470144926355062136,0.0,-0.0126401996456,0.0,0.0,0.0,0.00444300750758
-1470144926429172954,0.0,-0.0117824015524,0.0,0.0,0.0,0.00607159069593
-1470144926507647374,0.0,-0.0120893155362,0.0,0.0,0.0,0.00594399129881
-1470144926581505900,0.0,-0.0119117039365,0.0,0.0,0.0,0.00478624751827
-1470144926654978422,0.0,-0.0117275273625,0.0,0.0,0.0,0.00434556736676
-1470144926727466371,0.0,-0.0109011660241,0.0,0.0,0.0,0.00532578939894
-1470144926799844666,0.0,-0.0110121851855,0.0,0.0,0.0,0.00569533032336
-1470144926872384436,0.0,-0.0107129616601,0.0,0.0,0.0,0.0052027717428
-1470144926943373702,0.0,-0.0104711079763,0.0,0.0,0.0,0.00529905418325
-1470144927015641558,0.0,-0.00959141921972,0.0,0.0,0.0,0.00508108446153
-1470144927097349192,0.0,-0.00970077657046,0.0,0.0,0.0,0.00535623335959
-1470144927172177170,0.0,-0.00963786975978,0.0,0.0,0.0,0.00604639355546
-1470144927244628025,0.0,-0.00925390303852,0.0,0.0,0.0,0.00600733347476
-1470144927322736148,0.0,-0.00901075787419,0.0,0.0,0.0,0.00644270962969
-1470144927397359479,0.0,-0.00888071139102,0.0,0.0,0.0,0.00692854478358
-1470144927471592695,0.0,-0.00784078182268,0.0,0.0,0.0,0.00781498667012
-1470144927542798093,0.0,-0.00836010986932,0.0,0.0,0.0,0.00934342146219
-1470144927620028850,0.0,-0.00798261112736,0.0,0.0,0.0,0.00905912893094
-1470144927701973300,0.0,-0.00732422149119,0.0,0.0,0.0,0.00863170367113
-1470144927779120066,0.0,-0.00770995810702,0.0,0.0,0.0,0.00852435421629
-1470144927851081980,0.0,-0.00736114711747,0.0,0.0,0.0,0.00819115551125
-1470144927924188416,0.0,-0.00720609673374,0.0,0.0,0.0,0.00989369324468
-1470144927998125665,0.0,-0.00670483231774,0.0,0.0,0.0,0.0083381626311
-1470144928071176501,0.0,-0.0068083002533,0.0,0.0,0.0,0.00970215591827
-1470144928142612027,0.0,-0.00693866322001,0.0,0.0,0.0,0.00783570678668
-1470144928217363816,0.0,-0.00661815258733,0.0,0.0,0.0,0.00915776180692
-1470144928288675600,0.0,-0.00644701123022,0.0,0.0,0.0,0.00974833335705
-1470144928368802507,0.0,-0.00675945104253,0.0,0.0,0.0,0.0107847320955
-1470144928441126504,0.0,-0.00636951109404,0.0,0.0,0.0,0.00755035068317
-1470144928518175953,0.0,-0.00650207311097,0.0,0.0,0.0,0.0112053663319
-1470144928589216371,0.0,-0.00626269918058,0.0,0.0,0.0,0.00692064248671
-1470144928660687316,0.0,-0.00626142831042,0.0,0.0,0.0,0.00828496716597
-1470144928731470847,0.0,-0.00635569361199,0.0,0.0,0.0,0.0111563155275
-1470144928802270140,0.0,-0.00654023694422,0.0,0.0,0.0,0.0100501389072
-1470144928874601663,0.0,-0.00575217450256,0.0,0.0,0.0,0.0078583856474
-1470144928953090194,0.0,-0.00648563865535,0.0,0.0,0.0,0.00780892572904
-1470144929030749101,0.0,-0.00613294208744,0.0,0.0,0.0,0.00788894159776
-1470144929104643940,0.0,-0.00606745294706,0.0,0.0,0.0,0.00801603482193
-1470144929175279189,0.0,-0.00606127020211,0.0,0.0,0.0,0.0075668548502
-1470144929247009315,0.0,-0.00608687102294,0.0,0.0,0.0,0.00652130676602
-1470144929316852155,0.0,-0.00626148141909,0.0,0.0,0.0,0.00722354245355
-1470144929389435860,0.0,-0.00600090623678,0.0,0.0,0.0,0.00597528375254
-1470144929463927389,0.0,-0.0063581738919,0.0,0.0,0.0,0.0048049926346
-1470144929536533543,0.0,-0.00612670875113,0.0,0.0,0.0,0.0049018859916
-1470144929612250215,0.0,-0.00621049366324,0.0,0.0,0.0,0.00536479191476
-1470144929687416351,0.0,-0.00616118146215,0.0,0.0,0.0,0.00425013519609
-1470144929762480917,0.0,-0.00610952151736,0.0,0.0,0.0,0.00369451879533
-1470144929840478148,0.0,-0.00621795668739,0.0,0.0,0.0,0.00402534798955
-1470144929918039112,0.0,-0.00607220087874,0.0,0.0,0.0,0.00323586422238
-1470144929994107637,0.0,-0.00622366666094,0.0,0.0,0.0,0.00446499811944
-1470144930067604973,0.0,-0.00591421284093,0.0,0.0,0.0,0.0
-1470144930141813722,0.0,-0.00596141037802,0.0,0.0,0.0,0.00318812052787
-1470144930215789314,0.0,-0.00589363308499,0.0,0.0,0.0,0.0
-1470144930288868905,0.0,-0.0056288539434,0.0,0.0,0.0,0.00421838103387
-1470144930371610291,0.0,-0.00576604911841,0.0,0.0,0.0,0.0
-1470144930447689783,0.0,-0.00550131509819,0.0,0.0,0.0,0.0
-1470144930521500749,0.0,-0.00547134980027,0.0,0.0,0.0,0.0
-1470144930597651156,0.0,-0.00533487254404,0.0,0.0,0.0,0.0
-1470144930671114974,0.0,-0.00504751296854,0.0,0.0,0.0,0.0
-1470144930743143979,0.0,-0.0049731417134,0.0,0.0,0.0,0.0
-1470144930828590385,0.0,-0.00499343790804,0.0,0.0,0.0,0.0
-1470144930906870107,0.0,-0.00444064609722,0.0,0.0,0.0,0.0
-1470144930978488018,0.0,-0.00451091919534,0.0,0.0,0.0,0.00317120654117
-1470144931048745324,0.0,-0.00432540984655,0.0,0.0,0.0,0.0
-1470144931121600436,0.0,-0.0042194461252,0.0,0.0,0.0,0.0
-1470144931192094696,0.0,-0.00354894349919,0.0,0.0,0.0,0.0
-1470144931266424628,0.0,-0.00365426836643,0.0,0.0,0.0,0.00282866431735
-1470144931352580997,0.0,-0.00367758528498,0.0,0.0,0.0,0.0
-1470144931436312759,0.0,-0.00332309247122,0.0,0.0,0.0,0.0
-1470144931514314453,0.0,-0.00287441320747,0.0,0.0,0.0,0.0
-1470144931588647052,0.0,-0.00308370360469,0.0,0.0,0.0,0.00309977886116
-1470144931659615826,0.0,-0.00273922050161,0.0,0.0,0.0,0.0
-1470144931732852712,0.0,-0.00239927515587,0.0,0.0,0.0,0.0
-1470144931805653985,0.0,-0.00270316896168,0.0,0.0,0.0,0.0
-1470144931879478191,0.0,-0.00238173275567,0.0,0.0,0.0,0.0
-1470144931955289711,0.0,-0.00216734062588,0.0,0.0,0.0,0.0
-1470144932030042700,0.0,-0.00221815968768,0.0,0.0,0.0,0.00318898986458
-1470144932107072679,0.0,-0.00210246897463,0.0,0.0,0.0,0.0
-1470144932179516120,0.0,-0.00208080656662,0.0,0.0,0.0,0.0031093767566
-1470144932255839913,0.0,-0.00202857691677,0.0,0.0,0.0,0.0
-1470144932329473411,0.0,-0.0016313538189,0.0,0.0,0.0,0.00307537777959
-1470144932406302191,0.0,-0.00186583557045,0.0,0.0,0.0,0.0
-1470144932478905932,0.0,-0.00173961592173,0.0,0.0,0.0,0.0
-1470144932554011305,0.0,-0.00172459649701,0.0,0.0,0.0,0.0031075752469
-1470144932648508117,0.0,-0.00143755935372,0.0,0.0,0.0,0.0
-1470144932723948334,0.0,-0.00154321989289,0.0,0.0,0.0,0.0
-1470144932796747693,0.0,0.0,0.0,0.0,0.0,0.00346531467782
-1470144932870317629,0.006,0.0,0.0,0.0,0.0,0.0
-1470144932943173148,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933017529941,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933089573821,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933167745287,0.0,0.0,0.0,0.0,0.0,0.00323666176425
-1470144933242816071,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933315127318,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933391556771,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933466787844,0.0,0.0,0.0,0.0,0.0,0.00301432367503
-1470144933540430918,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933613563807,0.006,0.0,0.0,0.0,0.0,0.0
-1470144933685906281,0.0,0.0,0.0,0.0,0.0,0.00300383629025
-1470144933764805813,0.0,0.0,0.0,0.0,0.0,0.00393109603463
-1470144933840121315,0.0,0.0,0.0,0.0,0.0,0.00513074967244
-1470144933923668278,0.0,0.0,0.0,0.0,0.0,0.00565837693418
-1470144934002068265,0.0,0.0,0.0,0.0,0.0,0.00403011266536
-1470144934074712210,0.0,0.0,0.0,0.0,0.0,0.0032245088638
-1470144934152693097,0.006,0.0,0.0,0.0,0.0,0.0
-1470144934229757381,0.006,0.0,0.0,0.0,0.0,0.0
-1470144934303979743,0.0,0.0,0.0,0.0,0.0,0.00315953555736
-1470144934378405368,0.0,0.0,0.0,0.0,0.0,0.00432201184266
-1470144934451758018,0.0,0.0,0.0,0.0,0.0,0.00377302661605
-1470144934522818581,0.0,0.0,0.0,0.0,0.0,0.00690341178329
-1470144934595834498,0.0,0.0,0.0,0.0,0.0,0.00473487537823
-1470144934669637277,0.0,0.0,0.0,0.0,0.0,0.00555194840679
-1470144934746473098,0.0,0.0,0.0,0.0,0.0,0.00766505241288
-1470144934820533962,0.0,0.0,0.0,0.0,0.0,0.00357146157276
-1470144934895520409,0.0,0.0,0.0,0.0,0.0,0.00429550737612
-1470144934968493020,0.0,0.0,0.0,0.0,0.0,0.00449634278035
-1470144935047272503,0.0,0.0,0.0,0.0,0.0,0.00551605567499
-1470144935120803534,0.0,0.0,0.0,0.0,0.0,0.00435183559937
-1470144935198502609,0.0,0.0,0.0,0.0,0.0,0.00673199936606
-1470144935271193642,0.0,0.0,0.0,0.0,0.0,0.00674070872442
-1470144935343016205,0.0,0.0,0.0,0.0,0.0,0.0039009425298
-1470144935414340132,0.0,0.0,0.0,0.0,0.0,0.00435959457481
-1470144935487733283,0.0,0.0,0.0,0.0,0.0,0.00371768074968
-1470144935560781654,0.0,0.0,0.0,0.0,0.0,0.00363955913524
-1470144935633417419,0.0,0.0,0.0,0.0,0.0,0.00643098179188
-1470144935711015068,0.0,0.0,0.0,0.0,0.0,0.00305295899188
-1470144935786116762,0.0,0.0,0.0,0.0,0.0,0.00477432291993
-1470144935857655885,0.006,0.0,0.0,0.0,0.0,0.0
-1470144935931748962,0.0,-0.00182891120797,0.0,0.0,0.0,0.00296432453699
-1470144936003378740,0.0,-0.0023308177526,0.0,0.0,0.0,0.0
-1470144936078119306,0.0,-0.00259044933566,0.0,0.0,0.0,0.00296959654371
-1470144936149791968,0.0,-0.00278271325189,0.0,0.0,0.0,0.0
-1470144936226009815,0.0,-0.00260798546514,0.0,0.0,0.0,0.00348037896666
-1470144936297955804,0.0,-0.00267419767009,0.0,0.0,0.0,0.0
-1470144936370276002,0.0,-0.00286965916736,0.0,0.0,0.0,0.0
-1470144936447202414,0.0,-0.00300673059167,0.0,0.0,0.0,0.0
-1470144936518548046,0.0,-0.00302582553242,0.0,0.0,0.0,0.0
-1470144936590677702,0.0,-0.00272363912472,0.0,0.0,0.0,0.0
-1470144936662992569,0.0,-0.00243704805323,0.0,0.0,0.0,0.0
-1470144936739912340,0.0,-0.00253395137466,0.0,0.0,0.0,0.0
-1470144936816096551,0.0,-0.00268436951708,0.0,0.0,0.0,0.0
-1470144936888589842,0.0,-0.00297887080695,0.0,0.0,0.0,0.0047304526832
-1470144936960563218,0.0,-0.0027103604161,0.0,0.0,0.0,0.00379611969176
-1470144937031500750,0.0,-0.00179441326799,0.0,0.0,0.0,0.00364294265223
-1470144937103117999,0.0,-0.00184937142864,0.0,0.0,0.0,0.0
-1470144937176977462,0.0,-0.00204946997603,0.0,0.0,0.0,0.0
-1470144937250696871,0.0,-0.00189948717929,0.0,0.0,0.0,0.00377267127988
-1470144937322864758,0.0,-0.00163903203421,0.0,0.0,0.0,0.0
-1470144937395107059,0.0,-0.00160349223117,0.0,0.0,0.0,0.00305156546161
-1470144937467173937,0.0,-0.00175241101847,0.0,0.0,0.0,0.0
-1470144937539437402,0.0,-0.00166134433665,0.0,0.0,0.0,0.0
-1470144937618191420,0.006,0.0,0.0,0.0,0.0,0.0
-1470144937693431563,0.006,0.0,0.0,0.0,0.0,0.0
-1470144937767274089,0.006,0.0,0.0,0.0,0.0,0.0
-1470144937840357078,0.006,0.0,0.0,0.0,0.0,0.0
-1470144937913300123,0.006,0.0,0.0,0.0,0.0,0.0
-1470144937987131876,0.0,0.0,0.0,0.0,0.0,0.00335190810951
-1470144938065145926,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938139338524,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938211527060,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938283259087,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938357407155,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938430417059,0.0,0.0,0.0,0.0,0.0,0.00451089872321
-1470144938507291386,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938583012786,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938656678755,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938727136755,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938799562016,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938871013740,0.006,0.0,0.0,0.0,0.0,0.0
-1470144938947652996,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939023308610,0.0,0.0,0.0,0.0,0.0,0.00307034084237
-1470144939097712059,0.0,0.0,0.0,0.0,0.0,0.00305281041719
-1470144939170184513,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939242989881,0.0,0.0,0.0,0.0,0.0,0.00347350634514
-1470144939316843286,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939387964149,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939460480120,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939533239296,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939604749476,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939678123507,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939751129332,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939829853692,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939902531537,0.006,0.0,0.0,0.0,0.0,0.0
-1470144939980607381,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940056416501,0.0,0.0,0.0,0.0,0.0,0.00334702884224
-1470144940128815970,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940203479202,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940282611870,0.0,0.0,0.0,0.0,0.0,0.00325340113627
-1470144940359378147,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940430835660,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940504414714,0.0,0.0,0.0,0.0,0.0,0.0036918858033
-1470144940579083058,0.0,0.0,0.0,0.0,0.0,0.00487065564507
-1470144940655835511,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940731157454,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940804035402,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940875803557,0.006,0.0,0.0,0.0,0.0,0.0
-1470144940958552149,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941030319579,0.0,0.0,0.0,0.0,0.0,0.00360504171059
-1470144941106951767,0.0,0.0,0.0,0.0,0.0,0.00311203605773
-1470144941187980115,0.0,0.0,0.0,0.0,0.0,0.00397760251035
-1470144941259636456,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941331982511,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941407497074,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941478504366,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941553072626,0.0,0.0,0.0,0.0,0.0,0.00416765449001
-1470144941627484534,0.0,0.0,0.0,0.0,0.0,0.00360976155305
-1470144941701478420,0.0,0.0,0.0,0.0,0.0,0.00307562894048
-1470144941771731112,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941843117737,0.0,0.0,0.0,0.0,0.0,0.00287652056184
-1470144941921741335,0.006,0.0,0.0,0.0,0.0,0.0
-1470144941995602012,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942078236146,0.0,0.0,0.0,0.0,0.0,0.00417906055198
-1470144942152468320,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942230198817,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942301978874,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942376092096,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942448427137,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942526469334,0.0,0.0,0.0,0.0,0.0,0.00303854439112
-1470144942600899888,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942676261673,0.0,0.0,0.0,0.0,0.0,0.00312679026515
-1470144942749204222,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942820394616,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942889735298,0.006,0.0,0.0,0.0,0.0,0.0
-1470144942964154769,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943034105289,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943109859044,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943186325610,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943259913815,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943331515701,0.0,0.0,0.0,0.0,0.0,0.0027964751933
-1470144943403936256,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943478519613,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943551119780,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943621946283,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943693253808,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943770998658,0.0,0.0,0.0,0.0,0.0,0.00321602870842
-1470144943845632999,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943922040028,0.006,0.0,0.0,0.0,0.0,0.0
-1470144943994267077,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944071436712,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944145110326,0.0,0.0,0.0,0.0,0.0,0.00510290809657
-1470144944219359440,0.0,0.0,0.0,0.0,0.0,0.00391436095238
-1470144944295278891,0.0,0.0,0.0,0.0,0.0,0.00300972402351
-1470144944366518340,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944437138533,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944509271753,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944583011368,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944653957572,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944725898529,0.006,0.0,0.0,0.0,0.0,0.0
-1470144944796352972,0.0,0.0,0.0,0.0,0.0,0.00446200978555
-1470144944868999872,0.0,0.0,0.0,0.0,0.0,0.00470185287472
-1470144944939742201,0.0,0.0,0.0,0.0,0.0,0.00396022564338
-1470144945013109861,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945084277603,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945158818582,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945230220755,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945302433732,0.0,0.0,0.0,0.0,0.0,0.00478954791015
-1470144945372289822,0.0,0.0,0.0,0.0,0.0,0.00377051998899
-1470144945444267679,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945519272234,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945603185864,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945680744637,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945756015374,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945829917814,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945905189192,0.006,0.0,0.0,0.0,0.0,0.0
-1470144945976773148,0.006,0.0,0.0,0.0,0.0,0.0
-1470144946048722840,0.0,0.0,0.0,0.0,0.0,0.00324504918527
-1470144946124494425,0.006,0.0,0.0,0.0,0.0,0.0
-1470144946197957797,0.006,0.0,0.0,0.0,0.0,0.0
-1470144946272189620,0.0,-0.00161775686479,0.0,0.0,0.0,0.0
-1470144946344902685,0.0,-0.00218163221408,0.0,0.0,0.0,0.0
-1470144946418473740,0.0,-0.00199243102553,0.0,0.0,0.0,0.0
-1470144946491574913,0.0,-0.00211923419927,0.0,0.0,0.0,0.0
-1470144946562995545,0.0,-0.00205949252519,0.0,0.0,0.0,0.0
-1470144946637527758,0.0,-0.00211122104024,0.0,0.0,0.0,0.0
-1470144946708904875,0.0,-0.00204076156805,0.0,0.0,0.0,0.0
-1470144946781243488,0.0,-0.00209593443818,0.0,0.0,0.0,0.0
-1470144946851560223,0.0,-0.00226838602297,0.0,0.0,0.0,0.0
-1470144946924855510,0.0,-0.00294434510813,0.0,0.0,0.0,0.0
-1470144946998298667,0.0,-0.00258304887959,0.0,0.0,0.0,0.0
-1470144947067274552,0.0,-0.00255271350896,0.0,0.0,0.0,0.0
-1470144947141156794,0.0,-0.00160667961125,0.0,0.0,0.0,0.0
-1470144947210932234,0.0,-0.00160130464469,0.0,0.0,0.0,0.0
-1470144947287877734,0.0,-0.00176531163252,0.0,0.0,0.0,0.00279405820904
-1470144947360030698,0.0,-0.00170838763987,0.0,0.0,0.0,0.0
-1470144947436546967,0.0,-0.00171917430217,0.0,0.0,0.0,0.0
-1470144947511170022,0.0,-0.00161716347402,0.0,0.0,0.0,0.0
-1470144947584283108,0.006,0.0,0.0,0.0,0.0,0.0
-1470144947657400351,0.006,0.0,0.0,0.0,0.0,0.0
-1470144947728138596,0.006,0.0,0.0,0.0,0.0,0.0
-1470144947807317759,0.006,0.0,0.0,0.0,0.0,0.0
-1470144947879286599,0.006,0.0,0.0,0.0,0.0,0.0
-1470144947951237997,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948023023734,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948094554678,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948167460293,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948241936008,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948314241925,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948387018222,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948458503414,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948531178905,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948606629813,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948677838657,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948750783247,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948828519635,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948902998460,0.006,0.0,0.0,0.0,0.0,0.0
-1470144948974132467,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949050692483,0.0,0.0,0.0,0.0,0.0,0.00295939476318
-1470144949133856044,0.0,0.0,0.0,0.0,0.0,0.0046993957303
-1470144949209289557,0.0,0.0,0.0,0.0,0.0,0.00297190719365
-1470144949281819332,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949354945258,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949431270146,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949506229823,0.0,0.0,0.0,0.0,0.0,0.00518203953925
-1470144949576480683,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949646295345,0.006,0.0,0.0,0.0,0.0,0.0
-1470144949716568958,0.0,0.0,0.0,0.0,0.0,0.00320537162606
-1470144949791116296,0.0,0.0,0.0,0.0,0.0,0.00373064067219
-1470144949860803149,0.0,0.0,0.0,0.0,0.0,0.00281786482477
-1470144949932493504,0.006,0.0,0.0,0.0,0.0,0.0
-1470144950011220243,0.006,0.0,0.0,0.0,0.0,0.0
-1470144950086684422,0.006,0.0,0.0,0.0,0.0,0.0
-1470144950160437368,0.0,0.0,0.0,0.0,0.0,0.00283008558338
-1470144950231678201,0.006,0.0,0.0,0.0,0.0,0.0
-1470144950305974537,0.0,0.0,0.0,0.0,0.0,0.00319570491442
-1470144950395048672,0.0,0.0,0.0,0.0,0.0,0.00318024136021
-1470144950462527915,0.0,0.00885626790463,0.0,0.0,0.0,0.00351632117123
-1470144950535668219,0.0,3.20764546421e-05,0.0,0.0,0.0,0.00658729960116
-1470144950606952763,0.0,4.87508960611e-05,0.0,0.0,0.0,0.0043416130846
-1470144950679223568,0.0,0.000206066595113,0.0,0.0,0.0,0.00308754995593
-1470144950750324638,0.0,0.0,0.0,0.0,0.0,0.00402399637675
-1470144950827250932,0.0,0.0,0.0,0.0,0.0,0.00282210619791
-1470144950902877155,0.006,0.0,0.0,0.0,0.0,0.0
-1470144950977318633,0.006,0.0,0.0,0.0,0.0,0.0
-1470144951054628607,0.0,0.000124551481609,0.0,0.0,0.0,0.0
-1470144951127558533,0.0,0.000353912418511,0.0,0.0,0.0,0.0
-1470144951202107357,0.0,0.000247269727343,0.0,0.0,0.0,0.0
-1470144951275759332,0.0,8.14281384697e-05,0.0,0.0,0.0,0.0
-1470144951348292599,0.0,0.000120555860893,0.0,0.0,0.0,0.0
-1470144951421460752,0.0,0.00014934014132,0.0,0.0,0.0,0.0
-1470144951493469916,0.006,0.0,0.0,0.0,0.0,0.0
-1470144951567940549,0.0,0.0,0.0,0.0,0.0,0.00368336716477
-1470144951639465226,0.0,0.0,0.0,0.0,0.0,0.00307598835747
-1470144951710434476,0.0,0.0,0.0,0.0,0.0,0.00399724300952
-1470144951779463336,0.0,0.0,0.0,0.0,0.0,0.00328023561723
-1470144951850154458,0.006,0.0,0.0,0.0,0.0,0.0
-1470144951922924063,0.006,0.0,0.0,0.0,0.0,0.0
-1470144951996595089,0.0,0.0,0.0,0.0,0.0,0.00319869777838
-1470144952069991264,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952149899243,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952225715949,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952297080289,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952378958558,0.0,0.0,0.0,0.0,0.0,0.00306551332131
-1470144952452968121,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952527396529,0.0,0.0,0.0,0.0,0.0,0.00390284175652
-1470144952603106093,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952677517177,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952753028169,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952828373978,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952902691496,0.006,0.0,0.0,0.0,0.0,0.0
-1470144952979730771,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953052883024,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953127322183,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953216198071,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953293802005,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953366354475,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953437085132,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953508904700,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953582963428,0.0,0.0,0.0,0.0,0.0,0.00317703681238
-1470144953652471237,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953726136411,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953798792978,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953872210087,0.006,0.0,0.0,0.0,0.0,0.0
-1470144953947811343,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954022461980,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954095116307,0.0,0.0,0.0,0.0,0.0,0.0029556924932
-1470144954172113705,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954241516254,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954311210554,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954385751499,0.0,0.0,0.0,0.0,0.0,0.00324305354151
-1470144954458621993,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954535638346,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954610718699,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954683423149,0.0,0.0,0.0,0.0,0.0,0.0028427430126
-1470144954755960669,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954827964829,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954899417885,0.006,0.0,0.0,0.0,0.0,0.0
-1470144954970716763,0.006,0.0,0.0,0.0,0.0,0.0
-1470144955043542947,0.006,0.0,0.0,0.0,0.0,0.0
+1471706369182679158,0.15,-0.264098020152,0.0,0.0,0.0,0.014569688797
+1471706369267342748,0.15,-0.166250393752,0.0,0.0,0.0,0.0122616181374
+1471706369357320395,0.15,-0.167082512704,0.0,0.0,0.0,0.0115241298676
+1471706369435744317,0.15,-0.167744611337,0.0,0.0,0.0,0.01157741642
+1471706369512697711,0.15,-0.174592532107,0.0,0.0,0.0,0.0140130410194
+1471706369590734121,0.15,-0.170582729298,0.0,0.0,0.0,0.013392616272
+1471706369664908988,0.15,-0.172860163079,0.0,0.0,0.0,0.0139483699799
+1471706369745240620,0.15,-0.17876565874,0.0,0.0,0.0,0.0166040549278
+1471706369826489759,0.15,-0.109955440992,0.0,0.0,0.0,-0.00762290859222
+1471706369903512205,0.15,-0.137307530996,0.0,0.0,0.0,-0.00612993144989
+1471706369987014245,0.15,-0.129063799093,0.0,0.0,0.0,-0.00817085409164
+1471706370059938439,0.15,-0.200896236049,0.0,0.0,0.0,0.0184757599831
+1471706370138527476,0.15,-0.12488263137,0.0,0.0,0.0,0.0
+1471706370214417532,0.15,-0.122766249002,0.0,0.0,0.0,0.0
+1471706370288085574,0.15,-0.108980837865,0.0,0.0,0.0,-0.0066243519783
+1471706370365370169,0.15,0.278382296526,0.0,0.0,0.0,-0.134365271568
+1471706370436896038,0.15,-0.295058309309,0.0,0.0,0.0,0.0135071167946
+1471706370514486227,0.15,-0.129828879168,0.0,0.0,0.0,0.0110488424301
+1471706370587099668,0.15,0.262320217281,0.0,0.0,0.0,-0.122581850529
+1471706370656622037,0.15,0.147304442362,0.0,0.0,0.0,-0.129674386024
+1471706370727334415,0.15,-0.245836210759,0.0,0.0,0.0,0.00594066476822
+1471706370800985300,0.15,-0.118717887016,0.0,0.0,0.0,0.0102849493027
+1471706370871261117,0.15,-0.128534725518,0.0,0.0,0.0,0.0166159162521
+1471706370946727691,0.15,-0.118189107806,0.0,0.0,0.0,0.0160260686874
+1471706371023315843,0.15,0.297379161793,0.0,0.0,0.0,-0.13247312212
+1471706371101236041,0.15,-0.250468081382,0.0,0.0,0.0,0.0176249632835
+1471706371173464213,0.15,-0.0476193266274,0.0,0.0,0.0,-0.00446261072159
+1471706371245899288,0.15,-0.106636935549,0.0,0.0,0.0,0.0107935557365
+1471706371317697496,0.15,-0.0495912148162,0.0,0.0,0.0,-0.00470269823074
+1471706371394580701,0.15,0.194988287312,0.0,0.0,0.0,-0.103255759716
+1471706371473230238,0.15,-0.145020817978,0.0,0.0,0.0,-0.00794322395325
+1471706371549040826,0.15,-0.122815567281,0.0,0.0,0.0,0.0182698259354
+1471706371627565366,0.15,0.148586109061,0.0,0.0,0.0,-0.0781655421257
+1471706371699824083,0.15,-0.191733778013,0.0,0.0,0.0,0.0234091172218
+1471706371772429379,0.15,-0.104329862202,0.0,0.0,0.0,0.0285240302086
+1471706371842964883,0.15,-0.0174623631769,0.0,0.0,0.0,-0.00578279399872
+1471706371913129619,0.15,-0.093711644954,0.0,0.0,0.0,0.0151182303429
+1471706371991812130,0.15,0.127951223706,0.0,0.0,0.0,-0.067690264225
+1471706372063884195,0.15,0.105681259333,0.0,0.0,0.0,-0.0876038184166
+1471706372142567524,0.15,-0.162147946149,0.0,0.0,0.0,0.020363617897
+1471706372216866818,0.15,-0.0403241325604,0.0,0.0,0.0,0.00661032295227
+1471706372294603667,0.15,-0.0157276928913,0.0,0.0,0.0,-0.00811780595779
+1471706372369726509,0.15,0.13915349706,0.0,0.0,0.0,-0.0794307103157
+1471706372442491100,0.15,0.0307180684487,0.0,0.0,0.0,-0.0556538214684
+1471706372515512127,0.15,0.101601918503,0.0,0.0,0.0,-0.0792544593811
+1471706372592626680,0.15,-0.135037276867,0.0,0.0,0.0,0.0213582406044
+1471706372665390993,0.15,-0.0307129160946,0.0,0.0,0.0,0.00916903114319
+1471706372745190886,0.15,0.0190849521365,0.0,0.0,0.0,-0.017673324585
+1471706372821018753,0.15,-0.058576661051,0.0,0.0,0.0,0.0097877869606
+1471706372899141107,0.15,-0.0681443184691,0.0,0.0,0.0,0.0246541390419
+1471706372971693927,0.15,0.0989568911488,0.0,0.0,0.0,-0.0515557637215
+1471706373045393068,0.15,-0.0552025847851,0.0,0.0,0.0,-0.00270361804962
+1471706373122968928,0.15,-0.030769766273,0.0,0.0,0.0,0.00255619382858
+1471706373206231479,0.15,-0.0335319505372,0.0,0.0,0.0,0.0064337143898
+1471706373290584390,0.15,0.0858715676169,0.0,0.0,0.0,-0.0531526913643
+1471706373371673610,0.15,-0.0565023792279,0.0,0.0,0.0,0.0
+1471706373447409128,0.15,-0.0613208872138,0.0,0.0,0.0,0.0200633296967
+1471706373523398635,0.15,0.118126273016,0.0,0.0,0.0,-0.0676204075813
+1471706373595314897,0.15,-0.0873995703117,0.0,0.0,0.0,0.0121524820328
+1471706373669096562,0.15,-0.0170013050854,0.0,0.0,0.0,0.00305174684525
+1471706373741817300,0.15,-0.0425134650163,0.0,0.0,0.0,0.0144488105774
+1471706373816576588,0.15,-0.0196068947332,0.0,0.0,0.0,0.00614689683914
+1471706373897035324,0.15,-0.0178190405584,0.0,0.0,0.0,0.00343697166443
+1471706373976462868,0.15,-0.0515545693295,0.0,0.0,0.0,0.0222728142738
+1471706374052334376,0.15,0.100527130623,0.0,0.0,0.0,-0.0596487035751
+1471706374133475796,0.15,-0.0830307448806,0.0,0.0,0.0,0.0209322462082
+1471706374211795486,0.15,0.0168467917139,0.0,0.0,0.0,-0.0106697192192
+1471706374290371211,0.15,-0.0299218908567,0.0,0.0,0.0,0.00777869319916
+1471706374364585724,0.15,0.0303968548717,0.0,0.0,0.0,-0.0227585544586
+1471706374438440716,0.15,-0.0351053930362,0.0,0.0,0.0,0.00839953517914
+1471706374508941849,0.15,-0.00884213567868,0.0,0.0,0.0,0.00351910686493
+1471706374581383013,0.15,-0.0320889467404,0.0,0.0,0.0,0.0174043664932
+1471706374654622308,0.15,0.0,0.0,0.0,0.0,-0.00654680633545
+1471706374731197926,0.15,-0.0172204952327,0.0,0.0,0.0,0.0143979082108
+1471706374804741366,0.15,-0.00224016486151,0.0,0.0,0.0,0.00289975500107
+1471706374880389197,0.15,-0.0285848229451,0.0,0.0,0.0,0.0180850515366
+1471706374956488059,0.15,0.0589648542096,0.0,0.0,0.0,-0.0383461823463
+1471706375038255328,0.15,-0.0356187044089,0.0,0.0,0.0,0.0101412425041
+1471706375117086951,0.15,-0.00589675693289,0.0,0.0,0.0,0.00612132644653
+1471706375192336712,0.15,-0.0151145354089,0.0,0.0,0.0,0.0118276367187
+1471706375268131293,0.15,-0.0203064970744,0.0,0.0,0.0,0.018339861393
+1471706375348761140,0.15,-0.00443336231469,0.0,0.0,0.0,0.0088232049942
+1471706375421877885,0.15,-0.00970933254689,0.0,0.0,0.0,0.00997476673126
+1471706375503326069,0.15,-0.0142709619577,0.0,0.0,0.0,0.0144527444839
+1471706375577391899,0.15,-0.00320885605413,0.0,0.0,0.0,0.00737397766113
+1471706375651817832,0.15,-0.00857712906252,0.0,0.0,0.0,0.00962095355988
+1471706375728892503,0.15,0.00104303734,0.0,0.0,0.0,0.00233547782898
+1471706375811474180,0.15,-0.0101654570627,0.0,0.0,0.0,0.0103075990677
+1471706375888039643,0.15,-0.00790516602616,0.0,0.0,0.0,0.0114939699173
+1471706375964077865,0.15,-0.00333481694503,0.0,0.0,0.0,0.00800793266296
+1471706376041290207,0.15,-0.00111309789281,0.0,0.0,0.0,0.00512491559982
+1471706376116006649,0.15,-0.00404355385542,0.0,0.0,0.0,0.0074182639122
+1471706376187524525,0.15,0.0083198926169,0.0,0.0,0.0,-0.00412614250183
+1471706376259152519,0.15,-0.00534764717083,0.0,0.0,0.0,0.00580196475983
+1471706376332422295,0.15,-0.00481280252257,0.0,0.0,0.0,0.00920211172104
+1471706376410671858,0.15,0.00524049999923,0.0,0.0,0.0,0.0
+1471706376486740475,0.15,-0.00318419127257,0.0,0.0,0.0,0.00549357032776
+1471706376565767522,0.15,-0.000529745413325,0.0,0.0,0.0,0.00480501747131
+1471706376642132494,0.0,0.0,0.0,0.0,0.0,0.0026552567482
+1471706376716906781,0.0,-0.00076666746997,0.0,0.0,0.0,0.0054104218483
+1471706376792257115,0.0,-0.00081239465498,0.0,0.0,0.0,0.00570170974731
+1471706376864761991,0.0,0.00347368164273,0.0,0.0,0.0,0.0
+1471706376946829536,0.0,0.0,0.0,0.0,0.0,0.00480066633224
+1471706377023709919,0.0,0.00288891847213,0.0,0.0,0.0,0.0
+1471706377096974786,0.0,0.00409388352501,0.0,0.0,0.0,-0.00247491502762
+1471706377170172108,0.0,0.000929863136989,0.0,0.0,0.0,0.0
+1471706377247336700,0.0,0.00316101269185,0.0,0.0,0.0,0.0
+1471706377322453656,0.0,0.000722335947594,0.0,0.0,0.0,0.00263964033127
+1471706377400580823,0.0,0.00190185129104,0.0,0.0,0.0,0.0
+1471706377474538974,0.0,0.00233987434396,0.0,0.0,0.0,0.0
+1471706377553957017,0.0,0.0013070031903,0.0,0.0,0.0,0.0
+1471706377628548285,0.0,0.00193792490817,0.0,0.0,0.0,0.0
+1471706377707196313,0.0,0.0016437972435,0.0,0.0,0.0,0.0
+1471706377782170921,0.0,0.00126585831234,0.0,0.0,0.0,0.0
+1471706377855514321,0.0,0.00150927324695,0.0,0.0,0.0,0.0
+1471706377929776977,0.0,0.00140619066295,0.0,0.0,0.0,0.0
+1471706378007642640,0.0,0.00134683970575,0.0,0.0,0.0,0.0
+1471706378084913723,0.0,0.000556132470396,0.0,0.0,0.0,0.00276516771317
+1471706378158762165,0.0,0.000966636742091,0.0,0.0,0.0,0.00249915218353
+1471706378237303986,0.0,0.00175056035954,0.0,0.0,0.0,0.0
+1471706378312393318,0.0,0.00104288571901,0.0,0.0,0.0,0.0
+1471706378383557494,0.0,0.00105083855429,0.0,0.0,0.0,0.0
+1471706378455678852,0.0,0.000677956764237,0.0,0.0,0.0,0.00234340524673
+1471706378533722438,0.0,0.00120472636634,0.0,0.0,0.0,0.0
+1471706378606931695,0.0,0.00133405769759,0.0,0.0,0.0,0.0
+1471706378682719155,0.0,0.00115184071415,0.0,0.0,0.0,0.0
+1471706378755644826,0.0,0.000742104800566,0.0,0.0,0.0,0.0
+1471706378832313387,0.0,0.0013868422293,0.0,0.0,0.0,0.0
+1471706378916005929,0.0,0.0011801439744,0.0,0.0,0.0,0.0
+1471706378993419898,0.0,0.00113392370467,0.0,0.0,0.0,0.0
+1471706379072001508,0.0,0.000702058293642,0.0,0.0,0.0,0.0
+1471706379149522061,0.006,0.0,0.0,0.0,0.0,0.0
+1471706379225405636,0.0,0.000829303857511,0.0,0.0,0.0,0.0
+1471706379303121644,0.0,0.0012749775539,0.0,0.0,0.0,0.0
+1471706379379010040,0.0,0.000825211938281,0.0,0.0,0.0,0.0
+1471706379451414117,0.0,0.000985269658675,0.0,0.0,0.0,0.0
+1471706379522419809,0.0,0.000972237763616,0.0,0.0,0.0,0.0
+1471706379603003197,0.0,0.00111912746152,0.0,0.0,0.0,0.0
+1471706379686156922,0.0,0.00105106733261,0.0,0.0,0.0,0.0
+1471706379768740994,0.0,0.000637978523832,0.0,0.0,0.0,0.0
+1471706379845101944,0.006,0.0,0.0,0.0,0.0,0.0
+1471706379920204393,0.006,0.0,0.0,0.0,0.0,0.0
+1471706379989847996,0.0,0.000907249641666,0.0,0.0,0.0,0.0
+1471706380065434617,0.0,0.0010364920749,0.0,0.0,0.0,0.0
+1471706380155835062,0.0,0.000686796812,0.0,0.0,0.0,0.0
+1471706380235459131,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380322373376,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380406631467,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380484001229,0.0,0.000896842764545,0.0,0.0,0.0,0.0
+1471706380556510055,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380629143951,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380700825959,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380781714670,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380855251685,0.006,0.0,0.0,0.0,0.0,0.0
+1471706380932741248,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381011491133,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381097513282,0.0,-0.00251993871697,0.0,0.0,0.0,0.00288252925873
+1471706381177632485,0.0,-0.000505771265054,0.0,0.0,0.0,0.0
+1471706381251478667,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381331388102,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381404972399,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381483121717,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381563836982,0.0,-0.00086590889269,0.0,0.0,0.0,0.0
+1471706381637788251,0.0,-0.00226203621384,0.0,0.0,0.0,0.00336127376556
+1471706381710072618,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381782672337,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381859070239,0.006,0.0,0.0,0.0,0.0,0.0
+1471706381933738989,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382007780399,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382088688428,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382162375870,0.0,-0.00111597148822,0.0,0.0,0.0,0.00219463205338
+1471706382236849555,0.0,-0.0011242315034,0.0,0.0,0.0,0.0
+1471706382314168912,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382398183503,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382475743536,0.0,0.0,0.0,0.0,0.0,-0.00232214832306
+1471706382550478163,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382635032404,0.0,-0.000664955534365,0.0,0.0,0.0,0.0
+1471706382712702821,0.0,-0.00207747703388,0.0,0.0,0.0,0.00310545063019
+1471706382787808856,0.0,-0.000734959349558,0.0,0.0,0.0,0.0
+1471706382866700917,0.006,0.0,0.0,0.0,0.0,0.0
+1471706382951964166,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383027662916,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383102451713,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383172706617,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383245239218,0.0,-0.000873119556832,0.0,0.0,0.0,0.0
+1471706383315969217,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383391419753,0.0,-0.00093927296516,0.0,0.0,0.0,0.0
+1471706383467927460,0.0,-0.000926112689456,0.0,0.0,0.0,0.0
+1471706383543537073,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383616781533,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383698012840,0.006,0.0,0.0,0.0,0.0,0.0
+1471706383775636501,0.0,-0.000780013355516,0.0,0.0,0.0,0.0
+1471706383856655062,0.0,-0.00105187368712,0.0,0.0,0.0,0.0
+1471706383934717029,0.0,-0.000814075432388,0.0,0.0,0.0,0.0
+1471706384018021172,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384108161778,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384191100466,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384267528199,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384350123177,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384429024806,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384509229353,0.0,-0.00116669637629,0.0,0.0,0.0,0.00241499042511
+1471706384586600846,0.0,-0.000876628045023,0.0,0.0,0.0,0.0
+1471706384660498132,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384735129914,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384816235299,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384894502895,0.006,0.0,0.0,0.0,0.0,0.0
+1471706384971077314,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385043983254,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385125046313,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385198551543,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385271762304,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385348182010,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385426143819,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385505201689,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385581731109,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385659577318,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385735960186,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385811547341,0.0,0.0,0.0,0.0,0.0,0.0022947678566
+1471706385885152273,0.006,0.0,0.0,0.0,0.0,0.0
+1471706385959255050,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386036452078,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386114186055,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386188465042,0.0,-0.000694401263867,0.0,0.0,0.0,0.00238870477676
+1471706386264815067,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386338345431,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386414291800,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386487641283,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386562660391,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386637314714,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386712415911,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386784044620,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386862090149,0.006,0.0,0.0,0.0,0.0,0.0
+1471706386936979243,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387011543180,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387085029608,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387158078198,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387235893661,0.0,-0.00118855621046,0.0,0.0,0.0,0.00330226516724
+1471706387308463683,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387384712150,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387458927348,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387539156319,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387616403465,0.0,0.0,0.0,0.0,0.0,0.00230597352982
+1471706387695566805,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387775238295,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387856559664,0.006,0.0,0.0,0.0,0.0,0.0
+1471706387933405173,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388011558675,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388087271876,0.0,0.00186104244516,0.0,0.0,0.0,0.0
+1471706388161314190,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388236801680,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388311683993,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388398483487,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388478498418,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388555339691,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388634057674,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388709018413,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388786932087,0.0,0.000930321347862,0.0,0.0,0.0,0.0
+1471706388862414655,0.006,0.0,0.0,0.0,0.0,0.0
+1471706388935476764,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389013790710,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389096455704,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389172021288,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389246329608,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389319679511,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389396467501,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389471949628,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389543929121,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389616725654,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389687778682,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389761957111,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389835270326,0.0,0.0,0.0,0.0,0.0,0.00249420499802
+1471706389915418076,0.006,0.0,0.0,0.0,0.0,0.0
+1471706389990319725,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390064589252,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390144296515,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390218562285,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390295721308,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390371188536,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390444847420,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390518632091,0.0,0.0,0.0,0.0,0.0,0.00256894922256
+1471706390591619074,0.0,0.0,0.0,0.0,0.0,0.00276284313202
+1471706390666876091,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390743024206,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390815282956,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390886220741,0.006,0.0,0.0,0.0,0.0,0.0
+1471706390960709985,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391042343800,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391118611360,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391188855129,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391259631204,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391332984647,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391406436413,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391476906841,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391551781117,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391623686007,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391696812850,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391772366725,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391847823854,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391922876563,0.006,0.0,0.0,0.0,0.0,0.0
+1471706391993809453,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392067166761,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392139637553,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392218385729,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392295217483,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392367402238,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392445318111,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392518256708,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392586931301,0.006,0.0,0.0,0.0,0.0,0.0
+1471706392660683240,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/MobileRobot/docking_data/Velocity_left.txt~ b/MobileRobot/docking_data/Velocity_left.txt~
new file mode 100644
index 0000000000000000000000000000000000000000..4ace3c20b18be4cffdbd18cb02cc0a46dbe8018f
--- /dev/null
+++ b/MobileRobot/docking_data/Velocity_left.txt~
@@ -0,0 +1,524 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1470144914813604949,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914823361638,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914833628144,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914843345923,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914853473566,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914863337160,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914873570241,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914883462966,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914893391222,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914903323605,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914913370240,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914923457682,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914933344238,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914943439011,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914953350783,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914963273482,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914973399319,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144914983332293,-0.0,-0.0,0.0,0.0,0.0,-0.0
+1470144915235818914,0.0,0.0,0.0,0.0,0.0,0.0
+1470144917579223800,0.15,-0.909429292459,0.0,0.0,0.0,0.0249776152756
+1470144917660372235,0.15,-0.182303725505,0.0,0.0,0.0,0.0256183530492
+1470144917740573519,0.15,-0.181667515109,0.0,0.0,0.0,0.0251022938983
+1470144917820105469,0.15,-0.182776813213,0.0,0.0,0.0,0.0268680756184
+1470144917901241305,0.15,-0.182055934041,0.0,0.0,0.0,0.0265178412592
+1470144917981138018,0.15,-0.18133980715,0.0,0.0,0.0,0.0249529320142
+1470144918058582182,0.15,-0.182016343077,0.0,0.0,0.0,0.025085120655
+1470144918133621536,0.15,-0.182395027137,0.0,0.0,0.0,0.0256346008345
+1470144918210072162,0.15,-0.190036382655,0.0,0.0,0.0,0.0373102464456
+1470144918287022092,0.15,-0.187320981659,0.0,0.0,0.0,0.0268416672456
+1470144918362494437,0.15,-0.182840580294,0.0,0.0,0.0,0.0276323749075
+1470144918439304302,0.15,-0.142494813803,0.0,0.0,0.0,0.0287863823563
+1470144918514509944,0.15,-0.162420280513,0.0,0.0,0.0,0.0336831977952
+1470144918590754198,0.15,-0.139959087604,0.0,0.0,0.0,0.0314976080267
+1470144918667030022,0.15,-0.13379157,0.0,0.0,0.0,0.0302040245465
+1470144918747126686,0.15,-0.137517198728,0.0,0.0,0.0,0.0202290593089
+1470144918820470997,0.15,-0.130837165745,0.0,0.0,0.0,0.0332378274926
+1470144918891119756,0.15,-0.127531069085,0.0,0.0,0.0,0.0272108468704
+1470144918962432358,0.15,-0.111344520196,0.0,0.0,0.0,0.0415480249283
+1470144919033962694,0.15,-0.119535567124,0.0,0.0,0.0,0.0207308685952
+1470144919107462293,0.15,-0.113135715935,0.0,0.0,0.0,0.0220355902425
+1470144919182472509,0.15,-0.105963905313,0.0,0.0,0.0,0.0265079847175
+1470144919262058616,0.15,-0.103937593914,0.0,0.0,0.0,0.0185925530749
+1470144919338970770,0.15,-0.102728489725,0.0,0.0,0.0,0.0280416767813
+1470144919415708887,0.15,-0.0949092433658,0.0,0.0,0.0,0.041562106249
+1470144919491966149,0.15,-0.0952493727378,0.0,0.0,0.0,0.0308270631747
+1470144919566531015,0.15,-0.092291603415,0.0,0.0,0.0,0.0253366312106
+1470144919642538903,0.15,-0.0846073434866,0.0,0.0,0.0,0.0378667410941
+1470144919718229101,0.15,-0.0911408867928,0.0,0.0,0.0,0.0299960835761
+1470144919790904602,0.15,-0.0816378336711,0.0,0.0,0.0,0.0171259861317
+1470144919866196456,0.15,-0.0787077295409,0.0,0.0,0.0,0.0303993831485
+1470144919936686115,0.15,-0.0835382139851,0.0,0.0,0.0,0.0231704612096
+1470144920013077159,0.15,-0.0783949163005,0.0,0.0,0.0,0.0161912484852
+1470144920093997847,0.15,-0.070564076886,0.0,0.0,0.0,0.0288580127896
+1470144920176110890,0.15,-0.0689470026269,0.0,0.0,0.0,0.0284817411715
+1470144920249761885,0.15,-0.0754438890788,0.0,0.0,0.0,0.0222965642967
+1470144920324951093,0.15,-0.0740365283242,0.0,0.0,0.0,0.0154541938056
+1470144920401855339,0.15,-0.0715734701159,0.0,0.0,0.0,0.0179529965954
+1470144920479377868,0.15,-0.0594067017494,0.0,0.0,0.0,0.0169247931352
+1470144920559756748,0.15,-0.0684954059342,0.0,0.0,0.0,0.0219782375856
+1470144920639387901,0.15,-0.0582775751417,0.0,0.0,0.0,0.0238502692765
+1470144920718986697,0.15,-0.0622476110265,0.0,0.0,0.0,0.0184646285491
+1470144920798702852,0.15,-0.0628465421219,0.0,0.0,0.0,0.0181654266116
+1470144920874464136,0.15,-0.0546178977243,0.0,0.0,0.0,0.0258975021481
+1470144920952768217,0.15,-0.055123248874,0.0,0.0,0.0,0.0277060174914
+1470144921030882973,0.15,-0.0589028348564,0.0,0.0,0.0,0.0279085423716
+1470144921110757389,0.15,-0.045288630111,0.0,0.0,0.0,0.0151713033031
+1470144921186737025,0.15,-0.0523698318245,0.0,0.0,0.0,0.0156606205734
+1470144921266684020,0.15,-0.0487131935818,0.0,0.0,0.0,0.0202891366486
+1470144921340784953,0.15,-0.0449524044511,0.0,0.0,0.0,0.0158241016342
+1470144921413515790,0.15,-0.0477816684943,0.0,0.0,0.0,0.0157512928118
+1470144921486553450,0.15,-0.0429975695391,0.0,0.0,0.0,0.0257332407167
+1470144921567213653,0.15,-0.0435048999064,0.0,0.0,0.0,0.0189657334106
+1470144921641383431,0.15,-0.0459091133602,0.0,0.0,0.0,0.0272787187187
+1470144921713960550,0.15,-0.039535495685,0.0,0.0,0.0,0.0147518534812
+1470144921793133421,0.15,-0.0426645991909,0.0,0.0,0.0,0.0109410479056
+1470144921866547414,0.15,-0.0390031353357,0.0,0.0,0.0,0.0326691067111
+1470144921937961516,0.15,-0.0403943267038,0.0,0.0,0.0,0.0180526486037
+1470144922010347496,0.15,-0.0361184919884,0.0,0.0,0.0,0.0187202148357
+1470144922089425145,0.15,-0.039278043737,0.0,0.0,0.0,0.0182501596394
+1470144922167058677,0.15,-0.0344062246528,0.0,0.0,0.0,0.0325140526243
+1470144922242171088,0.15,-0.0366166588642,0.0,0.0,0.0,0.0324765198572
+1470144922314019151,0.15,-0.0355552488207,0.0,0.0,0.0,0.016411639733
+1470144922395798951,0.15,-0.0324880408163,0.0,0.0,0.0,0.0316840081457
+1470144922468969686,0.15,-0.0333539197924,0.0,0.0,0.0,0.0158542000273
+1470144922545071223,0.15,-0.0313812608829,0.0,0.0,0.0,0.018551886827
+1470144922620903890,0.15,-0.0323805818645,0.0,0.0,0.0,0.0309760180628
+1470144922695643984,0.15,-0.0308488213347,0.0,0.0,0.0,0.0173306077495
+1470144922767034731,0.15,-0.0288772037906,0.0,0.0,0.0,0.0123116151839
+1470144922839924456,0.15,-0.0309372014583,0.0,0.0,0.0,0.0162220544541
+1470144922912045601,0.15,-0.0291743296653,0.0,0.0,0.0,0.0210212799422
+1470144922983460598,0.15,-0.0296654285792,0.0,0.0,0.0,0.0169350815801
+1470144923055488551,0.15,-0.0285018945846,0.0,0.0,0.0,0.0190690238982
+1470144923130441368,0.15,-0.0303387985582,0.0,0.0,0.0,0.0165622058199
+1470144923211508063,0.15,-0.0291389989527,0.0,0.0,0.0,0.0167892289758
+1470144923286562944,0.15,-0.0286527162885,0.0,0.0,0.0,0.0287235845597
+1470144923359093221,0.15,-0.0268286907753,0.0,0.0,0.0,0.0146895213635
+1470144923437188181,0.15,-0.0272402905931,0.0,0.0,0.0,0.0222311573681
+1470144923512718814,0.15,-0.0256721260474,0.0,0.0,0.0,0.0159298356087
+1470144923592744632,0.15,-0.0265917348109,0.0,0.0,0.0,0.0242976042201
+1470144923664973273,0.15,-0.0242989666175,0.0,0.0,0.0,0.0200814123166
+1470144923738331817,0.15,-0.0257512584067,0.0,0.0,0.0,0.00798481570249
+1470144923811304724,0.15,-0.022796066589,0.0,0.0,0.0,0.0162384716182
+1470144923887502818,0.15,-0.0242609669282,0.0,0.0,0.0,0.00947268741249
+1470144923963824774,0.15,-0.0228031055402,0.0,0.0,0.0,0.0199287123573
+1470144924040013613,0.15,-0.0225678901009,0.0,0.0,0.0,0.0119787292165
+1470144924111108509,0.15,-0.0218946091737,0.0,0.0,0.0,0.0109691746835
+1470144924186115184,0.15,-0.021234858868,0.0,0.0,0.0,0.0171387511991
+1470144924270321259,0.15,-0.0203266905263,0.0,0.0,0.0,0.00942276124446
+1470144924351873862,0.15,-0.0212215646472,0.0,0.0,0.0,0.0192547694467
+1470144924431928502,0.15,-0.0203104512516,0.0,0.0,0.0,0.0128819606348
+1470144924509297138,0.15,-0.0200457889785,0.0,0.0,0.0,0.0111026843174
+1470144924579960060,0.15,-0.0188559162982,0.0,0.0,0.0,0.0102876873925
+1470144924652908539,0.15,-0.019107610333,0.0,0.0,0.0,0.00810156437967
+1470144924724841353,0.15,-0.0192240014855,0.0,0.0,0.0,0.0138610539575
+1470144924799601544,0.15,-0.0170167061826,0.0,0.0,0.0,0.0112232988639
+1470144924875517729,0.15,-0.0174911984556,0.0,0.0,0.0,0.0122169582827
+1470144924949172399,0.0,-0.0174971006874,0.0,0.0,0.0,0.0153150467081
+1470144925022769012,0.0,-0.0161092127273,0.0,0.0,0.0,0.0110202742267
+1470144925102202512,0.0,-0.0159080001441,0.0,0.0,0.0,0.00920882174035
+1470144925178310244,0.0,-0.0160598880963,0.0,0.0,0.0,0.00954478929952
+1470144925249951656,0.0,-0.015861379296,0.0,0.0,0.0,0.0128078352684
+1470144925320983046,0.0,-0.0145210361099,0.0,0.0,0.0,0.0144146745856
+1470144925393537011,0.0,-0.0137554266661,0.0,0.0,0.0,0.016886274609
+1470144925470686664,0.0,-0.0137366072527,0.0,0.0,0.0,0.011360272416
+1470144925542929695,0.0,-0.0141848417762,0.0,0.0,0.0,0.0114378840247
+1470144925620585687,0.0,-0.0133627092725,0.0,0.0,0.0,0.0124830622487
+1470144925695738626,0.0,-0.0148252224397,0.0,0.0,0.0,0.00737304207146
+1470144925767085880,0.0,-0.0159921516254,0.0,0.0,0.0,0.0122223572388
+1470144925839822099,0.0,-0.0151846202548,0.0,0.0,0.0,0.0111875462803
+1470144925910378634,0.0,-0.0127580970525,0.0,0.0,0.0,0.00875352328946
+1470144925983665083,0.0,-0.0133611568045,0.0,0.0,0.0,0.0123740713372
+1470144926054728119,0.0,-0.0139915313629,0.0,0.0,0.0,0.00901194282892
+1470144926132333711,0.0,-0.0127267312115,0.0,0.0,0.0,0.00625508113398
+1470144926208633442,0.0,-0.0128406115814,0.0,0.0,0.0,0.0066004529549
+1470144926281877441,0.0,-0.0130899446959,0.0,0.0,0.0,0.00605813933093
+1470144926355062136,0.0,-0.0126401996456,0.0,0.0,0.0,0.00444300750758
+1470144926429172954,0.0,-0.0117824015524,0.0,0.0,0.0,0.00607159069593
+1470144926507647374,0.0,-0.0120893155362,0.0,0.0,0.0,0.00594399129881
+1470144926581505900,0.0,-0.0119117039365,0.0,0.0,0.0,0.00478624751827
+1470144926654978422,0.0,-0.0117275273625,0.0,0.0,0.0,0.00434556736676
+1470144926727466371,0.0,-0.0109011660241,0.0,0.0,0.0,0.00532578939894
+1470144926799844666,0.0,-0.0110121851855,0.0,0.0,0.0,0.00569533032336
+1470144926872384436,0.0,-0.0107129616601,0.0,0.0,0.0,0.0052027717428
+1470144926943373702,0.0,-0.0104711079763,0.0,0.0,0.0,0.00529905418325
+1470144927015641558,0.0,-0.00959141921972,0.0,0.0,0.0,0.00508108446153
+1470144927097349192,0.0,-0.00970077657046,0.0,0.0,0.0,0.00535623335959
+1470144927172177170,0.0,-0.00963786975978,0.0,0.0,0.0,0.00604639355546
+1470144927244628025,0.0,-0.00925390303852,0.0,0.0,0.0,0.00600733347476
+1470144927322736148,0.0,-0.00901075787419,0.0,0.0,0.0,0.00644270962969
+1470144927397359479,0.0,-0.00888071139102,0.0,0.0,0.0,0.00692854478358
+1470144927471592695,0.0,-0.00784078182268,0.0,0.0,0.0,0.00781498667012
+1470144927542798093,0.0,-0.00836010986932,0.0,0.0,0.0,0.00934342146219
+1470144927620028850,0.0,-0.00798261112736,0.0,0.0,0.0,0.00905912893094
+1470144927701973300,0.0,-0.00732422149119,0.0,0.0,0.0,0.00863170367113
+1470144927779120066,0.0,-0.00770995810702,0.0,0.0,0.0,0.00852435421629
+1470144927851081980,0.0,-0.00736114711747,0.0,0.0,0.0,0.00819115551125
+1470144927924188416,0.0,-0.00720609673374,0.0,0.0,0.0,0.00989369324468
+1470144927998125665,0.0,-0.00670483231774,0.0,0.0,0.0,0.0083381626311
+1470144928071176501,0.0,-0.0068083002533,0.0,0.0,0.0,0.00970215591827
+1470144928142612027,0.0,-0.00693866322001,0.0,0.0,0.0,0.00783570678668
+1470144928217363816,0.0,-0.00661815258733,0.0,0.0,0.0,0.00915776180692
+1470144928288675600,0.0,-0.00644701123022,0.0,0.0,0.0,0.00974833335705
+1470144928368802507,0.0,-0.00675945104253,0.0,0.0,0.0,0.0107847320955
+1470144928441126504,0.0,-0.00636951109404,0.0,0.0,0.0,0.00755035068317
+1470144928518175953,0.0,-0.00650207311097,0.0,0.0,0.0,0.0112053663319
+1470144928589216371,0.0,-0.00626269918058,0.0,0.0,0.0,0.00692064248671
+1470144928660687316,0.0,-0.00626142831042,0.0,0.0,0.0,0.00828496716597
+1470144928731470847,0.0,-0.00635569361199,0.0,0.0,0.0,0.0111563155275
+1470144928802270140,0.0,-0.00654023694422,0.0,0.0,0.0,0.0100501389072
+1470144928874601663,0.0,-0.00575217450256,0.0,0.0,0.0,0.0078583856474
+1470144928953090194,0.0,-0.00648563865535,0.0,0.0,0.0,0.00780892572904
+1470144929030749101,0.0,-0.00613294208744,0.0,0.0,0.0,0.00788894159776
+1470144929104643940,0.0,-0.00606745294706,0.0,0.0,0.0,0.00801603482193
+1470144929175279189,0.0,-0.00606127020211,0.0,0.0,0.0,0.0075668548502
+1470144929247009315,0.0,-0.00608687102294,0.0,0.0,0.0,0.00652130676602
+1470144929316852155,0.0,-0.00626148141909,0.0,0.0,0.0,0.00722354245355
+1470144929389435860,0.0,-0.00600090623678,0.0,0.0,0.0,0.00597528375254
+1470144929463927389,0.0,-0.0063581738919,0.0,0.0,0.0,0.0048049926346
+1470144929536533543,0.0,-0.00612670875113,0.0,0.0,0.0,0.0049018859916
+1470144929612250215,0.0,-0.00621049366324,0.0,0.0,0.0,0.00536479191476
+1470144929687416351,0.0,-0.00616118146215,0.0,0.0,0.0,0.00425013519609
+1470144929762480917,0.0,-0.00610952151736,0.0,0.0,0.0,0.00369451879533
+1470144929840478148,0.0,-0.00621795668739,0.0,0.0,0.0,0.00402534798955
+1470144929918039112,0.0,-0.00607220087874,0.0,0.0,0.0,0.00323586422238
+1470144929994107637,0.0,-0.00622366666094,0.0,0.0,0.0,0.00446499811944
+1470144930067604973,0.0,-0.00591421284093,0.0,0.0,0.0,0.0
+1470144930141813722,0.0,-0.00596141037802,0.0,0.0,0.0,0.00318812052787
+1470144930215789314,0.0,-0.00589363308499,0.0,0.0,0.0,0.0
+1470144930288868905,0.0,-0.0056288539434,0.0,0.0,0.0,0.00421838103387
+1470144930371610291,0.0,-0.00576604911841,0.0,0.0,0.0,0.0
+1470144930447689783,0.0,-0.00550131509819,0.0,0.0,0.0,0.0
+1470144930521500749,0.0,-0.00547134980027,0.0,0.0,0.0,0.0
+1470144930597651156,0.0,-0.00533487254404,0.0,0.0,0.0,0.0
+1470144930671114974,0.0,-0.00504751296854,0.0,0.0,0.0,0.0
+1470144930743143979,0.0,-0.0049731417134,0.0,0.0,0.0,0.0
+1470144930828590385,0.0,-0.00499343790804,0.0,0.0,0.0,0.0
+1470144930906870107,0.0,-0.00444064609722,0.0,0.0,0.0,0.0
+1470144930978488018,0.0,-0.00451091919534,0.0,0.0,0.0,0.00317120654117
+1470144931048745324,0.0,-0.00432540984655,0.0,0.0,0.0,0.0
+1470144931121600436,0.0,-0.0042194461252,0.0,0.0,0.0,0.0
+1470144931192094696,0.0,-0.00354894349919,0.0,0.0,0.0,0.0
+1470144931266424628,0.0,-0.00365426836643,0.0,0.0,0.0,0.00282866431735
+1470144931352580997,0.0,-0.00367758528498,0.0,0.0,0.0,0.0
+1470144931436312759,0.0,-0.00332309247122,0.0,0.0,0.0,0.0
+1470144931514314453,0.0,-0.00287441320747,0.0,0.0,0.0,0.0
+1470144931588647052,0.0,-0.00308370360469,0.0,0.0,0.0,0.00309977886116
+1470144931659615826,0.0,-0.00273922050161,0.0,0.0,0.0,0.0
+1470144931732852712,0.0,-0.00239927515587,0.0,0.0,0.0,0.0
+1470144931805653985,0.0,-0.00270316896168,0.0,0.0,0.0,0.0
+1470144931879478191,0.0,-0.00238173275567,0.0,0.0,0.0,0.0
+1470144931955289711,0.0,-0.00216734062588,0.0,0.0,0.0,0.0
+1470144932030042700,0.0,-0.00221815968768,0.0,0.0,0.0,0.00318898986458
+1470144932107072679,0.0,-0.00210246897463,0.0,0.0,0.0,0.0
+1470144932179516120,0.0,-0.00208080656662,0.0,0.0,0.0,0.0031093767566
+1470144932255839913,0.0,-0.00202857691677,0.0,0.0,0.0,0.0
+1470144932329473411,0.0,-0.0016313538189,0.0,0.0,0.0,0.00307537777959
+1470144932406302191,0.0,-0.00186583557045,0.0,0.0,0.0,0.0
+1470144932478905932,0.0,-0.00173961592173,0.0,0.0,0.0,0.0
+1470144932554011305,0.0,-0.00172459649701,0.0,0.0,0.0,0.0031075752469
+1470144932648508117,0.0,-0.00143755935372,0.0,0.0,0.0,0.0
+1470144932723948334,0.0,-0.00154321989289,0.0,0.0,0.0,0.0
+1470144932796747693,0.0,0.0,0.0,0.0,0.0,0.00346531467782
+1470144932870317629,0.006,0.0,0.0,0.0,0.0,0.0
+1470144932943173148,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933017529941,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933089573821,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933167745287,0.0,0.0,0.0,0.0,0.0,0.00323666176425
+1470144933242816071,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933315127318,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933391556771,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933466787844,0.0,0.0,0.0,0.0,0.0,0.00301432367503
+1470144933540430918,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933613563807,0.006,0.0,0.0,0.0,0.0,0.0
+1470144933685906281,0.0,0.0,0.0,0.0,0.0,0.00300383629025
+1470144933764805813,0.0,0.0,0.0,0.0,0.0,0.00393109603463
+1470144933840121315,0.0,0.0,0.0,0.0,0.0,0.00513074967244
+1470144933923668278,0.0,0.0,0.0,0.0,0.0,0.00565837693418
+1470144934002068265,0.0,0.0,0.0,0.0,0.0,0.00403011266536
+1470144934074712210,0.0,0.0,0.0,0.0,0.0,0.0032245088638
+1470144934152693097,0.006,0.0,0.0,0.0,0.0,0.0
+1470144934229757381,0.006,0.0,0.0,0.0,0.0,0.0
+1470144934303979743,0.0,0.0,0.0,0.0,0.0,0.00315953555736
+1470144934378405368,0.0,0.0,0.0,0.0,0.0,0.00432201184266
+1470144934451758018,0.0,0.0,0.0,0.0,0.0,0.00377302661605
+1470144934522818581,0.0,0.0,0.0,0.0,0.0,0.00690341178329
+1470144934595834498,0.0,0.0,0.0,0.0,0.0,0.00473487537823
+1470144934669637277,0.0,0.0,0.0,0.0,0.0,0.00555194840679
+1470144934746473098,0.0,0.0,0.0,0.0,0.0,0.00766505241288
+1470144934820533962,0.0,0.0,0.0,0.0,0.0,0.00357146157276
+1470144934895520409,0.0,0.0,0.0,0.0,0.0,0.00429550737612
+1470144934968493020,0.0,0.0,0.0,0.0,0.0,0.00449634278035
+1470144935047272503,0.0,0.0,0.0,0.0,0.0,0.00551605567499
+1470144935120803534,0.0,0.0,0.0,0.0,0.0,0.00435183559937
+1470144935198502609,0.0,0.0,0.0,0.0,0.0,0.00673199936606
+1470144935271193642,0.0,0.0,0.0,0.0,0.0,0.00674070872442
+1470144935343016205,0.0,0.0,0.0,0.0,0.0,0.0039009425298
+1470144935414340132,0.0,0.0,0.0,0.0,0.0,0.00435959457481
+1470144935487733283,0.0,0.0,0.0,0.0,0.0,0.00371768074968
+1470144935560781654,0.0,0.0,0.0,0.0,0.0,0.00363955913524
+1470144935633417419,0.0,0.0,0.0,0.0,0.0,0.00643098179188
+1470144935711015068,0.0,0.0,0.0,0.0,0.0,0.00305295899188
+1470144935786116762,0.0,0.0,0.0,0.0,0.0,0.00477432291993
+1470144935857655885,0.006,0.0,0.0,0.0,0.0,0.0
+1470144935931748962,0.0,-0.00182891120797,0.0,0.0,0.0,0.00296432453699
+1470144936003378740,0.0,-0.0023308177526,0.0,0.0,0.0,0.0
+1470144936078119306,0.0,-0.00259044933566,0.0,0.0,0.0,0.00296959654371
+1470144936149791968,0.0,-0.00278271325189,0.0,0.0,0.0,0.0
+1470144936226009815,0.0,-0.00260798546514,0.0,0.0,0.0,0.00348037896666
+1470144936297955804,0.0,-0.00267419767009,0.0,0.0,0.0,0.0
+1470144936370276002,0.0,-0.00286965916736,0.0,0.0,0.0,0.0
+1470144936447202414,0.0,-0.00300673059167,0.0,0.0,0.0,0.0
+1470144936518548046,0.0,-0.00302582553242,0.0,0.0,0.0,0.0
+1470144936590677702,0.0,-0.00272363912472,0.0,0.0,0.0,0.0
+1470144936662992569,0.0,-0.00243704805323,0.0,0.0,0.0,0.0
+1470144936739912340,0.0,-0.00253395137466,0.0,0.0,0.0,0.0
+1470144936816096551,0.0,-0.00268436951708,0.0,0.0,0.0,0.0
+1470144936888589842,0.0,-0.00297887080695,0.0,0.0,0.0,0.0047304526832
+1470144936960563218,0.0,-0.0027103604161,0.0,0.0,0.0,0.00379611969176
+1470144937031500750,0.0,-0.00179441326799,0.0,0.0,0.0,0.00364294265223
+1470144937103117999,0.0,-0.00184937142864,0.0,0.0,0.0,0.0
+1470144937176977462,0.0,-0.00204946997603,0.0,0.0,0.0,0.0
+1470144937250696871,0.0,-0.00189948717929,0.0,0.0,0.0,0.00377267127988
+1470144937322864758,0.0,-0.00163903203421,0.0,0.0,0.0,0.0
+1470144937395107059,0.0,-0.00160349223117,0.0,0.0,0.0,0.00305156546161
+1470144937467173937,0.0,-0.00175241101847,0.0,0.0,0.0,0.0
+1470144937539437402,0.0,-0.00166134433665,0.0,0.0,0.0,0.0
+1470144937618191420,0.006,0.0,0.0,0.0,0.0,0.0
+1470144937693431563,0.006,0.0,0.0,0.0,0.0,0.0
+1470144937767274089,0.006,0.0,0.0,0.0,0.0,0.0
+1470144937840357078,0.006,0.0,0.0,0.0,0.0,0.0
+1470144937913300123,0.006,0.0,0.0,0.0,0.0,0.0
+1470144937987131876,0.0,0.0,0.0,0.0,0.0,0.00335190810951
+1470144938065145926,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938139338524,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938211527060,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938283259087,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938357407155,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938430417059,0.0,0.0,0.0,0.0,0.0,0.00451089872321
+1470144938507291386,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938583012786,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938656678755,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938727136755,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938799562016,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938871013740,0.006,0.0,0.0,0.0,0.0,0.0
+1470144938947652996,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939023308610,0.0,0.0,0.0,0.0,0.0,0.00307034084237
+1470144939097712059,0.0,0.0,0.0,0.0,0.0,0.00305281041719
+1470144939170184513,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939242989881,0.0,0.0,0.0,0.0,0.0,0.00347350634514
+1470144939316843286,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939387964149,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939460480120,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939533239296,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939604749476,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939678123507,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939751129332,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939829853692,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939902531537,0.006,0.0,0.0,0.0,0.0,0.0
+1470144939980607381,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940056416501,0.0,0.0,0.0,0.0,0.0,0.00334702884224
+1470144940128815970,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940203479202,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940282611870,0.0,0.0,0.0,0.0,0.0,0.00325340113627
+1470144940359378147,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940430835660,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940504414714,0.0,0.0,0.0,0.0,0.0,0.0036918858033
+1470144940579083058,0.0,0.0,0.0,0.0,0.0,0.00487065564507
+1470144940655835511,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940731157454,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940804035402,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940875803557,0.006,0.0,0.0,0.0,0.0,0.0
+1470144940958552149,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941030319579,0.0,0.0,0.0,0.0,0.0,0.00360504171059
+1470144941106951767,0.0,0.0,0.0,0.0,0.0,0.00311203605773
+1470144941187980115,0.0,0.0,0.0,0.0,0.0,0.00397760251035
+1470144941259636456,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941331982511,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941407497074,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941478504366,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941553072626,0.0,0.0,0.0,0.0,0.0,0.00416765449001
+1470144941627484534,0.0,0.0,0.0,0.0,0.0,0.00360976155305
+1470144941701478420,0.0,0.0,0.0,0.0,0.0,0.00307562894048
+1470144941771731112,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941843117737,0.0,0.0,0.0,0.0,0.0,0.00287652056184
+1470144941921741335,0.006,0.0,0.0,0.0,0.0,0.0
+1470144941995602012,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942078236146,0.0,0.0,0.0,0.0,0.0,0.00417906055198
+1470144942152468320,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942230198817,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942301978874,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942376092096,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942448427137,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942526469334,0.0,0.0,0.0,0.0,0.0,0.00303854439112
+1470144942600899888,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942676261673,0.0,0.0,0.0,0.0,0.0,0.00312679026515
+1470144942749204222,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942820394616,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942889735298,0.006,0.0,0.0,0.0,0.0,0.0
+1470144942964154769,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943034105289,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943109859044,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943186325610,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943259913815,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943331515701,0.0,0.0,0.0,0.0,0.0,0.0027964751933
+1470144943403936256,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943478519613,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943551119780,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943621946283,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943693253808,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943770998658,0.0,0.0,0.0,0.0,0.0,0.00321602870842
+1470144943845632999,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943922040028,0.006,0.0,0.0,0.0,0.0,0.0
+1470144943994267077,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944071436712,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944145110326,0.0,0.0,0.0,0.0,0.0,0.00510290809657
+1470144944219359440,0.0,0.0,0.0,0.0,0.0,0.00391436095238
+1470144944295278891,0.0,0.0,0.0,0.0,0.0,0.00300972402351
+1470144944366518340,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944437138533,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944509271753,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944583011368,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944653957572,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944725898529,0.006,0.0,0.0,0.0,0.0,0.0
+1470144944796352972,0.0,0.0,0.0,0.0,0.0,0.00446200978555
+1470144944868999872,0.0,0.0,0.0,0.0,0.0,0.00470185287472
+1470144944939742201,0.0,0.0,0.0,0.0,0.0,0.00396022564338
+1470144945013109861,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945084277603,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945158818582,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945230220755,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945302433732,0.0,0.0,0.0,0.0,0.0,0.00478954791015
+1470144945372289822,0.0,0.0,0.0,0.0,0.0,0.00377051998899
+1470144945444267679,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945519272234,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945603185864,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945680744637,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945756015374,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945829917814,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945905189192,0.006,0.0,0.0,0.0,0.0,0.0
+1470144945976773148,0.006,0.0,0.0,0.0,0.0,0.0
+1470144946048722840,0.0,0.0,0.0,0.0,0.0,0.00324504918527
+1470144946124494425,0.006,0.0,0.0,0.0,0.0,0.0
+1470144946197957797,0.006,0.0,0.0,0.0,0.0,0.0
+1470144946272189620,0.0,-0.00161775686479,0.0,0.0,0.0,0.0
+1470144946344902685,0.0,-0.00218163221408,0.0,0.0,0.0,0.0
+1470144946418473740,0.0,-0.00199243102553,0.0,0.0,0.0,0.0
+1470144946491574913,0.0,-0.00211923419927,0.0,0.0,0.0,0.0
+1470144946562995545,0.0,-0.00205949252519,0.0,0.0,0.0,0.0
+1470144946637527758,0.0,-0.00211122104024,0.0,0.0,0.0,0.0
+1470144946708904875,0.0,-0.00204076156805,0.0,0.0,0.0,0.0
+1470144946781243488,0.0,-0.00209593443818,0.0,0.0,0.0,0.0
+1470144946851560223,0.0,-0.00226838602297,0.0,0.0,0.0,0.0
+1470144946924855510,0.0,-0.00294434510813,0.0,0.0,0.0,0.0
+1470144946998298667,0.0,-0.00258304887959,0.0,0.0,0.0,0.0
+1470144947067274552,0.0,-0.00255271350896,0.0,0.0,0.0,0.0
+1470144947141156794,0.0,-0.00160667961125,0.0,0.0,0.0,0.0
+1470144947210932234,0.0,-0.00160130464469,0.0,0.0,0.0,0.0
+1470144947287877734,0.0,-0.00176531163252,0.0,0.0,0.0,0.00279405820904
+1470144947360030698,0.0,-0.00170838763987,0.0,0.0,0.0,0.0
+1470144947436546967,0.0,-0.00171917430217,0.0,0.0,0.0,0.0
+1470144947511170022,0.0,-0.00161716347402,0.0,0.0,0.0,0.0
+1470144947584283108,0.006,0.0,0.0,0.0,0.0,0.0
+1470144947657400351,0.006,0.0,0.0,0.0,0.0,0.0
+1470144947728138596,0.006,0.0,0.0,0.0,0.0,0.0
+1470144947807317759,0.006,0.0,0.0,0.0,0.0,0.0
+1470144947879286599,0.006,0.0,0.0,0.0,0.0,0.0
+1470144947951237997,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948023023734,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948094554678,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948167460293,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948241936008,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948314241925,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948387018222,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948458503414,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948531178905,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948606629813,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948677838657,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948750783247,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948828519635,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948902998460,0.006,0.0,0.0,0.0,0.0,0.0
+1470144948974132467,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949050692483,0.0,0.0,0.0,0.0,0.0,0.00295939476318
+1470144949133856044,0.0,0.0,0.0,0.0,0.0,0.0046993957303
+1470144949209289557,0.0,0.0,0.0,0.0,0.0,0.00297190719365
+1470144949281819332,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949354945258,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949431270146,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949506229823,0.0,0.0,0.0,0.0,0.0,0.00518203953925
+1470144949576480683,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949646295345,0.006,0.0,0.0,0.0,0.0,0.0
+1470144949716568958,0.0,0.0,0.0,0.0,0.0,0.00320537162606
+1470144949791116296,0.0,0.0,0.0,0.0,0.0,0.00373064067219
+1470144949860803149,0.0,0.0,0.0,0.0,0.0,0.00281786482477
+1470144949932493504,0.006,0.0,0.0,0.0,0.0,0.0
+1470144950011220243,0.006,0.0,0.0,0.0,0.0,0.0
+1470144950086684422,0.006,0.0,0.0,0.0,0.0,0.0
+1470144950160437368,0.0,0.0,0.0,0.0,0.0,0.00283008558338
+1470144950231678201,0.006,0.0,0.0,0.0,0.0,0.0
+1470144950305974537,0.0,0.0,0.0,0.0,0.0,0.00319570491442
+1470144950395048672,0.0,0.0,0.0,0.0,0.0,0.00318024136021
+1470144950462527915,0.0,0.00885626790463,0.0,0.0,0.0,0.00351632117123
+1470144950535668219,0.0,3.20764546421e-05,0.0,0.0,0.0,0.00658729960116
+1470144950606952763,0.0,4.87508960611e-05,0.0,0.0,0.0,0.0043416130846
+1470144950679223568,0.0,0.000206066595113,0.0,0.0,0.0,0.00308754995593
+1470144950750324638,0.0,0.0,0.0,0.0,0.0,0.00402399637675
+1470144950827250932,0.0,0.0,0.0,0.0,0.0,0.00282210619791
+1470144950902877155,0.006,0.0,0.0,0.0,0.0,0.0
+1470144950977318633,0.006,0.0,0.0,0.0,0.0,0.0
+1470144951054628607,0.0,0.000124551481609,0.0,0.0,0.0,0.0
+1470144951127558533,0.0,0.000353912418511,0.0,0.0,0.0,0.0
+1470144951202107357,0.0,0.000247269727343,0.0,0.0,0.0,0.0
+1470144951275759332,0.0,8.14281384697e-05,0.0,0.0,0.0,0.0
+1470144951348292599,0.0,0.000120555860893,0.0,0.0,0.0,0.0
+1470144951421460752,0.0,0.00014934014132,0.0,0.0,0.0,0.0
+1470144951493469916,0.006,0.0,0.0,0.0,0.0,0.0
+1470144951567940549,0.0,0.0,0.0,0.0,0.0,0.00368336716477
+1470144951639465226,0.0,0.0,0.0,0.0,0.0,0.00307598835747
+1470144951710434476,0.0,0.0,0.0,0.0,0.0,0.00399724300952
+1470144951779463336,0.0,0.0,0.0,0.0,0.0,0.00328023561723
+1470144951850154458,0.006,0.0,0.0,0.0,0.0,0.0
+1470144951922924063,0.006,0.0,0.0,0.0,0.0,0.0
+1470144951996595089,0.0,0.0,0.0,0.0,0.0,0.00319869777838
+1470144952069991264,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952149899243,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952225715949,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952297080289,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952378958558,0.0,0.0,0.0,0.0,0.0,0.00306551332131
+1470144952452968121,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952527396529,0.0,0.0,0.0,0.0,0.0,0.00390284175652
+1470144952603106093,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952677517177,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952753028169,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952828373978,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952902691496,0.006,0.0,0.0,0.0,0.0,0.0
+1470144952979730771,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953052883024,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953127322183,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953216198071,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953293802005,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953366354475,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953437085132,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953508904700,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953582963428,0.0,0.0,0.0,0.0,0.0,0.00317703681238
+1470144953652471237,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953726136411,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953798792978,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953872210087,0.006,0.0,0.0,0.0,0.0,0.0
+1470144953947811343,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954022461980,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954095116307,0.0,0.0,0.0,0.0,0.0,0.0029556924932
+1470144954172113705,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954241516254,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954311210554,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954385751499,0.0,0.0,0.0,0.0,0.0,0.00324305354151
+1470144954458621993,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954535638346,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954610718699,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954683423149,0.0,0.0,0.0,0.0,0.0,0.0028427430126
+1470144954755960669,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954827964829,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954899417885,0.006,0.0,0.0,0.0,0.0,0.0
+1470144954970716763,0.006,0.0,0.0,0.0,0.0,0.0
+1470144955043542947,0.006,0.0,0.0,0.0,0.0,0.0