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more calibration stuff

master
Alex Mikhalev 6 years ago
parent
b3e9dd75ca
commit
c1130ca63a
4 changed files with 8204 additions and 986 deletions
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  1. 53
      calib/calib.py
  2. 7213
      calib/calibmag.nb
  3. 1268
      ugv3_moving.csv
  4. 654
      ugv3_rest.csv

53
calib/calib.py
Unescape View File

@ -14,35 +14,36 @@ def capture_data():
ser_url = "hwgrep://" ser_url = "hwgrep://"
if len(sys.argv) >= 3: if len(sys.argv) >= 3:
fname = sys.argv[2] fname = sys.argv[2]
f = open(fname, "w")
else: else:
timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S") f = sys.stdout
fname = "UGVDATA_{}.csv".format(timestr) # timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
# fname = "UGVDATA_{}.csv".format(timestr)
ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE, ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS)
timeout=2.0) with ser, f:
with ser: try:
with open(fname, "w") as f: f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
try: while True:
f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n") try:
while True: line = ser.read_until().decode("utf-8")
try: except Exception as e:
line = ser.read_until().decode("utf-8") print("line decode error: ", e, file=sys.stderr)
except Exception as e: continue
print("line decode error: ", e) matches = line_re.match(line)
continue if not matches:
matches = line_re.match(line) print("line did not match: ", line, file=sys.stderr)
if not matches: continue
print("line did not match: ", line) nums = [str(numstr) for numstr in matches.groups()]
continue if len(nums) != 9:
nums = [str(numstr) for numstr in matches.groups()] continue
if len(nums) != 9: f.write(",".join(nums))
continue f.write("\n")
f.write(",".join(nums))
f.write("\n")
except KeyboardInterrupt:
print("interrupt")
f.flush() f.flush()
return except KeyboardInterrupt:
print("interrupt", file=sys.stderr)
finally:
f.flush()
if __name__ == "__main__": if __name__ == "__main__":
capture_data() capture_data()

7213
calib/calibmag.nb
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File diff suppressed because it is too large Load Diff

1268
ugv3_moving.csv
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File diff suppressed because it is too large Load Diff

654
ugv3_rest.csv
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@ -0,0 +1,654 @@
AX,AY,AZ,GX,GY,GZ,MX,MY,MZ
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0.172857,0.014405,0.972747,4.425184,-2.868740,0.869778,32.386814,-163.733337,-22.190966
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0.174383,0.014649,0.973113,4.287850,-2.914518,0.808740,32.836632,-165.382675,-23.840294
0.174688,0.013611,0.975127,4.425184,-2.716147,0.946074,32.836632,-165.382675,-23.840294
0.174749,0.014039,0.970611,4.470962,-2.960295,0.930815,32.086937,-164.632980,-22.790722
0.173589,0.013672,0.975188,4.440443,-2.883999,0.915555,32.086937,-164.632980,-22.790722
0.172979,0.013184,0.973846,4.379406,-2.899258,0.808740,32.086937,-164.632980,-22.790722
0.174444,0.012696,0.971038,4.303110,-2.822962,0.824000,33.286449,-164.632980,-23.090599
0.173345,0.013001,0.971221,4.364147,-2.883999,0.839259,33.286449,-164.632980,-23.090599
0.174322,0.014588,0.970306,4.379406,-2.838221,0.900296,33.136509,-165.382675,-22.340904
0.175787,0.012391,0.971648,4.394665,-2.822962,0.885037,33.136509,-165.382675,-22.340904
0.173406,0.012879,0.975188,4.409925,-2.883999,0.915555,33.136509,-165.382675,-22.340904
0.175604,0.011475,0.973540,4.455702,-2.883999,0.839259,32.236874,-165.382675,-22.940660
0.174505,0.015503,0.973113,4.409925,-2.899258,0.930815,32.236874,-165.382675,-22.940660
0.174566,0.014344,0.973846,4.364147,-2.853481,0.915555,32.686691,-165.232727,-22.490843
0.175237,0.014649,0.970977,4.348887,-2.914518,0.778222,32.686691,-165.232727,-22.490843
0.174017,0.013794,0.973907,4.364147,-2.838221,0.808740,33.286449,-164.632980,-22.190966
0.174139,0.014893,0.972503,4.394665,-2.838221,0.824000,33.286449,-164.632980,-22.190966
0.172918,0.012085,0.972381,4.394665,-2.822962,0.778222,33.286449,-164.632980,-22.190966
0.174078,0.012391,0.971221,4.501480,-2.914518,0.885037,33.286449,-165.232727,-23.090599
0.176397,0.014222,0.973601,4.440443,-2.899258,0.885037,33.286449,-165.232727,-23.090599
0.173894,0.013855,0.972564,4.425184,-2.899258,0.869778,32.386814,-164.632980,-23.990232
0.175787,0.013245,0.971465,4.364147,-2.792444,0.915555,32.386814,-164.632980,-23.990232
0.174627,0.013855,0.974151,4.379406,-2.838221,0.854518,32.386814,-164.632980,-23.990232
0.175359,0.014039,0.970428,4.379406,-2.838221,0.885037,32.986568,-164.632980,-24.290112
0.173162,0.012879,0.974883,4.333628,-2.883999,0.854518,32.986568,-164.632980,-24.290112
0.175665,0.012757,0.973846,4.440443,-2.822962,0.854518,33.586327,-164.932846,-23.390476
0.174993,0.015320,0.971587,4.379406,-2.960295,0.930815,33.586327,-164.932846,-23.390476
0.173345,0.013611,0.975372,4.425184,-2.883999,0.930815,33.586327,-164.932846,-23.390476
0.174322,0.013489,0.974090,4.425184,-2.929777,0.839259,34.336021,-164.483032,-22.940660
0.173650,0.014283,0.975188,4.333628,-2.838221,0.839259,34.336021,-164.483032,-22.940660
0.174810,0.014466,0.969451,4.394665,-2.883999,0.961333,33.586327,-164.033218,-22.490843
0.174932,0.014222,0.976470,4.394665,-2.822962,0.885037,33.586327,-164.033218,-22.490843
0.174139,0.014405,0.973846,4.440443,-2.883999,0.885037,33.586327,-164.033218,-22.490843
0.175237,0.013489,0.973907,4.333628,-2.868740,0.900296,34.635899,-165.082794,-23.540417
0.174627,0.014954,0.975005,4.455702,-2.838221,0.869778,34.635899,-165.082794,-23.540417
0.175298,0.014039,0.974395,4.348887,-2.838221,0.869778,32.386814,-165.532608,-23.690355
0.175176,0.015320,0.971282,4.409925,-2.792444,0.854518,32.386814,-165.532608,-23.690355
0.174688,0.012513,0.974212,4.409925,-2.960295,0.885037,32.386814,-165.532608,-23.690355
0.174810,0.012940,0.972930,4.425184,-2.868740,0.915555,33.736263,-164.782913,-23.840294
0.173711,0.015198,0.971465,4.440443,-2.853481,0.869778,33.736263,-164.782913,-23.840294
0.174505,0.014100,0.969634,4.409925,-2.868740,0.930815,33.736263,-165.382675,-23.540417
0.173467,0.013367,0.974456,4.379406,-2.853481,0.961333,33.736263,-165.382675,-23.540417
0.174749,0.014344,0.969390,4.425184,-2.853481,0.946074,33.736263,-165.382675,-23.540417
0.173406,0.012574,0.974517,4.409925,-2.868740,0.930815,34.036144,-165.982422,-22.340904
0.174017,0.014039,0.973296,4.440443,-2.990814,0.930815,34.036144,-165.982422,-22.340904
0.173589,0.014832,0.970122,4.440443,-2.914518,0.854518,33.586327,-163.733337,-22.790722
0.174627,0.013489,0.973601,4.379406,-2.853481,0.915555,33.586327,-163.733337,-22.790722
0.173772,0.014283,0.974334,4.440443,-2.807703,0.915555,33.586327,-163.733337,-22.790722
0.173650,0.013672,0.971099,4.394665,-2.838221,0.839259,33.736263,-165.082794,-22.940660
0.173711,0.014832,0.974273,4.409925,-2.914518,0.930815,33.736263,-165.082794,-22.940660
0.172613,0.012268,0.971221,4.425184,-2.822962,0.900296,32.986568,-165.832489,-22.790722
0.174871,0.012574,0.974822,4.348887,-2.883999,0.900296,32.986568,-165.832489,-22.790722
0.173406,0.014039,0.971282,4.318369,-2.807703,0.885037,32.986568,-165.832489,-22.790722
0.173528,0.013794,0.974883,4.455702,-2.853481,0.869778,34.036144,-164.183151,-24.140171
1 AX AY AZ GX GY GZ MX MY MZ
2 0.172735 0.012268 0.971587 4.348887 -2.838221 0.854518 33.286449 -164.632980 -23.390476
3 0.174261 0.013306 0.972320 4.409925 -2.822962 0.900296 32.386814 -163.733337 -22.190966
4 0.174871 0.013428 0.973601 4.318369 -2.853481 0.915555 32.386814 -163.733337 -22.190966
5 0.172857 0.014405 0.972747 4.425184 -2.868740 0.869778 32.386814 -163.733337 -22.190966
6 0.173528 0.012452 0.973724 4.348887 -2.777184 0.961333 32.536755 -165.382675 -22.940660
7 0.175604 0.014161 0.973052 4.394665 -2.868740 0.839259 32.536755 -165.382675 -22.940660
8 0.174688 0.013001 0.970794 4.394665 -2.914518 0.885037 34.485958 -164.932846 -23.090599
9 0.174139 0.012085 0.971099 4.425184 -2.792444 0.869778 34.485958 -164.932846 -23.090599
10 0.172124 0.012696 0.972015 4.333628 -2.838221 0.885037 33.736263 -164.782913 -21.741148
11 0.173284 0.015015 0.972259 4.394665 -2.853481 0.885037 33.736263 -164.782913 -21.741148
12 0.173711 0.012879 0.971770 4.379406 -2.853481 0.885037 33.736263 -164.782913 -21.741148
13 0.174139 0.012757 0.974822 4.379406 -2.838221 0.900296 33.736263 -164.782913 -21.741148
14 0.173772 0.012024 0.976897 4.333628 -2.777184 0.961333 33.736263 -164.782913 -21.741148
15 0.174566 0.012879 0.974883 4.333628 -2.807703 0.762963 31.936998 -164.183151 -22.340904
16 0.173467 0.014405 0.972686 4.348887 -2.883999 0.900296 31.936998 -164.183151 -22.340904
17 0.174139 0.013977 0.975433 4.364147 -2.868740 0.900296 31.936998 -164.183151 -22.340904
18 0.175115 0.015870 0.971770 4.379406 -2.822962 0.869778 33.286449 -164.033218 -23.690355
19 0.172857 0.013184 0.975127 4.348887 -2.838221 0.885037 33.286449 -164.033218 -23.690355
20 0.172002 0.012940 0.973724 4.409925 -2.838221 0.930815 33.586327 -164.932846 -23.090599
21 0.174566 0.013123 0.976043 4.364147 -2.777184 0.946074 33.586327 -164.932846 -23.090599
22 0.175665 0.012329 0.972625 4.318369 -2.761925 0.869778 33.586327 -164.932846 -23.090599
23 0.174749 0.013794 0.972503 4.409925 -2.914518 0.885037 34.485958 -164.632980 -21.891088
24 0.174017 0.011902 0.972259 4.394665 -2.853481 0.915555 34.485958 -164.632980 -21.891088
25 0.172308 0.012818 0.969024 4.409925 -2.899258 0.961333 33.286449 -164.932846 -22.790722
26 0.174993 0.013855 0.973357 4.440443 -2.838221 0.946074 33.286449 -164.932846 -22.790722
27 0.175054 0.012024 0.972320 4.333628 -2.914518 0.946074 33.286449 -164.932846 -22.790722
28 0.174688 0.012452 0.972625 4.333628 -2.838221 0.930815 32.686691 -164.932846 -23.090599
29 0.173284 0.014710 0.973601 4.348887 -2.792444 0.900296 32.686691 -164.932846 -23.090599
30 0.172491 0.015992 0.971404 4.440443 -2.899258 0.793481 32.386814 -164.033218 -23.690355
31 0.175237 0.013306 0.974334 4.379406 -2.868740 0.915555 32.386814 -164.033218 -23.690355
32 0.173650 0.012207 0.977447 4.425184 -2.868740 0.946074 32.386814 -164.033218 -23.690355
33 0.173589 0.013123 0.976043 4.364147 -2.761925 0.915555 32.686691 -163.433456 -22.790722
34 0.172735 0.012452 0.971954 4.425184 -2.853481 0.869778 32.686691 -163.433456 -22.790722
35 0.174627 0.015137 0.972320 4.333628 -2.883999 0.854518 32.236874 -163.883286 -23.540417
36 0.176153 0.014710 0.973113 4.440443 -2.838221 0.885037 32.236874 -163.883286 -23.540417
37 0.174993 0.012879 0.973724 4.379406 -2.792444 0.915555 32.236874 -163.883286 -23.540417
38 0.176214 0.014161 0.970794 4.272591 -2.807703 0.900296 33.286449 -165.232727 -22.790722
39 0.174566 0.011902 0.970489 4.348887 -2.761925 0.930815 33.286449 -165.232727 -22.790722
40 0.175237 0.011963 0.970428 4.318369 -2.761925 0.900296 32.686691 -164.033218 -23.090599
41 0.173589 0.012757 0.971587 4.364147 -2.777184 0.869778 32.686691 -164.033218 -23.090599
42 0.173772 0.011597 0.972930 4.318369 -2.807703 0.885037 32.686691 -164.033218 -23.090599
43 0.175054 0.014954 0.975982 4.364147 -2.807703 0.854518 32.836632 -164.483032 -23.840294
44 0.173406 0.011902 0.973235 4.394665 -2.838221 0.915555 32.836632 -164.483032 -23.840294
45 0.173711 0.014161 0.970244 4.394665 -2.822962 0.885037 34.785839 -165.532608 -23.690355
46 0.174627 0.013794 0.972137 4.364147 -2.868740 0.900296 34.785839 -165.532608 -23.690355
47 0.173772 0.014649 0.973052 4.440443 -2.853481 0.946074 34.785839 -165.532608 -23.690355
48 0.172552 0.015076 0.975738 4.394665 -2.853481 0.900296 32.086937 -165.232727 -22.790722
49 0.173345 0.015198 0.971831 4.394665 -2.792444 0.930815 32.086937 -165.232727 -22.790722
50 0.174017 0.013428 0.972015 4.348887 -2.853481 0.915555 33.586327 -164.632980 -23.690355
51 0.174810 0.012635 0.972686 4.333628 -2.822962 0.869778 33.586327 -164.632980 -23.690355
52 0.174444 0.014039 0.974883 4.379406 -2.899258 0.885037 34.186081 -164.333099 -23.090599
53 0.174993 0.012696 0.971831 4.409925 -2.838221 0.808740 34.186081 -164.333099 -23.090599
54 0.175542 0.012329 0.971648 4.425184 -2.792444 0.808740 34.186081 -164.333099 -23.090599
55 0.174383 0.014100 0.971770 4.394665 -2.853481 0.854518 33.436386 -164.483032 -22.340904
56 0.174078 0.015198 0.972137 4.425184 -2.822962 0.900296 33.436386 -164.483032 -22.340904
57 0.173528 0.013001 0.970367 4.425184 -2.868740 0.885037 32.536755 -165.382675 -22.640781
58 0.173589 0.011292 0.978362 4.379406 -2.761925 0.885037 32.536755 -165.382675 -22.640781
59 0.173956 0.012940 0.975188 4.394665 -2.883999 0.854518 32.536755 -165.382675 -22.640781
60 0.172918 0.011597 0.973540 4.348887 -2.761925 0.915555 33.136509 -165.082794 -23.240538
61 0.173406 0.013062 0.975005 4.364147 -2.838221 0.839259 33.136509 -165.082794 -23.240538
62 0.172369 0.014161 0.975677 4.364147 -2.822962 0.854518 32.686691 -164.033218 -23.990232
63 0.176397 0.012452 0.970489 4.364147 -2.899258 0.900296 32.686691 -164.033218 -23.990232
64 0.175176 0.012452 0.970672 4.394665 -2.777184 0.839259 32.686691 -164.033218 -23.990232
65 0.174383 0.013245 0.969573 4.379406 -2.822962 0.839259 33.736263 -164.782913 -23.540417
66 0.174322 0.014832 0.973357 4.379406 -2.838221 0.900296 33.736263 -164.782913 -23.540417
67 0.173528 0.014344 0.968474 4.364147 -2.777184 0.839259 32.686691 -163.433456 -21.891088
68 0.174444 0.011353 0.972991 4.440443 -2.883999 1.007111 32.686691 -163.433456 -21.891088
69 0.173528 0.011597 0.973357 4.318369 -2.838221 0.854518 32.686691 -163.433456 -21.891088
70 0.173406 0.013184 0.976836 4.409925 -2.914518 0.885037 33.436386 -164.183151 -22.640781
71 0.174444 0.011536 0.972015 4.409925 -2.914518 0.869778 33.436386 -164.183151 -22.640781
72 0.175420 0.014893 0.970672 4.455702 -3.006073 0.915555 34.336021 -165.082794 -23.240538
73 0.172735 0.012452 0.974517 4.364147 -2.899258 0.961333 34.336021 -165.082794 -23.240538
74 0.173772 0.013367 0.971282 4.394665 -2.883999 0.915555 32.686691 -165.232727 -23.390476
75 0.173894 0.014466 0.972625 4.440443 -2.838221 0.839259 32.686691 -165.232727 -23.390476
76 0.173894 0.012940 0.970855 4.425184 -2.807703 0.869778 32.686691 -165.232727 -23.390476
77 0.176702 0.016114 0.971831 4.348887 -2.929777 0.976592 33.436386 -165.382675 -22.640781
78 0.174200 0.013245 0.970916 4.409925 -2.807703 0.946074 33.436386 -165.382675 -22.640781
79 0.173406 0.014161 0.974822 4.364147 -2.883999 0.900296 33.286449 -163.733337 -23.090599
80 0.173956 0.010743 0.973235 4.348887 -2.807703 0.930815 33.286449 -163.733337 -23.090599
81 0.174383 0.013916 0.975555 4.394665 -2.792444 0.885037 33.286449 -163.733337 -23.090599
82 0.173101 0.013550 0.973235 4.394665 -2.822962 0.869778 32.686691 -164.033218 -23.990232
83 0.173406 0.014466 0.971099 4.425184 -2.853481 0.885037 32.686691 -164.033218 -23.990232
84 0.173223 0.011780 0.968352 4.394665 -2.838221 0.854518 32.836632 -165.382675 -23.540417
85 0.173589 0.014344 0.969817 4.348887 -2.822962 0.915555 32.836632 -165.382675 -23.540417
86 0.173284 0.012696 0.973785 4.364147 -2.746666 0.961333 32.836632 -165.382675 -23.540417
87 0.173345 0.012818 0.969451 4.425184 -2.838221 0.869778 32.686691 -163.733337 -23.690355
88 0.175604 0.013733 0.973846 4.333628 -2.883999 0.885037 32.686691 -163.733337 -23.690355
89 0.173894 0.013611 0.975372 4.303110 -2.822962 0.808740 32.536755 -163.883286 -22.340904
90 0.174261 0.013123 0.974761 4.425184 -2.899258 0.915555 32.536755 -163.883286 -22.340904
91 0.173101 0.012635 0.971954 4.440443 -2.929777 0.854518 32.536755 -163.883286 -22.340904
92 0.173956 0.011109 0.972076 4.364147 -2.838221 0.869778 32.986568 -164.632980 -22.790722
93 0.174017 0.012879 0.973357 4.440443 -2.929777 0.869778 32.986568 -164.632980 -22.790722
94 0.175848 0.014039 0.973479 4.425184 -2.868740 0.869778 32.536755 -163.583405 -22.940660
95 0.172002 0.013367 0.975127 4.379406 -2.822962 0.915555 32.536755 -163.583405 -22.940660
96 0.171819 0.012574 0.974029 4.440443 -2.883999 0.808740 32.536755 -163.583405 -22.940660
97 0.173528 0.011963 0.970855 4.379406 -2.761925 0.839259 32.836632 -165.682541 -23.240538
98 0.175359 0.012207 0.972747 4.379406 -2.792444 0.900296 32.836632 -165.682541 -23.240538
99 0.172552 0.014100 0.973052 4.379406 -2.853481 0.869778 31.787058 -165.532608 -23.390476
100 0.174566 0.012696 0.970611 4.394665 -2.868740 0.869778 31.787058 -165.532608 -23.390476
101 0.172979 0.012513 0.974578 4.440443 -2.838221 0.946074 31.787058 -165.532608 -23.390476
102 0.173528 0.012329 0.971892 4.409925 -2.899258 0.915555 32.986568 -163.433456 -22.790722
103 0.173956 0.013367 0.975311 4.425184 -2.883999 0.885037 32.986568 -163.433456 -22.790722
104 0.175176 0.011597 0.973113 4.379406 -2.792444 0.793481 32.986568 -164.932846 -23.990232
105 0.172674 0.013611 0.973601 4.348887 -2.777184 0.869778 32.986568 -164.932846 -23.990232
106 0.172552 0.013550 0.970733 4.333628 -2.868740 0.915555 32.986568 -164.932846 -23.990232
107 0.173284 0.012513 0.970428 4.425184 -2.838221 0.961333 32.986568 -164.932846 -23.090599
108 0.174688 0.012696 0.973113 4.516739 -2.853481 0.808740 32.986568 -164.932846 -23.090599
109 0.173833 0.011658 0.972320 4.394665 -2.899258 0.885037 34.336021 -165.982422 -22.940660
110 0.173101 0.012757 0.972686 4.440443 -2.853481 0.930815 34.336021 -165.982422 -22.940660
111 0.173223 0.014161 0.969573 4.409925 -2.822962 0.885037 34.336021 -165.982422 -22.940660
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614 0.174566 0.014344 0.973846 4.364147 -2.853481 0.915555 32.686691 -165.232727 -22.490843
615 0.175237 0.014649 0.970977 4.348887 -2.914518 0.778222 32.686691 -165.232727 -22.490843
616 0.174017 0.013794 0.973907 4.364147 -2.838221 0.808740 33.286449 -164.632980 -22.190966
617 0.174139 0.014893 0.972503 4.394665 -2.838221 0.824000 33.286449 -164.632980 -22.190966
618 0.172918 0.012085 0.972381 4.394665 -2.822962 0.778222 33.286449 -164.632980 -22.190966
619 0.174078 0.012391 0.971221 4.501480 -2.914518 0.885037 33.286449 -165.232727 -23.090599
620 0.176397 0.014222 0.973601 4.440443 -2.899258 0.885037 33.286449 -165.232727 -23.090599
621 0.173894 0.013855 0.972564 4.425184 -2.899258 0.869778 32.386814 -164.632980 -23.990232
622 0.175787 0.013245 0.971465 4.364147 -2.792444 0.915555 32.386814 -164.632980 -23.990232
623 0.174627 0.013855 0.974151 4.379406 -2.838221 0.854518 32.386814 -164.632980 -23.990232
624 0.175359 0.014039 0.970428 4.379406 -2.838221 0.885037 32.986568 -164.632980 -24.290112
625 0.173162 0.012879 0.974883 4.333628 -2.883999 0.854518 32.986568 -164.632980 -24.290112
626 0.175665 0.012757 0.973846 4.440443 -2.822962 0.854518 33.586327 -164.932846 -23.390476
627 0.174993 0.015320 0.971587 4.379406 -2.960295 0.930815 33.586327 -164.932846 -23.390476
628 0.173345 0.013611 0.975372 4.425184 -2.883999 0.930815 33.586327 -164.932846 -23.390476
629 0.174322 0.013489 0.974090 4.425184 -2.929777 0.839259 34.336021 -164.483032 -22.940660
630 0.173650 0.014283 0.975188 4.333628 -2.838221 0.839259 34.336021 -164.483032 -22.940660
631 0.174810 0.014466 0.969451 4.394665 -2.883999 0.961333 33.586327 -164.033218 -22.490843
632 0.174932 0.014222 0.976470 4.394665 -2.822962 0.885037 33.586327 -164.033218 -22.490843
633 0.174139 0.014405 0.973846 4.440443 -2.883999 0.885037 33.586327 -164.033218 -22.490843
634 0.175237 0.013489 0.973907 4.333628 -2.868740 0.900296 34.635899 -165.082794 -23.540417
635 0.174627 0.014954 0.975005 4.455702 -2.838221 0.869778 34.635899 -165.082794 -23.540417
636 0.175298 0.014039 0.974395 4.348887 -2.838221 0.869778 32.386814 -165.532608 -23.690355
637 0.175176 0.015320 0.971282 4.409925 -2.792444 0.854518 32.386814 -165.532608 -23.690355
638 0.174688 0.012513 0.974212 4.409925 -2.960295 0.885037 32.386814 -165.532608 -23.690355
639 0.174810 0.012940 0.972930 4.425184 -2.868740 0.915555 33.736263 -164.782913 -23.840294
640 0.173711 0.015198 0.971465 4.440443 -2.853481 0.869778 33.736263 -164.782913 -23.840294
641 0.174505 0.014100 0.969634 4.409925 -2.868740 0.930815 33.736263 -165.382675 -23.540417
642 0.173467 0.013367 0.974456 4.379406 -2.853481 0.961333 33.736263 -165.382675 -23.540417
643 0.174749 0.014344 0.969390 4.425184 -2.853481 0.946074 33.736263 -165.382675 -23.540417
644 0.173406 0.012574 0.974517 4.409925 -2.868740 0.930815 34.036144 -165.982422 -22.340904
645 0.174017 0.014039 0.973296 4.440443 -2.990814 0.930815 34.036144 -165.982422 -22.340904
646 0.173589 0.014832 0.970122 4.440443 -2.914518 0.854518 33.586327 -163.733337 -22.790722
647 0.174627 0.013489 0.973601 4.379406 -2.853481 0.915555 33.586327 -163.733337 -22.790722
648 0.173772 0.014283 0.974334 4.440443 -2.807703 0.915555 33.586327 -163.733337 -22.790722
649 0.173650 0.013672 0.971099 4.394665 -2.838221 0.839259 33.736263 -165.082794 -22.940660
650 0.173711 0.014832 0.974273 4.409925 -2.914518 0.930815 33.736263 -165.082794 -22.940660
651 0.172613 0.012268 0.971221 4.425184 -2.822962 0.900296 32.986568 -165.832489 -22.790722
652 0.174871 0.012574 0.974822 4.348887 -2.883999 0.900296 32.986568 -165.832489 -22.790722
653 0.173406 0.014039 0.971282 4.318369 -2.807703 0.885037 32.986568 -165.832489 -22.790722
654 0.173528 0.013794 0.974883 4.455702 -2.853481 0.869778 34.036144 -164.183151 -24.140171
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