diff --git a/Common/Ubuntu/ap_camera_non_gps/README.md b/Common/Ubuntu/ap_camera_non_gps/README.md new file mode 100644 index 00000000..7474021f --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/README.md @@ -0,0 +1 @@ +# ap_camera_non_gps \ No newline at end of file diff --git a/Common/Ubuntu/ap_camera_non_gps/base_structures.py b/Common/Ubuntu/ap_camera_non_gps/base_structures.py new file mode 100644 index 00000000..b8d2068f --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/base_structures.py @@ -0,0 +1,5 @@ +class location: + def __init__(self): + self.lat = 0 + self.lon = 0 + self.alt = 0 \ No newline at end of file diff --git a/Common/Ubuntu/ap_camera_non_gps/feature_match.py b/Common/Ubuntu/ap_camera_non_gps/feature_match.py new file mode 100644 index 00000000..8c9be62c --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/feature_match.py @@ -0,0 +1,234 @@ +import numpy as np +import cv2 as cv +from matplotlib import pyplot as plt +import pyexiv2, json +import math +from base_structures import location + +baseImg = "t2.jpeg" +testImg = "t1.jpeg" + +class Image_Process: + def __init__(self): + self.x_offset = 0 + self.y_offset = 0 + + self.MIN_MATCH_COUNT = 30 + + self.LOCATION_SCALING_FACTOR_INV = 89.83204953368922 + self.LOCATION_SCALING_FACTOR = 0.011131884502145034 + + self.inCMX = 0 + self.inCMY = 0 + + #user input ______________ + self.focal = 476.7030836014194 + self.latBase = -353632621 + self.lonbase = 1491652371 + + self.lat = -35.363261 + self.lon = 149.165230 + self.alt = 584 + + self.loc2 = location + + + def readExif(self, image): + with open(image, 'rb') as f: + with pyexiv2.ImageData(f.read()) as img: + data = img.read_exif() + print(data['Exif.Photo.UserComment']) + f.close() + + def modifyExif(self, image,data=None): + with open(image, 'rb+') as f: + with pyexiv2.ImageData(f.read()) as img: + matadata = data + dict1 = {'Exif.Photo.UserComment': json.dumps(metadata)} + img.modify_exif(dict1) + + f.seek(0) + f.truncate() + f.write(img.get_bytes()) + f.seek(0) + with pyexiv2.ImageData(f.read()) as img: + result = img.read_exif() + #print(result) + f.close() + + def calc_dist(self,x1, y1, x2, y2): + distance = math.sqrt((x2 - x1)**2 + (y2 - y1)**2) + return distance + + + def compParam(self,img1,img2): + + print('comparing ' + img1 + ' vs ' + img2 + "\n") + + img1 = cv.imread(img1,0) + img2 = cv.imread(img2,0) + #img2 = cv.resize(img2, (1778,866)) + + # extract key features from each image + sift = cv.SIFT_create(nfeatures = 10000) + kp1, des1 = sift.detectAndCompute(img1,None) + kp2, des2 = sift.detectAndCompute(img2,None) + + # find matching features from each image + FLANN_INDEX_KDTREE = 1 + index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5) + search_params = dict(checks = 50) + flann = cv.FlannBasedMatcher(index_params, search_params) + matches = flann.knnMatch(des1,des2,k=2) + + # create array of best matches + good = [] + for m,n in matches: + if m.distance < 0.7*n.distance: + good.append(m) + + + # ensure we have at at least 30 matching points + if len(good)>self.MIN_MATCH_COUNT: + + print(len(good)) + + # display image showing matching points + src_pts = np.float32([kp1[m.queryIdx].pt for m in good]).reshape(-1,1,2) + dst_pts = np.float32([kp2[m.trainIdx].pt for m in good]).reshape(-1,1,2) + M, mask = cv.findHomography(src_pts, dst_pts, cv.RANSAC,5.0) + matchesMask = mask.ravel().tolist() + h,w = img1.shape + pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2) + dst = cv.perspectiveTransform(pts,M) + img2 = cv.polylines(img2,[np.int32(dst)],True,255,3, cv.LINE_AA) + + # warped_img2 = cv.warpPerspective(img2, M, (w, h)) + + + # calculate rotation difference + diff = np.abs(dst - pts) + #zoom_diff = (np.abs(np.linalg.norm(diff[0][0]) - np.linalg.norm(diff[2][0])) / np.linalg.norm(diff[0][0])) * 100 + #print("Zoom difference: {:.2f}".format(zoom_diff)) + # zoom_diff = np.abs(np.linalg.norm(diff[0][0]) - np.linalg.norm(diff[2][0])) + # print("Zoom difference: {:.2f} pixels".format(zoom_diff)) + orientation_diff = np.arctan2(np.abs(dst[1][0][1] - dst[0][0][1]), np.abs(dst[1][0][0] - dst[0][0][0])) + + + print("Orientation difference: {:.2f} degrees".format(90 - np.degrees(orientation_diff))) + + + # calculate x, y offset + h1, w1 = img1.shape[:2] + h, w = img2.shape + + Mr, maskr = cv.findHomography(dst_pts, src_pts, cv.RANSAC, 5.0) + + corners = np.array([[0, 0], [0, h-1], [w-1, h-1], [w-1, 0]], dtype=np.float32).reshape(-1, 1, 2) + transformed_corners = cv.perspectiveTransform(corners, Mr) + + x, y = np.mean(transformed_corners, axis=0).astype(int)[0] + + print("Offset x, y(in cms): ",x-w1/2, y-h1/2) + + self.inCMX = (x-w1/2) * (10) / self.focal + self.inCMY = (y-h1/2) * (10) / self.focal + + + # calculate zoom percentage + binToBool= [True if n == 1 else False for n in matchesMask] + res = list(filter(lambda i: binToBool[i], range(len(binToBool)))) + res_listQ = [src_pts[i].tolist() for i in res] + res_listT = [dst_pts[i].tolist() for i in res] + + mainDist = self.calc_dist(res_listQ[0][0][0],res_listQ[0][0][1],res_listQ[-1][0][0],res_listQ[-1][0][1]) + desDist = self.calc_dist(res_listT[0][0][0],res_listT[0][0][1],res_listT[-1][0][0],res_listT[-1][0][1]) + + scaleRatio = mainDist/desDist + print("Scaling Ratio:",scaleRatio) # multiplied by base altitude generates current altitude + + else: + print("Not enough matches are found - {}/{}".format(len(good), self.MIN_MATCH_COUNT) ) + matchesMask = None + + + draw_params = dict(matchColor = (0,255,0), + singlePointColor = (255,0,0), + matchesMask = matchesMask, + flags = 2) + + + + + + cv.namedWindow("img3", cv.WINDOW_NORMAL) + img3 = cv.drawMatches(img1,kp1,img2,kp2,good,None,**draw_params) + #img3 = cvresize(img3, (1500,1000)) + #print(comm) + cv.imshow('img3', img3) + # cv.imshow('img3', img3) + + # calculate new lat and lng based upon pixel offset + # To-Do: get lat,lon,alt from image1 or user + # self.offset_latlng(self.latBase,self.lonbase,-self.inCMX,self.inCMY) + + print("Waiting for key press") + cv.waitKey(0) + + + + def offset_latlng(self,lat,lng,ofs_north,ofs_east): + dlat = ofs_north * self.LOCATION_SCALING_FACTOR_INV + dlng = (ofs_east * self.LOCATION_SCALING_FACTOR_INV) / self.longitude_scale(lat+dlat/2) + lat += dlat + lat = self.limit_lattitude(lat) + lng = self.wrap_longitude(dlng+lng) + print("Updated Lat:",lat,"\n","Updated Lon:",lng) + + + def longitude_scale(self,lat): + scale = math.cos(lat * (1.0e-7 * (math.pi/180))) + return max(scale, 0.01) + + + def limit_lattitude(self,lat): + if lat > 900000000: + lat = 1800000000 - lat + elif lat < -900000000: + lat = -(1800000000 + lat) + return lat + + + def wrap_longitude(self,lon): + if lon > 1800000000: + lon = int(lon-3600000000) + elif lon < -1800000000: + lon = int(lon+3600000000) + return int(lon) + + + + def longitude_scale(lat): + scale = math.cos(lat * (1.0e-7 * (math.pi/180))) + return max(scale, 0.01) + + def diff_longitude(lon1, lon2): + if (lon1 & 0x80000000) == (lon2 & 0x80000000): + return lon1 - lon2 + dlon = int(lon1) - int(lon2) + if dlon > 1800000000: + dlon -= 3600000000 + elif dlon < -1800000000: + dlon += 3600000000 + return int(dlon) + + + + def get_dist_ned(self, loc): + return (self.loc2.lat - self.lat) * (self.LOCATION_SCALING_FACTOR), diff_longitude(self.loc2.lon, self.lon) * self.LOCATION_SCALING_FACTOR * longitude_scale((self.lat + self.loc2.lat) / 2), (self.alt - self.loc2.alt) * 0.01 + +if __name__ == '__main__': + + img = Image_Process() + + img.compParam(baseImg, testImg) diff --git a/Common/Ubuntu/ap_camera_non_gps/main.py b/Common/Ubuntu/ap_camera_non_gps/main.py new file mode 100644 index 00000000..dc1b7823 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/main.py @@ -0,0 +1,51 @@ +import threading +import time +import video_capture_gazebo +import feature_match_ardu +from pymavlink import mavutil +import traceback +import signal +import sys + + +the_connection = mavutil.mavlink_connection('tcp:127.0.0.1:5762') +the_connection.wait_heartbeat() +print("Heartbeat from system (system %u component %u)" % + (the_connection.target_system, the_connection.target_component)) + + +class main: + def __init__(self): + self.lat = 0 + self.lon = 0 + self.alt = 0 + self.alt_ab_ter = 0 + + self.video = video_capture_gazebo.Cam_stream() + t1 = threading.Thread(target=self.video.setup) + t1.start() + + the_connection.mav.command_long_send( + the_connection.target_system, the_connection.target_component, + mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0, + 33, + 1e6 / 30, + 0, 0, 0, 0, + 0, + ) + + + def get_gps(self): + msg = the_connection.recv_match(type='GLOBAL_POSITION_INT', blocking=False) + if msg: + self.lat = msg.lat + self.lon = msg.lon + return {self.lat, self.lon} + + def vid_sleep(self): + time.sleep(0.3) + + + + +m = main() diff --git a/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/base_arm.dae b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/base_arm.dae new file mode 100644 index 00000000..0cb21cbb --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/base_arm.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Sat Apr 11 21:55:56 2015 + Sat Apr 11 21:55:56 2015 + + + + + + + + + 56.188 -10.08 25.3976 57.3473 -10.08 19.6011 58.4731 -9.85161 19.8263 57.5076 -9.77035 25.5681 60.0652 -8.22802 20.1447 59.0219 -8.15908 25.5017 58.945 -6.53606 26.8066 58.7932 -6.44748 27.3455 58.6366 -6.14691 27.9369 58.2454 -6.02063 28.8231 58.4545 -7.02325 27.7386 57.5558 -5.28518 30.1878 57.0335 -3.96908 31.345 56.144 -2.51856 32.3965 56.8969 -2.34494 32.1088 56.0504 -0.745627 32.9558 55.998 1.0865 33.2688 55.9892 3.15655 33.3214 57.0826 3.11636 32.7536 58.061 -4.89615 29.7794 58.4429 -4.73654 29.0848 58.4108 -4.45566 29.2725 58.1072 -1.73136 30.8019 57.6527 -0.408282 31.8958 57.5989 1.23147 32.175 58.2404 -3.14606 30.131 58.2924 -1.76956 30.1731 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52.5723 8.03047 25.7747 52.707 7.71541 25.3871 52.6172 7.16007 25.0185 52.752 7.22178 24.5228 52.6621 7.10353 23.8668 52.7744 7.26535 24.0168 52.7969 7.504 23.5684 52.6846 7.41398 23.367 52.8193 7.89945 23.2496 52.707 7.89567 23.029 52.7295 8.47134 22.9072 52.752 9.04866 23.021 52.8867 9.33002 23.4336 52.9092 9.63189 23.8422 52.7969 9.85241 23.8477 52.8193 9.94994 24.4279 52.8867 8.9522 25.7682 53.0215 8.46828 25.6446 52.9092 8.36832 25.8413 53.0664 7.55694 25.2445 52.9541 7.34582 25.3084 53.1113 7.21505 24.3097 52.999 7.02278 24.2016 53.0439 7.59815 23.2024 53.1787 8.09642 23.168 53.0889 8.71759 22.9262 53.1113 9.26768 23.1351 53.2461 9.47594 23.5891 53.1338 9.69169 23.5431 53.2686 9.70512 24.0424 53.3135 9.56946 25.0284 53.2012 9.68871 25.214 53.2236 9.26324 25.6205 53.3584 8.76384 25.6129 53.2461 8.7124 25.8274 53.2686 8.12455 25.8016 53.291 7.59396 25.5472 53.3584 7.07267 23.9597 53.4932 7.45238 23.6352 53.5381 8.30428 23.1205 53.4258 8.37356 22.9111 53.4932 9.81417 23.7576 53.5156 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25.5191 54.7061 7.31384 25.268 54.8408 7.27593 24.77 54.8633 7.21816 24.2654 54.7285 7.05762 24.7383 54.751 7.0298 24.1506 54.7959 7.63985 23.1722 54.9307 8.13902 23.1552 54.8184 8.17987 22.9385 54.8633 9.31071 23.1634 54.998 9.50293 23.6244 54.8857 9.72016 23.586 55.0654 9.54594 25.0661 54.9756 9.21915 25.6471 55.0879 9.18994 25.4284 55.1104 8.72032 25.622 55.1328 8.21242 25.6158 55.0205 8.07481 25.7882 55.1777 7.40067 25.0399 55.0879 7.01712 24.4947 55.2227 7.25461 24.0553 55.2451 7.47899 23.5996 55.1553 7.85346 23.0482 55.29 8.34841 23.1151 55.335 9.29985 23.4073 55.2002 9.00561 23.0038 55.2451 9.83505 23.8047 55.3799 9.74737 24.2964 55.4023 9.67725 24.7995 55.2676 9.95084 24.3816 55.3125 9.49467 25.4405 55.4473 9.0037 25.5322 55.335 8.99588 25.7527 55.3574 8.4146 25.8441 55.5146 7.58479 25.2732 55.4248 7.08488 24.8323 55.4697 7.18586 23.6837 55.5146 8.08481 22.9617 55.5596 9.22813 23.1109 55.6943 9.45061 23.5581 55.582 9.6648 23.5053 55.7617 9.58949 24.9938 55.6494 9.71453 25.1755 55.7842 9.2584 25.379 55.6719 9.3021 25.5952 55.7168 8.16969 25.8121 55.7393 7.63134 25.5746 55.7617 7.22937 25.1449 55.7842 7.02824 24.5919 55.8965 7.2422 24.6456 55.9189 7.23596 24.1377 55.8066 7.06022 24.0044 56.0088 8.77246 23.1419 56.0312 9.23353 23.355 56.0537 9.57399 23.732 55.9639 9.94792 24.2838 56.0986 9.70276 24.7189 55.9863 9.86667 24.8666 56.1436 9.07949 25.4949 56.166 8.59265 25.6398 56.0312 9.08635 25.7154 56.0986 7.44264 25.4153 56.1211 7.11833 24.9243 56.2559 7.21461 24.4342 56.1436 7.01267 24.3454 56.2783 7.29354 23.9324 56.3008 7.56302 23.5019 56.1885 7.48733 23.2947 56.3232 7.97983 23.2116 56.2109 7.99152 22.9913 56.3457 8.47713 23.1081 56.3682 8.97514 23.2081 56.4355 9.74895 24.4253 56.3008 9.88609 23.945 56.5029 8.88368 25.5793 56.3682 9.38142 25.5379 56.5254 8.37945 25.6406 56.4131 8.26596 25.8297 56.5479 7.8916 25.4991 56.4355 7.71299 25.6286 56.5703 7.49839 25.1776 56.5928 7.26287 24.7275 56.4805 7.04581 24.6882 56.6377 7.38469 23.7397 56.5479 7.68258 23.1434 56.7051 8.68964 23.1253 56.6152 9.35272 23.1932 56.75 9.52867 23.6607 56.6377 9.7471 23.6299 56.6826 9.89623 24.7733 56.75 9.79701 24.667 56.75 9.69925 25.0095 56.75 9.2622 25.5645 56.7275 9.17415 25.6722 51.0225 7.88363 25.4949 51.0674 7.2604 24.7188 51 7.22769 24.5669 51.0898 7.22397 24.2122 51.0225 7.25349 24.0596 51.0674 7.86031 23.2707 51.1348 7.72973 23.355 51.1797 8.69853 23.1268 51.1348 9.29645 23.4045 51.2021 9.17146 23.3121 51.2246 9.53373 23.6682 51.2471 9.72725 24.1378 51.1797 9.74708 24.2919 51.2021 9.67873 24.7953 51.2246 9.41837 25.2314 51.2471 9.00775 25.5304 51.3594 8.16039 25.6033 51.3818 7.70472 25.3789 51.3369 7.30647 24.8535 51.4043 7.37365 24.9937 51.4268 7.22029 24.5094 51.3594 7.21349 24.3542 51.4492 7.26924 24.0039 51.4043 7.62 23.4457 51.4941 7.91145 23.2435 51.5166 8.40171 23.1106 51.4941 9.44773 23.5547 51.5615 9.33998 23.4427 51.6064 9.74962 24.3498 51.584 9.26191 25.3762 51.6738 8.9545 25.5532 51.6064 8.80701 25.6022 51.6289 8.29992 25.6316 51.6514 7.82197 25.4597 51.7412 7.54777 25.2346 51.6738 7.44981 25.114 51.7637 7.28591 24.7994 51.8086 7.34877 23.806 51.7412 7.42703 23.6718 51.876 8.61487 23.1151 51.8086 8.76813 23.1409 51.8984 9.09908 23.2686 51.8311 9.22994 23.3524 51.9209 9.48425 23.5997 51.9434 9.7086 24.0554 51.876 9.73865 24.2079 51.8984 9.70396 24.7146 51.9658 9.73615 24.5626 52.0107 9.21544 25.4108 51.9209 9.47321 25.1671 51.9658 8.59708 25.6394 52.0107 7.64983 25.3339 52.1455 7.24713 24.0854 52.0557 7.21482 24.4386 52.0781 7.29199 23.9366 52.1006 7.55996 23.5051 52.168 7.46031 23.6243 52.123 7.97575 23.2133 52.1455 8.47268 23.1081 52.168 8.97104 23.2063 52.2578 9.27592 23.3876 52.1904 9.39089 23.4922 52.2129 9.6649 23.9199 52.3027 9.74504 24.2655 52.2354 9.74912 24.4208 52.3477 9.43606 25.2116 52.2578 9.63003 24.9146 52.2803 9.32674 25.3221 52.3701 9.03179 25.5191 52.3027 8.88789 25.5778 52.3252 8.38388 25.6409 52.3477 7.89554 25.5012 52.3701 7.5012 25.181 52.46 7.31672 24.878 52.415 7.22229 24.2256 52.5273 7.60071 23.4639 52.46 7.71893 23.363 52.5498 8.02939 23.1914 52.4824 8.17772 23.145 52.5049 8.68525 23.1245 52.5273 9.16011 23.3048 52.5498 9.52615 23.657 52.6172 9.43032 23.5347 52.6621 9.74576 24.4787 52.6846 9.60425 24.9665 52.707 9.28267 25.3597 52.6172 9.52365 25.0994 52.6396 9.15639 25.4503 52.7295 8.8326 25.5951 52.6846 8.17345 25.6067 52.752 8.32623 25.6351 52.7744 7.84478 25.4732 52.8193 7.24915 24.6758 52.7295 7.38027 25.0054 52.8643 7.41251 23.694 52.8867 7.766 23.3292 52.9092 8.23427 23.1324 52.8418 8.38827 23.1115 52.9316 8.74221 23.1352 52.9541 9.20834 23.337 52.8643 8.89206 23.1763 52.999 9.73485 24.1816 52.9316 9.74926 24.3363 53.0215 9.71077 24.689 52.9541 9.66331 24.837 53.0664 9.10664 25.48 52.9766 9.38782 25.2637 52.999 8.96697 25.5481 53.0439 7.97172 25.5377 53.1562 7.3527 24.9545 53.1787 7.2164 24.4651 53.0889 7.29047 24.812 53.2012 7.28304 23.9616 53.1338 7.34277 23.8181 53.2461 7.95152 23.2242 53.1562 7.65316 23.416 53.2686 8.44613 23.1086 53.2012 8.60146 23.1138 53.2236 9.08728 23.2621 53.291 8.94644 23.1963 53.3135 9.37219 23.4734 53.3584 9.74977 24.3943 53.291 9.73806 24.5493 53.3809 9.64104 24.8905 53.4033 9.34635 25.3042 53.3359 9.22638 25.403 53.4482 8.41037 25.6427 53.3809 8.25603 25.6245 53.4033 7.7844 25.4359 53.4932 7.51826 25.2014 53.4258 7.42459 25.0773 53.5156 7.27181 24.7572 53.4482 7.23432 24.6064 53.5381 7.21941 24.252 53.4707 7.24411 24.0985 53.5605 7.36946 23.7667 53.5156 7.82573 23.2908 53.5605 8.81126 23.1517 53.583 9.26538 23.3793 53.6055 9.59377 23.7668 53.6504 9.13754 23.2909 53.6279 9.74379 24.2521 53.6504 9.69135 24.7573 53.7178 9.72885 24.6065 53.7402 9.53855 25.0774 53.7627 9.17872 25.4359 53.6953 9.0439 25.5132 53.7852 8.70708 25.6245 53.7402 8.05015 25.569 53.7627 7.61678 25.3041 53.7852 7.32211 24.8904 53.8525 7.39368 25.0283 53.875 7.22512 24.5492 53.8076 7.21342 24.3942 53.9199 7.4873 23.589 53.875 8.01683 23.1963 53.9648 8.36182 23.1138 53.8975 8.51714 23.1086 53.9873 8.86685 23.168 53.9199 9.01175 23.2242 53.9648 9.68018 23.9617 54.0322 9.62045 23.8182 53.9424 9.42133 23.5246 54.0098 9.3101 23.4161 53.9873 9.74678 24.4652 54.0996 9.40619 25.2445 54.0322 9.29307 25.3511 54.1221 8.99139 25.5377 54.1445 8.49483 25.6446 54.167 7.99614 25.5481 54.1895 7.57531 25.2636 54.0996 7.85647 25.4799 54.2119 7.29985 24.8369 54.1445 7.2524 24.6889 54.167 7.22835 24.1815 54.3018 8.07121 23.1763 54.2344 8.22107 23.1351 54.3242 8.57501 23.1115 54.2568 8.72901 23.1325 54.3467 9.06382 23.2496 54.3018 9.55072 23.6941 54.3242 9.73271 24.1683 54.4141 9.7414 24.5229 54.3467 9.71402 24.6759 54.3916 9.11833 25.4733 54.4141 8.63687 25.6351 54.4365 8.13051 25.5951 54.5264 7.80673 25.4502 54.459 7.68045 25.3596 54.5713 7.23941 24.6324 54.5938 7.23856 24.1245 54.5039 7.21742 24.4786 54.5488 7.53292 23.5346 54.6836 8.78556 23.1451 54.5938 8.43267 23.109 54.6387 9.36254 23.464 54.7285 9.58077 23.7436 54.7734 9.69906 24.7319 54.7959 9.46194 25.1811 54.7285 9.35616 25.2949 54.8184 9.06757 25.5012 54.7734 8.42383 25.6434 54.8633 8.07521 25.5778 54.8857 7.63639 25.322 54.8184 7.52708 25.2115 54.9082 7.33312 24.9145 54.9307 7.21407 24.4207 54.9531 7.29832 23.9198 54.8857 7.36304 23.7785 54.9756 7.57236 23.4922 54.9082 7.68733 23.3876 54.9531 8.64565 23.1187 54.9756 9.12597 23.284 55.1104 9.74836 24.4387 55.0205 9.71608 24.0855 55.043 9.73123 24.5932 55.1777 8.87088 25.5835 55.2002 8.36602 25.6394 55.1553 7.74768 25.4108 55.2002 7.22703 24.5625 55.2676 7.86419 23.2685 55.3125 8.85399 23.164 55.4248 9.53621 23.6718 55.3574 9.61446 23.8061 55.4697 9.72002 24.65 55.4248 9.41536 25.2347 55.5371 8.66319 25.6316 55.4697 8.5083 25.6444 55.5596 8.15609 25.6022 55.582 7.70121 25.3762 55.4922 8.00861 25.5532 55.5371 7.30481 24.8494 55.627 7.21983 24.505 55.5596 7.21358 24.3497 55.6494 7.27055 23.9996 55.582 7.32573 23.8543 55.6719 7.51551 23.5546 55.6045 7.62327 23.4426 55.627 8.05849 23.1807 55.6494 8.56156 23.1106 55.7168 8.40615 23.1103 55.6719 9.05182 23.2435 55.7168 9.69398 24.0039 55.7842 9.63932 23.8585 55.7617 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7.2014 12.1472 51 7.1706 11.7932 51.0225 7.2272 11.6399 51 7.2376 11.4438 51 7.3957 11.1249 51 7.63184 10.8589 51.1348 9.27016 10.9848 51.0225 9.47218 10.8962 51.1572 9.58617 11.3824 51.1123 9.4721 13.0172 51.2471 8.98146 13.1107 51.1572 8.39346 13.4246 51.292 7.98645 13.1351 51.1797 7.82242 13.2826 51.2021 7.3529 12.928 51.2695 7.15715 11.2686 51.4043 7.59372 11.026 51.3369 8.64032 10.4991 51.3594 9.1974 10.6886 51.4941 9.42145 11.135 51.5166 9.66638 11.58 51.4043 9.88421 11.6147 51.5391 9.71706 12.0854 51.4492 9.69104 12.7514 51.584 9.23562 12.9565 51.6064 8.78073 13.1825 51.5166 8.14844 13.3935 51.5391 7.60926 13.1579 51.6963 7.21686 12.2302 51.584 7.00272 12.1773 51.7861 8.23407 10.7078 51.6738 8.29597 10.4961 51.7188 9.39932 10.8308 51.876 9.71236 11.7882 51.9434 9.05712 13.0731 51.9658 8.57079 13.2197 52.0107 7.62354 12.9141 51.876 7.9121 13.3218 51.9209 7.09397 12.5094 51.9434 6.98628 11.9309 51.9658 7.11422 11.3565 52.0107 7.96038 10.5733 52.123 7.94946 10.7936 52.1455 8.44639 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52.9766 7.0449 12.3683 52.999 6.99649 11.7819 53.1338 7.31649 11.3984 53.0439 7.57186 10.7827 53.0664 8.10336 10.5302 53.1787 8.07013 10.7483 53.2236 9.06099 10.8423 53.1113 9.2414 10.7154 53.2461 9.44966 11.1694 53.1562 9.89532 11.665 53.291 9.71177 12.1295 53.3359 9.2001 12.9833 53.2461 8.68612 13.4077 53.2686 8.09826 13.3819 53.4033 7.75811 13.0162 53.4482 7.20803 12.1867 53.4707 7.21782 11.6788 53.3584 7.04638 11.54 53.4932 7.42609 11.2155 53.4258 8.34727 10.4914 53.583 9.23909 10.9595 53.4482 8.93088 10.5665 53.6055 9.56749 11.347 53.4932 9.78789 11.3379 53.6279 9.7175 11.8323 53.5156 9.92383 11.9104 53.6504 9.66506 12.3376 53.6729 9.41859 12.7817 53.5381 9.82423 12.4903 53.583 9.01752 13.3141 53.7178 8.52645 13.223 53.7402 8.02387 13.1493 53.7627 7.59049 12.8844 53.6729 7.07543 12.4613 53.8076 7.18713 11.9745 53.875 7.99055 10.7766 53.8975 8.49086 10.6889 53.8076 9.15702 10.6658 53.9424 9.39504 11.1049 53.9873 9.72049 12.0455 53.875 9.91084 12.157 53.9424 8.7822 13.3891 54.0098 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51.0674 7.23411 12.2991 51.0449 7.44999 11.1834 51.0674 7.83402 10.851 51.0898 8.3177 10.6959 51.2021 9.14517 10.8924 51.1123 8.82345 10.743 51.2695 9.69469 12.226 51.1797 9.72079 11.8722 51.2021 9.65244 12.3755 51.292 9.48962 12.6907 51.2246 9.39208 12.8117 51.3369 8.6413 13.2113 51.3594 8.13411 13.1836 51.2695 8.48646 13.2246 51.3145 7.56165 12.8567 51.3369 7.28019 12.4338 51.4268 7.19401 12.0897 51.3594 7.1872 11.9345 51.3818 7.29762 11.4387 51.4717 7.48635 11.1383 51.5166 8.37543 10.6909 51.4268 8.02801 10.7625 51.4492 8.53084 10.6906 51.5391 8.8785 10.7611 51.4717 9.02155 10.8218 51.5615 9.56536 12.5702 51.6514 9.35205 12.8536 51.6738 8.92821 13.1335 51.6963 8.42852 13.2247 51.6289 8.27363 13.2119 51.6514 7.79568 13.0399 51.6738 7.42353 12.6942 51.7412 7.52148 12.8149 51.7637 7.25962 12.3797 51.7861 7.18954 11.8766 51.7188 7.20884 11.7224 51.7412 7.40074 11.2521 51.7637 7.76179 10.8948 51.8311 7.63712 10.9876 51.8086 8.74184 10.7212 51.8311 9.20365 10.9327 51.8535 9.54543 11.3084 51.9209 9.45796 11.18 51.9658 9.70986 12.1429 51.8984 9.67767 12.2949 51.9209 9.44692 12.7474 52.0107 9.18915 12.9911 51.9883 8.06594 13.1637 52.1006 7.39092 12.6464 52.0332 7.31456 12.511 52.123 7.20566 12.1734 52.0557 7.18854 12.0189 52.0781 7.2657 11.5169 52.168 7.43402 11.2046 52.1006 7.53367 11.0854 52.168 8.94475 10.7866 52.2354 8.79797 10.7355 52.1904 9.3646 11.0725 52.2354 9.72283 12.0011 52.3027 9.71875 11.8457 52.3252 9.66095 12.3504 52.2578 9.60374 12.4949 52.2803 9.30045 12.9024 52.3252 8.35759 13.2212 52.3477 7.86925 13.0815 52.4375 7.58068 12.8752 52.3701 7.47491 12.7613 52.4824 7.18702 11.961 52.5049 7.28703 11.463 52.4375 7.35618 11.3238 52.5049 8.65896 10.7048 52.5273 9.13383 10.8851 52.6172 9.40404 11.1149 52.5498 9.49986 11.2373 52.5723 9.69836 11.7049 52.7295 8.80631 13.1754 52.6621 8.65461 13.2092 52.6846 8.14716 13.187 52.707 7.68913 12.9674 52.7295 7.35399 12.5857 52.752 7.19549 12.1031 52.8418 7.20421 11.7485 52.8643 7.38622 11.2743 52.8867 7.73972 10.9095 52.8193 7.87316 10.8299 52.9092 8.20798 10.7127 52.8418 8.36198 10.6918 52.9541 9.18206 10.9172 52.8867 9.30373 11.0139 52.999 9.70856 11.7619 53.0215 9.68448 12.2693 53.0439 9.46325 12.7265 53.0664 9.08036 13.0603 52.999 8.94069 13.1284 53.0889 8.5972 13.217 53.0215 8.44199 13.2249 53.1113 8.09129 13.1716 53.1338 7.64377 12.9313 53.0889 7.26418 12.3923 53.1113 7.18876 11.89 53.2012 7.25676 11.5419 53.1562 7.62687 10.9963 53.2461 7.92523 10.8045 53.2012 8.57517 10.694 53.2686 8.41985 10.6889 53.3359 9.6288 11.4755 53.2686 9.67884 11.6227 53.3135 9.54318 12.6087 53.4033 9.32006 12.8845 53.3584 8.73755 13.1932 53.4482 8.38408 13.223 53.3809 8.22974 13.2048 53.4707 7.89293 13.0935 53.4258 7.3983 12.6576 53.5381 7.19313 11.8322 53.5605 7.34317 11.347 53.583 7.6716 10.9595 53.6055 8.12572 10.7319 53.5156 7.79944 10.8711 53.5381 8.27799 10.7008 53.6279 8.63271 10.7008 53.6504 9.11125 10.8712 53.5605 8.78498 10.732 53.6953 9.69281 11.6789 53.7178 9.70257 12.1867 53.7402 9.51226 12.6577 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54.5713 7.91302 10.8102 54.6162 8.90759 10.7718 54.7061 9.21805 10.9434 54.7285 9.55448 11.3239 54.6836 9.7236 11.9611 54.7734 9.67277 12.3122 54.751 8.89931 13.1447 54.8633 8.04893 13.1581 54.8857 7.6101 12.9023 54.8184 7.50079 12.7918 54.8408 7.24964 12.3503 54.9307 7.18778 12.001 54.8857 7.33676 11.3588 54.9756 7.54607 11.0724 54.9307 8.11273 10.7355 54.998 7.96595 10.7866 55.0205 8.46431 10.6884 55.0654 9.37701 11.0854 55.0879 9.64495 11.517 55.1328 9.59602 12.5111 55.0654 9.51965 12.6464 55.0879 9.16365 13.0087 55.1328 8.18613 13.1961 55.1777 7.37438 12.6201 55.2002 7.20074 12.1428 55.3125 7.36523 11.3084 55.2451 7.4527 11.1799 55.335 7.70703 10.9326 55.3125 8.82771 10.7443 55.4023 9.1489 10.8948 55.335 9.27356 10.9876 55.3574 9.58817 11.3864 55.4023 9.65097 12.3797 55.4248 9.38908 12.815 55.4697 8.48201 13.2247 55.4922 7.98232 13.1335 55.5371 7.27852 12.4297 55.6494 7.24426 11.5799 55.7393 8.88269 10.7625 55.6719 9.02553 10.8238 55.6943 9.42432 11.1384 55.7842 9.61304 11.4387 55.7393 9.7166 12.0898 55.7617 9.56321 12.574 55.874 8.92408 13.1352 55.8066 8.77643 13.1836 55.9189 7.92907 13.1106 55.8516 7.79188 13.0376 55.9863 7.18983 11.8721 55.9414 7.40322 11.2484 55.9639 7.76552 10.8924 56.0986 9.07667 10.851 56.0088 8.74617 10.7222 56.1211 9.46068 11.1835 56.0762 9.71295 11.7926 56.1436 9.68343 11.64 56.0986 9.67648 12.2992 56.1211 9.44414 12.7509 56.1436 9.0532 13.0752 56.166 8.56636 13.2201 56.1885 8.06171 13.1624 56.2783 7.74321 13.0062 56.2109 7.62019 12.9112 56.2334 7.31262 12.507 56.3008 7.38851 12.6426 56.3682 7.43667 11.2011 56.3906 7.81484 10.862 56.3457 8.45084 10.6884 56.3682 8.94885 10.7883 56.4131 9.64021 11.5043 56.4805 9.57599 11.3628 56.458 9.60185 12.4989 56.4805 9.29713 12.9053 56.5479 9.40684 12.7952 56.5928 8.50855 13.2239 56.5254 8.35316 13.2209 56.6377 7.57747 12.8721 56.5703 7.4721 12.7578 56.6826 7.18701 11.9566 56.6152 7.19654 11.8014 56.6377 7.3584 11.32 56.7275 7.57763 11.0411 56.6826 8.15575 10.7243 56.75 9.50238 11.241 51 9.8735 12.0553 51.0225 9.92423 11.9258 51 9.60368 12.7082 51.0674 9.49419 12.9956 51 9.35293 12.9612 51.1123 8.42435 13.4256 51 8.34417 13.2201 51.1348 7.85046 13.2956 51.0225 7.85734 13.0752 51.1797 7.0702 12.4467 51.0898 7.19768 11.7925 51.1123 7.36296 11.3122 51.1348 7.70345 10.9353 51.1572 8.16453 10.7222 51.1797 8.67225 10.7071 51.3369 9.61678 11.0569 51.2246 9.50745 11.2484 51.2471 9.70096 11.7181 51.3145 9.11866 13.0377 51.4492 8.76711 13.3925 51.4717 8.17873 13.3997 51.4941 7.63472 13.1754 51.3818 7.67843 12.9592 51.4043 7.34737 12.574 51.5391 7.00768 12.2078 51.4492 7.24295 11.5841 51.584 7.27216 11.0855 51.6064 7.70886 10.6912 51.4941 7.88516 10.8237 51.6289 8.26528 10.4998 51.6738 9.37543 10.8112 51.5615 9.3137 11.023 51.584 9.61121 11.4347 51.7188 9.91892 11.8281 51.6064 9.72333 11.9301 51.6289 9.63206 12.4298 51.7637 9.56105 12.9242 51.7861 9.09275 13.2804 51.8535 7.44216 13.0207 51.7188 7.93312 13.1125 51.8984 6.98607 11.9618 51.8086 7.32248 11.3863 51.9209 7.10189 11.3849 51.9434 7.4348 10.8997 51.9658 7.93139 10.584 51.8535 8.08299 10.7443 51.876 8.58858 10.6954 51.8984 9.07279 10.8488 52.0107 9.08354 10.6285 51.9434 9.68232 11.6357 51.9883 9.53619 12.6202 52.1455 8.862 13.3685 52.0332 8.7244 13.1961 52.168 8.27541 13.4149 52.1904 7.71767 13.2273 52.0557 8.2165 13.2023 52.0781 7.74689 13.0087 52.2129 7.27824 12.836 52.2354 7.02761 12.3036 52.2578 7.00597 11.7156 52.1455 7.22084 11.6657 52.1904 7.81101 10.8642 52.3027 7.62627 10.7437 52.2129 8.29134 10.699 52.2578 9.24964 10.9679 52.2803 9.5739 11.3589 52.4375 9.87925 12.3187 52.3477 9.40977 12.7919 52.4824 9.17945 13.2351 52.3701 9.0055 13.0994 52.3926 8.51299 13.2237 52.5273 8.03369 13.3641 52.415 8.01122 13.1447 52.46 7.29043 12.4583 52.6172 7.06683 11.4762 52.6396 7.3667 10.9699 52.6621 7.84117 10.6219 52.5273 7.57442 11.0442 52.5498 8.00311 10.7717 52.5723 8.50432 10.6893 52.5947 8.99767 10.8102 52.7295 9.48695 10.9105 52.752 9.8147 11.3992 52.6396 9.65823 11.5547 52.7744 9.92441 11.9773 52.6621 9.71948 12.059 52.7969 9.79849 12.5521 52.6846 9.57796 12.5468 52.707 9.25638 12.94 52.752 8.29995 13.2154 52.8867 7.80389 13.2736 52.7744 7.8185 13.0535 52.9092 7.33939 12.9124 52.7969 7.43919 12.7157 52.9316 7.05387 12.3979 52.9541 6.99314 11.8126 52.8193 7.22286 12.2561 52.9766 7.16693 11.2504 52.999 7.54736 10.8015 53.0664 9.21511 10.6991 52.9316 8.71592 10.7154 53.1113 9.88887 11.6348 52.9766 9.53163 11.2858 53.1338 9.9002 12.2231 53.2236 8.12832 13.3891 53.2461 7.5925 13.1459 53.1562 7.32641 12.5347 53.1787 7.19012 12.0454 53.2236 7.51563 11.1049 53.4033 8.90153 10.5568 53.291 8.92015 10.7766 53.4258 9.41502 10.8442 53.3135 9.3459 11.0537 53.4482 9.77458 11.31 53.3584 9.72348 11.9746 53.3809 9.61476 12.4707 53.5381 9.04595 13.302 53.5605 8.47071 13.4258 53.4258 8.88667 13.1494 53.6055 7.40549 12.9846 53.4932 7.49197 12.7816 53.5156 7.24553 12.3375 53.6504 6.98679 11.9103 53.6953 7.47248 10.8645 53.7402 8.56344 10.4914 53.7852 9.58781 11.0207 53.6729 9.48458 11.2156 53.8076 9.86426 11.5401 53.8301 9.91473 12.1263 53.8975 8.81226 13.3819 53.7627 9.15243 13.0162 53.8076 8.17298 13.1931 53.9648 7.24814 12.7942 53.8975 7.2318 11.6226 53.9424 7.8497 10.8423 54.0771 8.21941 10.5065 54.167 9.91414 11.782 54.0547 9.72186 11.8901 54.2119 9.59102 12.8888 54.1221 8.96511 13.118 54.2568 8.56848 13.4216 54.2793 7.98461 13.3485 54.1895 7.54902 12.8439 54.3242 7.12491 12.5802 54.3467 6.98696 12.0081 54.2793 7.60695 11.0139 54.4141 7.88834 10.6012 54.459 9.04132 10.6093 54.3242 8.54872 10.6918 54.3916 9.67158 11.5971 54.5264 9.92279 12.0288 54.4365 9.55659 12.5858 54.5713 9.41884 13.0659 54.5938 8.90634 13.355 54.6162 8.3215 13.4198 54.5039 8.25592 13.2092 54.6387 7.75813 13.25 54.5264 7.78044 13.0305 54.5488 7.41321 12.6796 54.5713 7.21312 12.2127 54.6387 7.77686 10.8851 54.7959 8.71162 10.51 54.8184 9.25873 10.7265 54.6836 8.75927 10.7253 54.8633 9.89927 11.6853 54.8857 9.88997 12.2736 54.751 9.71462 11.8059 54.9082 9.65055 12.8111 54.7959 9.43565 12.7614 54.8184 9.04128 13.0815 54.9531 8.66574 13.4108 54.9756 8.07831 13.3767 54.8408 8.55293 13.2212 55.0205 7.16936 12.6673 54.9082 7.30684 12.4948 55.043 6.99364 12.1058 54.9531 7.27203 11.5001 55.0654 7.05236 11.5203 55.043 8.96123 10.7936 55.2227 9.92433 11.931 55.1104 9.72207 12.019 55.1553 9.28701 12.9142 55.29 8.99843 13.3219 55.1777 8.84459 13.1638 55.2002 8.33974 13.2197 55.2227 7.85342 13.0731 55.2451 7.46364 12.7474 55.3574 7.3701 12.9471 55.3799 7.06849 12.4419 55.2676 7.23292 12.2948 55.29 7.19826 11.7881 55.3574 8.16886 10.7211 55.3799 8.67663 10.7078 55.4922 8.61474 10.4961 55.4248 9.50992 11.2521 55.4473 9.70179 11.7224 55.6045 9.70478 12.7297 55.4697 9.69373 12.2303 55.4922 9.48704 12.6943 55.627 9.30127 13.1579 55.5146 9.11486 13.04 55.6494 8.76208 13.3935 55.5371 8.6369 13.2119 55.5596 8.12981 13.1825 55.6943 7.63045 13.1725 55.7168 7.21952 12.7514 55.582 7.67492 12.9565 55.7393 7.00681 12.2027 55.6045 7.34521 12.5701 55.627 7.19355 12.0853 55.7842 7.27523 11.0814 55.6719 7.48923 11.1349 55.6943 7.88914 10.8218 55.8291 8.27039 10.4991 55.7168 8.37986 10.6906 55.874 9.37944 10.8145 55.7617 9.31696 11.026 55.9189 9.91936 11.8332 55.8066 9.72342 11.9345 55.9414 9.85039 12.4176 55.9639 9.55765 12.928 55.8291 9.6304 12.4339 55.9863 9.0881 13.2827 55.8516 9.3489 12.8567 56.0088 8.51706 13.4246 55.8965 8.42407 13.2246 56.0312 7.93611 13.3311 56.0537 7.43844 13.0172 55.9414 7.51848 12.8116 56.0762 7.10387 12.5331 55.9639 7.25814 12.3755 56.0986 6.98606 11.9566 56.0088 7.32449 11.3824 56.1211 7.10391 11.3801 56.0312 7.64052 10.9847 56.1436 7.43851 10.8961 56.166 7.9362 10.5822 56.0537 8.08724 10.743 56.2109 9.08819 10.6307 56.0762 8.593 10.6959 56.2783 9.91935 12.0802 56.166 9.7092 12.1473 56.3008 9.75347 12.6448 56.3232 9.37936 13.099 56.1885 9.53386 12.624 56.2109 9.18552 12.9937 56.3457 8.85705 13.3699 56.2334 8.72005 13.197 56.3682 8.27029 13.4142 56.2559 8.21213 13.2014 56.3906 7.71322 13.2247 56.4131 7.27517 12.8319 56.3232 7.20491 12.169 56.3457 7.22187 11.6614 56.5029 7.63053 10.7408 56.5254 8.17377 10.5146 56.4131 8.29575 10.6984 56.5479 8.76217 10.5198 56.4355 8.80225 10.7367 56.458 9.2531 10.9707 56.5029 9.71913 11.8502 56.5254 9.65956 12.3546 56.6377 9.87798 12.3237 56.6602 9.61987 12.8525 56.5703 9.00149 13.1013 56.6152 8.00706 13.1431 56.6602 7.28868 12.4542 56.75 7.13449 12.4823 56.7051 7.28876 11.4589 51.0449 9.80675 11.3802 51.0674 9.92456 11.9567 51.0449 9.81854 12.5047 51.0898 9.80671 12.5332 51.0898 9.00321 13.3199 51.1348 8.97441 13.3312 51.1572 7.37358 12.9509 51.2021 6.98899 11.864 51.2246 7.0602 12.4175 51.2471 6.99126 11.8331 51.2246 7.14296 11.296 51.2471 7.50743 10.8341 51.292 7.53125 10.8144 51.2695 8.02393 10.5522 51.3145 8.05357 10.5434 51.292 8.60962 10.4955 51.3145 9.17056 10.6733 51.3818 9.63545 11.0815 51.3594 9.87671 11.5848 51.3818 9.90865 12.1723 51.4268 9.90379 12.2028 51.4043 9.70748 12.7253 51.4268 9.30548 13.155 51.4717 9.28008 13.1726 51.4941 8.73684 13.3987 51.5615 7.20578 12.7296 51.5166 7.22232 12.7557 51.5615 7.02523 11.6196 51.6064 7.03264 11.5896 51.6289 7.29075 11.0608 51.6514 7.73565 10.6757 51.6514 8.85219 10.542 51.6963 8.88186 10.5507 51.7412 9.76538 11.2915 51.6963 9.75109 11.2641 51.7637 9.9213 11.8589 51.7861 9.84209 12.442 51.7412 9.85199 12.4127 51.8086 9.54045 12.9472 51.8311 9.06476 13.2936 51.8086 8.5222 13.4244 51.8535 8.49131 13.4255 51.8311 7.94093 13.3329 51.8984 7.42 12.9992 51.876 7.1059 12.5379 51.9883 7.45726 10.8784 51.9883 8.51201 10.4885 52.0332 8.54288 10.49 52.0332 9.5543 10.9815 52.0557 9.84879 11.491 52.0781 9.91978 12.0751 52.1455 9.74121 12.6674 52.1006 9.75587 12.6402 52.123 9.38336 13.0957 52.168 9.3592 13.115 52.2129 8.24477 13.4108 52.2354 7.6911 13.2115 52.2803 7.02063 12.2735 52.2803 7.2168 11.1662 52.3252 7.2337 11.1404 52.3252 8.16872 10.5156 52.3477 8.75714 10.5188 52.3701 9.29714 10.7525 52.3926 9.70212 11.1794 52.4375 9.71819 11.2058 52.415 9.90712 11.731 52.4824 9.87132 12.3486 52.46 9.623 12.8484 52.5273 9.1524 13.25 52.5049 8.61976 13.4167 52.5723 8.00418 13.3549 52.5498 7.51525 13.0858 52.6172 7.13378 12.5987 52.5723 7.14758 12.6264 52.5947 6.98967 12.0596 52.6396 6.98783 12.0287 52.6846 8.41415 10.488 52.7295 8.44506 10.4875 52.707 8.99373 10.5896 52.752 9.02237 10.6013 52.7969 9.82613 11.4279 52.8193 9.45713 13.0314 52.8643 9.4343 13.0522 52.8418 8.95508 13.3383 52.8643 8.37288 13.4236 52.9092 8.34204 13.4215 53.0215 7.18207 11.2235 53.0215 8.07343 10.5379 53.0439 8.66074 10.5019 53.0889 8.6913 10.5065 53.0889 9.64761 11.0981 53.1338 9.66541 11.1234 53.1787 9.89427 12.2535 53.2012 9.66242 12.7943 53.1562 9.67977 12.7687 53.1787 9.26295 13.184 53.2236 9.23695 13.2007 53.2012 8.71659 13.4025 53.2686 7.19506 12.712 53.291 7.56767 13.1275 53.3135 7.17945 12.6853 53.3359 6.99588 12.1262 53.291 6.99977 12.1569 53.3135 7.03793 11.5697 53.3809 7.32287 11.0206 53.3359 7.30343 11.0446 53.3584 7.75368 10.6658 53.4033 7.78099 10.6513 53.3809 8.31647 10.494 53.4707 9.43821 10.8646 53.4707 9.92253 11.8795 53.4932 9.83515 12.4614 53.5605 9.50506 12.9846 53.5156 9.52645 12.9623 53.6055 8.4398 13.4258 53.6279 7.86457 13.3019 53.583 7.893 13.3141 53.6504 7.3841 12.9623 53.6279 7.08635 12.4902 53.6953 6.98809 11.8794 53.6729 7.12277 11.3378 53.7178 7.13608 11.3099 53.7402 7.49567 10.8441 53.7627 8.00918 10.5568 53.7178 7.97983 10.5665 53.7852 8.59424 10.494 53.7627 9.12971 10.6513 53.8301 9.60725 11.0447 53.8525 9.87271 11.5698 53.8525 9.73111 12.6854 53.8975 9.7155 12.7121 53.875 9.34286 13.1275 53.9199 9.31804 13.146 53.9199 8.2244 13.4077 53.9424 7.67358 13.2007 53.9648 8.19393 13.4025 53.9873 7.64758 13.184 54.0322 7.0104 12.223 53.9873 7.01632 12.2534 54.0098 7.01531 11.6649 54.0771 7.26307 11.098 54.0322 7.24527 11.1233 54.0547 7.66931 10.7153 54.1221 8.24997 10.5018 54.0996 8.80736 10.5302 54.1221 9.33883 10.7828 54.1445 9.7286 11.2236 54.1895 9.74374 11.2505 54.1895 9.86569 12.3684 54.2344 9.1342 13.2597 54.3242 7.95544 13.3383 54.3018 7.47624 13.0522 54.3467 7.45341 13.0313 54.3691 7.11208 12.552 54.3691 7.08453 11.4278 54.3916 7.40196 10.9324 54.4814 8.49656 10.488 54.4365 8.46566 10.4875 54.5039 9.06953 10.622 54.4814 9.52299 10.9473 54.5039 9.83341 11.4472 54.5713 9.92094 12.0597 54.5488 9.77679 12.5988 54.6162 9.39529 13.0859 54.6611 8.29075 13.4167 54.6836 7.73107 13.235 54.6611 7.30657 12.8727 54.7061 7.28756 12.8483 54.6836 7.03927 12.3485 54.7061 6.99909 11.7614 54.7285 7.19248 11.2057 54.751 7.58841 10.7704 54.7959 7.61356 10.7524 54.8184 8.15358 10.5187 54.7734 8.1234 10.5254 54.8408 9.67697 11.1404 54.8857 9.69387 11.1663 54.9307 9.88298 12.3037 54.9531 9.63231 12.8361 54.9307 9.21943 13.2116 54.998 8.63511 13.4149 55.0205 8.04852 13.3685 54.998 7.55134 13.1149 55.043 7.52717 13.0956 55.0879 7.33611 11.0048 55.1104 7.79937 10.642 55.1328 8.36783 10.49 55.1553 8.95033 10.5733 55.1777 8.39871 10.4885 55.2002 8.97932 10.584 55.1777 9.45343 10.8785 55.2227 9.47589 10.8997 55.2002 9.79644 11.3566 55.2451 9.80876 11.385 55.2451 9.81661 12.5094 55.2676 9.49054 12.9993 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18.3352 34.5368 6.70091 18.2212 34.5256 6.45388 18.3399 34.4358 6.42463 18.5468 34.5144 6.24968 18.5227 34.5032 6.10447 18.7552 34.4133 6.19044 18.9456 34.3908 6.20595 19.4078 34.3796 6.30899 19.6174 34.3684 6.46633 19.7901 34.4358 6.71233 20.0823 34.4245 6.98319 20.1242 34.3459 6.89081 19.9737 34.3122 7.54307 19.7738 34.2898 7.79178 19.3839 34.3572 7.96346 19.0426 34.2561 7.69804 18.7081 34.2449 7.54715 18.5298 34.3235 7.55612 18.3535 34.3122 7.31208 18.2287 34.301 7.04295 18.1769 34.2898 6.77003 18.2021 34.1999 6.67054 18.3858 34.2785 6.51494 18.3023 34.1887 6.47055 18.5065 34.1775 6.31207 18.6781 34.155 6.16556 19.1167 34.2336 6.02353 19.2217 34.1101 6.61036 19.8857 34.0764 7.2914 19.9256 34.1662 7.18521 20.1055 34.155 7.44382 20.0148 34.0427 7.77241 19.4418 34.1213 7.9402 19.3867 34.0315 7.82294 19.2138 34.0989 7.92022 18.8444 34.0876 7.7985 18.5988 33.9865 7.40674 18.429 34.0764 7.6132 18.3969 34.0652 7.37899 18.2546 34.0539 7.1144 18.1831 33.9641 6.95713 18.3206 34.0427 6.84038 18.1881 33.9529 6.72763 18.364 34.0315 6.5786 18.2693 34.0202 6.34978 18.4202 33.9192 6.22914 18.8298 33.9978 6.05944 18.8787 33.9753 6.05944 19.4213 33.863 6.55728 19.8554 33.8518 6.77108 19.9494 33.9304 6.84038 20.1119 33.8406 7.00261 19.9802 33.8293 7.23354 19.9453 33.8181 7.44561 19.8474 33.9079 7.37899 20.0454 33.8967 7.6132 19.9031 33.8069 7.62203 19.6944 33.7956 7.74884 19.4982 33.7844 7.816 19.2745 33.863 7.96873 19.1859 33.8406 7.83687 18.6594 33.7619 7.75527 18.816 33.7507 7.63217 18.6175 33.8181 7.44382 18.2852 33.8069 7.18521 18.1945 33.7058 6.78618 18.3465 33.6833 6.38872 18.5829 33.7507 6.08194 18.8106 33.6721 6.25477 18.7743 33.6384 6.22324 19.4558 33.6159 6.50658 19.8213 33.6833 6.77003 20.0979 33.5823 7.17439 19.9607 33.6496 7.55612 19.9465 33.5486 7.72118 19.5527 33.6159 7.96346 19.2574 33.5261 7.82399 19.1018 33.6047 7.95505 18.9834 33.5149 7.77777 18.8729 33.5935 7.87068 18.7227 33.5036 7.66962 18.6659 33.5598 7.25499 18.211 33.4699 7.07923 18.324 33.5486 6.98319 18.1758 33.5373 6.71233 18.2177 33.4475 6.62429 18.4072 33.4363 6.43207 18.5399 33.4812 6.02976 19.2811 33.4699 6.10447 19.5448 33.3801 6.3033 19.609 33.4587 6.24968 19.7773 33.4475 6.45388 19.9601 33.3576 6.6562 19.9079 33.4026 7.49601 19.9856 33.3127 7.53537 19.7804 33.3801 7.86537 19.588 33.2903 7.78885 19.3936 33.3464 7.89974 18.7882 33.2903 6.78168 18.1994 33.279 6.52538 18.2965 33.1892 6.47848 18.5001 33.178 6.31792 18.6697 33.1667 6.21094 18.8773 33.1555 6.16603 19.1065 33.2116 6.20555 19.7207 33.133 6.27141 19.5569 33.1218 6.41337 19.7423 33.2004 6.39575 19.918 33.1892 6.63339 20.0546 33.0881 7.0535 19.9782 33.1667 7.17347 20.1078 33.1555 7.43318 20.0202 33.1443 7.65822 19.8638 33.133 7.83079 19.6509 33.0207 7.80997 18.9907 33.0993 7.9239 18.8558 33.0881 7.8052 18.6087 33.0769 7.6224 18.4045 33.0657 7.38995 18.2593 32.987 7.41556 18.4341 33.0544 7.12626 18.1846 32.9533 6.7373 18.3608 32.9421 6.52769 18.4638 32.9309 6.35508 18.6212 33.0207 6.35879 18.4123 33.0095 6.1785 18.6187 32.886 6.24344 19.5025 32.9309 6.82858 20.1099 32.841 6.99242 19.9802 32.9197 7.10253 20.1183 32.8298 7.22376 19.9482 32.8186 7.43702 19.8529 32.7961 7.74451 19.5074 32.7849 7.81441 19.2846 32.7624 7.75931 18.8254 32.841 7.84283 18.6698 32.7512 7.63866 18.6254 32.8298 7.67554 18.4527 32.7175 7.02843 18.3204 32.7849 6.6557 18.2368 32.695 6.57944 18.4313 32.6838 6.39572 18.5755 32.7737 6.41478 18.3675 32.6614 6.18138 18.9854 32.6501 6.16773 19.2185 32.74 6.02449 19.0664 32.7287 6.03961 19.3401 32.6277 6.33275 19.6506 32.7175 6.13036 19.5987 32.6052 6.70331 19.9273 32.6838 6.75842 20.0951 32.6726 7.031 20.1236 32.5827 7.16443 19.9628 32.5715 7.38411 19.8835 32.6501 7.54631 19.9534 32.5603 7.57302 19.7461 32.549 7.71619 19.5616 32.5266 7.82452 19.112 32.594 7.87585 18.7335 32.5041 7.67551 18.6742 32.4929 7.51606 18.5035 32.5715 7.51636 18.3269 32.4817 7.31538 18.384 32.4704 7.08936 18.3251 32.5603 7.26649 18.2143 32.4592 6.85589 18.3315 32.549 6.99514 18.1758 32.5378 6.72379 18.2143 32.5041 6.11443 18.7335 32.4929 6.03326 18.9952 32.4143 6.1957 18.9259 32.4704 6.0997 19.5338 32.3806 6.29772 19.6005 32.4367 6.68954 20.0751 32.4255 6.95928 20.1236 32.3357 7.10418 19.9731 32.4143 7.23187 20.0951 32.4031 7.48572 19.9917 32.3132 7.5276 19.787 32.302 7.68395 19.6135 32.3918 7.70074 19.8218 32.3806 7.85993 19.5987 32.3469 7.90411 18.7994 32.2571 7.70867 18.7255 32.3357 7.77049 18.5601 32.2346 7.37087 18.4096 32.3132 7.33459 18.2368 32.302 7.06681 18.1784 32.2009 6.68939 18.3781 32.1897 6.4865 18.4938 32.2458 6.04726 18.9249 32.2234 6.07388 19.4669 32.1335 6.26648 19.5479 32.2121 6.19861 19.711 32.1223 6.40614 19.7351 32.1111 6.59242 19.876 32.0886 7.04333 19.9788 32.1672 7.1617 20.1099 32.0774 7.27228 19.9326 32.0661 7.47929 19.8245 32.156 7.42246 20.0255 32.0549 7.64799 19.6629 32.1335 7.82458 19.6611 32.0437 7.76502 19.4608 32.1223 7.9341 19.4098 32.1111 7.96932 19.138 32.0998 7.92744 18.8672 32.01 7.73796 18.7791 32.0886 7.81178 18.6187 32.0774 7.6315 18.4123 32.0661 7.40085 18.2642 31.9763 7.20938 18.3479 32.0437 6.86403 18.1846 32.0324 6.60034 18.2593 31.9201 6.23723 18.8111 31.9988 6.06638 18.8558 31.9875 6.02119 19.1261 31.8977 6.17348 19.2691 31.864 6.5401 19.8444 31.9426 6.55711 20.0202 31.8528 6.75153 19.9437 31.8415 6.98223 19.9802 31.9201 7.09064 20.1196 31.8303 7.21395 19.9509 31.9089 7.3569 20.0546 31.8303 7.89551 18.879 31.8528 7.94572 18.9365 31.8415 7.84865 18.6802 37.5691 6.41727 19.7461 37.5803 6.51782 19.8293 37.5578 6.60617 19.8835 37.5466 6.82586 19.9628 37.5241 7.28697 19.9273 37.5691 7.42836 19.8583 37.4905 7.77074 19.4463 37.5354 7.8127 19.2946 37.5129 7.76323 18.8348 37.4792 7.26781 18.3658 37.4006 6.73212 18.3625 37.3894 6.5232 18.4669 37.4455 6.58829 18.4263 37.3669 6.23098 18.8254 37.3557 6.17081 19.0511 37.3894 6.21597 19.4367 37.3332 6.24578 19.5074 37.322 6.37498 19.702 37.3782 6.32666 19.6424 37.3108 6.55327 19.8529 37.2995 6.76652 19.9482 37.3557 6.6938 19.9236 37.3445 6.92119 19.9769 37.2771 7.229 19.9466 37.2883 6.99787 19.9802 37.2658 7.44163 19.85 37.3108 7.56566 19.7532 37.2546 7.61892 19.6979 37.2995 7.71108 19.5704 37.2771 7.82493 19.1222 37.2209 7.81881 19.0457 37.2658 7.78434 18.8922 37.2097 7.75716 18.8204 37.1985 7.6352 18.6212 37.2546 7.6813 18.6826 37.2434 7.52395 18.5099 37.176 7.25299 18.3608 37.1985 6.64263 18.3983 37.1423 6.57473 18.4341 37.1311 6.39196 18.5795 37.1199 6.25693 18.7701 37.1648 6.19851 18.9161 37.1086 6.18032 18.9907 37.0974 6.16819 19.2239 37.1423 6.19699 19.3786 37.0862 6.22151 19.4513 37.1311 6.29225 19.5919 37.0749 6.33605 19.6549 37.1199 6.44313 19.7702 37.0974 6.86056 19.9693 37.0525 6.70843 19.9292 37.0749 7.31975 19.9142 37.0188 7.38892 19.8809 37.0075 7.57692 19.7423 37.0525 7.67821 19.6219 37.0412 7.78263 19.413 36.9739 7.82425 19.1065 37.0075 7.71383 18.7343 36.9402 7.5118 18.5001 36.9851 7.37992 18.4143 36.9177 7.08395 18.3245 36.9739 7.15979 18.3362 36.9626 6.92663 18.3226 36.9065 6.85052 18.3324 36.884 6.43556 18.5367 36.9402 6.49459 18.4876 36.9289 6.32991 18.6532 36.8615 6.19425 18.9312 36.8279 6.3007 19.605 36.8728 6.39901 19.7279 36.8054 6.65188 19.906 36.8391 7.03316 19.9794 36.7829 7.10958 19.9723 36.8279 7.26265 19.936 36.7717 7.33408 19.9079 36.7605 7.53177 19.7835 36.7268 7.82521 19.1677 36.7829 7.82003 19.2442 36.7156 7.79728 18.9358 36.7605 7.74246 18.7883 36.6819 7.366 18.4072 36.738 7.433 18.4446 36.7156 6.98768 18.3198 36.6706 7.14443 18.3333 36.7043 6.75674 18.3547 36.6482 6.68433 18.3801 36.6369 6.4822 18.4972 36.6257 6.32067 18.6659 36.6819 6.36825 18.6056 36.6594 6.17428 19.0255 36.6482 6.17208 19.259 36.6257 6.35811 19.6825 36.5808 6.2691 19.5527 36.5696 6.41 19.739 36.6145 6.53162 19.8388 36.6032 6.74181 19.9407 36.5808 7.20411 19.9535 36.5134 7.48371 19.8213 36.5022 7.65134 19.6586 36.5246 7.82166 19.0713 36.4573 7.73551 18.7743 36.5134 7.76704 18.8442 36.4348 7.41964 18.4365 36.4909 7.48371 18.4787 36.4797 7.27741 18.3692 36.4236 7.20411 18.3465 36.4123 6.97204 18.3201 36.4011 6.74181 18.3593 36.4573 6.81589 18.3393 36.446 6.5972 18.4213 36.4348 6.41 18.561 36.3674 6.23502 18.816 36.4123 6.18567 18.9654 36.4011 6.16629 19.1982 36.3786 6.32067 19.6341 36.3337 6.24145 19.4982 36.3 6.75674 19.9453 36.2551 7.61214 19.7055 36.3113 7.55821 19.7601 36.3 7.70587 19.5792 36.2326 7.81363 19.2893 36.2776 7.82521 19.1323 36.2551 7.68698 18.691 36.2439 7.53177 18.5165 36.199 7.64164 18.6291 36.1877 7.47098 18.4696 36.1653 7.03316 18.3206 36.2214 7.10958 18.3277 36.154 6.80066 18.3429 36.2102 6.87602 18.3283 36.1316 6.39901 18.5721 36.1653 6.20144 18.9064 36.1428 6.19425 19.3688 36.0754 6.32991 19.6468 36.0642 6.49459 19.8124 36.0866 7.08395 19.9755 36.0754 7.31035 19.9181 36.053 7.67237 19.6303 36.0305 7.82425 19.1935 36.0193 7.80355 18.9608 35.9968 7.57692 18.5577 35.9407 7.51974 18.5065 35.9856 7.38892 18.4191 35.9182 7.09407 18.3257 35.907 6.86056 18.3307 35.9519 6.70843 18.3708 35.8957 6.6377 18.4006 35.9294 6.33605 18.6451 35.8733 6.29225 18.7081 35.9182 6.22151 18.8487 35.907 6.16819 19.0761 35.8396 6.19851 19.3839 35.8283 6.29517 19.5965 35.862 6.57473 19.8659 35.8283 7.25299 19.9392 35.8171 7.46259 19.8362 35.8059 7.6352 19.6788 35.7947 7.75716 19.4796 35.7273 7.82493 19.1778 35.7722 7.81528 19.0208 35.716 7.79984 18.9456 35.7048 7.71108 18.7296 35.761 7.74684 18.7975 35.6824 7.37508 18.4118 35.7273 7.229 18.3534 35.716 6.99787 18.3198 35.6711 7.15444 18.3352 35.6599 6.92119 18.323 35.6487 6.6938 18.3764 35.6936 6.55327 18.4471 35.6824 6.37498 18.598 35.615 6.21597 18.8633 35.6037 6.16695 19.0916 35.6487 6.17081 19.2489 35.5588 6.58829 19.8737 35.5476 6.80596 19.9584 35.5925 6.96186 19.9796 35.5813 7.19423 19.956 35.5588 7.59457 19.7245 35.5027 7.64505 19.6667 35.5476 7.73085 19.5348 35.4802 7.82063 19.2388 35.469 7.8127 19.0054 35.5251 7.82256 19.0815 35.5139 7.77074 18.8537 35.5027 7.65753 18.6494 35.4577 7.74007 18.7834 35.4914 7.49191 18.4848 35.4577 6.82586 18.3372 35.4016 6.75153 18.3563 35.4465 6.60617 18.4165 35.3791 6.36469 18.6098 35.3567 6.17348 19.0309 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7.72864 19.539 33.1555 7.92022 19.4556 33.1443 7.96873 19.1859 33.2341 7.80795 19.3193 33.2229 7.82294 19.0862 33.133 7.9402 18.9133 33.1106 7.66693 18.4444 33.1892 7.4957 18.4876 33.0993 7.44382 18.2852 33.178 7.2914 18.3744 33.1667 7.06366 18.3226 33.0657 6.64452 18.241 33.1443 6.61036 18.4143 33.032 6.08194 18.8106 33.1106 6.18912 18.9509 33.0095 6.04202 19.3518 33.0769 6.31207 19.6219 32.987 6.29784 19.8304 33.0657 6.47055 19.7935 33.0544 6.67054 19.9142 32.9533 7.04295 20.1231 33.032 7.12973 19.9693 32.9758 7.82539 19.1473 32.9646 7.79178 18.9161 32.8747 7.87068 18.7227 32.9533 7.69512 18.7035 32.9421 7.54307 18.5262 32.8635 7.71701 18.4957 32.8523 7.50622 18.3206 32.841 7.25499 18.211 32.9197 7.12434 18.3299 32.8298 6.98319 18.1758 32.8186 6.71233 18.2177 32.8747 6.30899 18.6826 32.7849 6.10939 18.7443 32.8635 6.20595 18.8922 32.7624 6.02976 19.2811 32.7512 6.10447 19.5448 32.841 6.19044 19.3544 32.8186 6.42463 19.7532 32.7287 6.45388 19.9601 32.8074 6.6152 19.8882 32.7961 6.83584 19.9648 32.7063 6.97123 20.124 32.695 7.24345 20.0921 32.6726 7.70893 19.8131 32.7512 7.66363 19.6424 32.6614 7.86537 19.588 32.74 7.77431 19.4367 32.6501 7.95293 19.3283 32.7287 7.82334 19.2084 32.7175 7.80682 18.9754 32.6277 7.89974 18.7882 32.7063 7.72607 18.7562 32.6838 7.402 18.4263 32.6052 7.56586 18.3604 32.594 7.32336 18.2327 32.5715 6.78168 18.1994 32.5603 6.52538 18.2965 32.549 6.30624 18.4611 32.6389 6.51485 18.4728 32.5378 6.14163 18.6802 32.6052 6.16966 19.0612 32.5715 6.3818 19.7096 32.4817 6.39575 19.918 32.4704 6.63339 20.0546 32.5603 6.56193 19.8583 32.4592 6.89965 20.1196 32.5378 7.00806 19.9802 32.448 7.17347 20.1078 32.5154 7.45018 19.8444 32.5041 7.62559 19.6902 32.4255 7.65822 19.8638 32.4143 7.83079 19.6509 32.4929 7.75111 19.4933 32.4817 7.8168 19.2691 32.3806 7.9239 18.8558 32.4592 7.75306 18.8111 32.3581 7.6224 18.4045 32.448 7.62866 18.6134 32.3357 7.12626 18.1846 32.3244 6.85219 18.1863 32.3132 6.58944 18.2642 32.3918 6.56597 18.4393 32.302 6.35879 18.4123 32.3806 6.385 18.5869 32.2907 6.1785 18.6187 32.3694 6.25232 18.7791 32.2795 6.06284 18.8672 32.3581 6.17843 19.0007 32.3469 6.16916 19.2341 32.2571 6.05618 19.4098 32.3357 6.22527 19.4608 32.2458 6.16571 19.6611 32.2346 6.34088 19.8719 32.2234 6.56782 20.0255 32.302 6.71801 19.9326 32.1897 7.36797 20.0501 32.1784 7.60391 19.9106 32.1672 7.79168 19.711 32.156 7.9164 19.4669 32.2458 7.72381 19.5479 32.2346 7.80581 19.3292 32.1448 7.96822 19.1978 32.2121 7.77594 18.8677 32.2009 7.66642 18.6614 32.1111 7.67554 18.4527 32.1672 7.07381 18.3235 32.0886 7.19692 18.1969 32.156 6.8405 18.3343 32.0661 6.6557 18.2368 32.1335 6.42808 18.5436 32.0437 6.2198 18.5601 32.1223 6.28162 18.7255 32.1111 6.19162 18.941 32.01 6.03961 19.3401 32.0886 6.20449 19.4033 31.9988 6.13036 19.5987 31.9763 6.50457 19.9917 32.0437 6.88611 19.9731 32.0324 7.11966 19.9709 32.0212 7.34336 19.9037 31.9314 7.54631 19.9534 31.9201 7.74825 19.7681 32.01 7.5395 19.7769 31.9089 7.89059 19.5338 31.9875 7.79043 19.3884 31.9763 7.82536 19.1575 31.9426 7.55068 18.533 31.8528 7.51636 18.3269 31.9314 7.35685 18.4027 31.8415 7.26649 18.2143 31.8303 6.99514 18.1758 31.9089 6.90092 18.3251 31.8303 6.54965 18.322 31.8752 6.31478 18.6742 31.864 6.20917 18.8825 31.8528 6.16576 19.112 31.8303 6.14874 18.8851 31.8303 6.12726 19.1195 31.8415 6.18799 19.3445 37.5578 7.2086 18.1994 37.5803 7.48227 18.3063 37.5466 6.9354 18.1776 37.5578 6.47392 18.3269 37.5354 6.66693 18.2327 37.5129 6.2271 18.5506 37.5466 6.2653 18.5046 37.5017 6.09055 18.7882 37.5354 6.11443 18.7335 37.5241 6.03326 18.9952 37.5129 6.02822 19.2693 37.4905 6.24204 19.7681 37.4568 6.28135 19.8131 37.4792 6.44398 19.9534 37.4343 6.74684 20.0921 37.4006 7.53641 19.9601 37.4231 7.70074 19.8218 37.3669 7.96053 19.2811 37.3894 7.9658 19.0664 37.3782 7.90411 18.7994 37.3445 7.8809 18.7443 37.3332 7.73285 18.5136 37.3445 7.33459 18.2368 37.2995 7.0071 18.1758 37.3332 7.06681 18.1784 37.322 6.79336 18.1969 37.2658 6.27327 18.4957 37.2434 6.03524 18.9834 37.2209 6.09505 19.5228 37.2434 6.19861 19.711 37.2097 6.23451 19.7588 37.1985 6.43416 19.9465 37.2209 6.62231 20.0501 37.2097 6.88776 20.1183 37.1985 7.1617 20.1099 37.1872 7.42246 20.0255 37.1535 7.47535 19.9977 37.1423 7.69244 19.8304 37.176 7.64941 19.8719 37.1311 7.92744 18.8672 37.1199 7.81178 18.6187 37.0974 7.40085 18.2642 37.0862 7.13809 18.1863 37.0525 7.07873 18.1793 37.0412 6.80508 18.1945 37.0637 6.60034 18.2593 37.03 6.54646 18.2852 37.0525 6.36789 18.4045 37.0075 6.15342 18.6594 36.9963 6.05009 18.9133 37.0075 6.05307 19.3983 36.9626 6.19179 19.7012 36.9514 6.37709 19.9031 36.9402 6.6113 20.0454 36.9626 6.81682 20.1078 36.9514 7.09064 20.1196 36.9289 6.87588 20.1169 36.9177 7.14991 20.1119 36.9289 7.59453 19.918 36.9065 7.91244 19.4782 36.8503 7.93084 18.8787 36.8391 7.81824 18.6288 36.8728 7.84865 18.6802 36.8615 7.68404 18.4611 36.8503 7.46491 18.2965 36.8391 7.2086 18.1994 36.8166 7.41169 18.2693 36.8054 7.14991 18.1881 36.8279 6.9354 18.1776 36.7717 6.37709 18.3969 36.7492 6.07007 18.8444 36.7156 6.15342 19.6406 36.738 6.28135 19.8131 36.7043 6.32336 19.8556 36.7268 6.49428 19.9856 36.6931 6.54646 20.0148 36.6819 6.80508 20.1055 36.6931 7.28937 20.0788 36.6706 7.07873 20.1207 36.6594 7.88581 19.5448 36.6145 7.96675 19.2217 36.592 7.85435 18.6907 36.5808 7.69244 18.4696 36.5696 7.47535 18.3023 36.5471 6.94734 18.1769 36.5359 6.67821 18.2287 36.5583 6.48406 18.3206 36.5134 6.23451 18.5412 36.5471 6.27327 18.4957 36.5022 6.09505 18.7772 36.5359 6.11961 18.7227 36.4909 6.02683 19.0426 36.4685 6.11961 19.5773 36.4909 6.23451 19.7588 36.4797 6.43416 19.9465 36.446 6.48406 19.9794 36.4348 6.7353 20.089 36.4011 7.52643 19.9666 36.4348 7.47535 19.9977 36.4123 7.85435 19.6093 36.3899 7.73285 19.7864 36.3674 7.95885 19.293 36.3562 7.96053 19.0189 36.3449 7.88581 18.7552 36.3337 7.74061 18.5227 36.3562 7.58506 18.3747 36.3225 7.53641 18.3399 36.3449 7.34577 18.241 36.3337 7.07873 18.1793 36.3113 7.28937 18.2212 36.3 7.01905 18.176 36.3225 6.80508 18.1945 36.3113 6.54646 18.2852 36.2776 6.49428 18.3144 36.2663 6.28135 18.4869 36.3 6.32336 18.4444 36.2888 6.15342 18.6594 36.2776 6.05009 18.9133 36.2326 6.02558 19.2455 36.2551 6.07007 19.4556 36.2439 6.19179 19.7012 36.2214 6.6113 20.0454 36.2102 6.87588 20.1169 36.1765 6.9354 20.1224 36.1653 7.2086 20.1006 36.1877 7.41169 20.0307 36.1428 7.68404 19.8389 36.1203 7.94572 19.3635 36.1316 7.93084 18.8787 36.0979 7.91244 18.8218 36.1091 7.6405 18.4202 36.0642 7.3569 18.2454 36.0866 7.14991 18.1881 36.053 6.37709 18.3969 36.0305 6.55711 18.2798 36.0193 6.33207 18.4362 36.0193 6.02155 19.1141 36.008 6.05009 19.3867 35.9968 6.15342 19.6406 35.9519 6.36789 19.8955 35.9856 6.32336 19.8556 35.9407 6.60034 20.0407 35.9631 6.80508 20.1055 35.9294 6.86403 20.1154 35.9182 7.13809 20.1137 35.9407 7.34577 20.059 35.907 7.40085 20.0358 35.8957 7.6315 19.8877 35.8733 7.92744 19.4328 35.862 7.96932 19.162 35.8957 7.96675 19.2217 35.8733 7.85435 18.6907 35.862 7.69244 18.4696 35.8396 7.82458 18.6389 35.8283 7.64941 18.4281 35.8171 7.42246 18.2745 35.8059 7.1617 18.1901 35.7722 6.38637 18.3894 35.7834 6.09505 18.7772 35.7722 6.02683 19.0426 35.7273 6.04726 19.3751 35.761 6.03524 19.3166 35.7497 6.11961 19.5773 35.7385 6.27327 19.8043 35.7048 6.31475 19.8473 35.6936 6.53588 20.0092 35.7273 6.48406 19.9794 35.6824 6.79336 20.1031 35.6711 7.06681 20.1216 35.6599 7.33459 20.0632 35.6936 7.27795 20.0823 35.6711 7.73285 19.7864 35.6487 7.5755 19.9325 35.6599 7.8809 19.5557 35.6374 7.96053 19.0189 35.6262 7.88581 18.7552 35.615 7.74061 18.5227 35.57 7.48572 18.3083 35.5813 7.01905 18.176 35.5476 6.95928 18.1764 35.5139 6.24204 18.5319 35.5027 6.0997 18.7662 35.5364 6.12492 18.712 35.5251 6.03735 18.9717 35.5139 6.02558 19.2455 35.4914 6.02822 19.0307 35.469 6.11443 19.5665 35.5027 6.09055 19.5118 35.4577 6.2653 19.7954 35.4802 6.42443 19.9396 35.4353 6.72379 20.0857 35.424 6.99514 20.1243 35.4128 7.26649 20.0857 35.4353 7.46491 20.0035 35.4128 7.84865 19.6198 35.4016 7.94572 19.3635 35.3567 7.96207 19.0307 35.3454 7.89059 18.7662 35.3342 7.74825 18.5319 35.323 7.54631 18.3466 35.3454 7.3569 18.2454 35.3117 7.30075 18.2249 35.3117 6.55711 18.2798 35.2781 6.50457 18.3083 35.3005 6.33207 18.4362 35.2668 6.28955 18.4782 35.2893 6.1595 18.6491 35.2781 6.05307 18.9017 35.2444 6.03961 18.9599 35.2331 6.02449 19.2336 35.2219 6.08617 19.5006 35.2444 6.18508 19.6913 35.1994 6.41478 19.9325 35.1882 6.6557 20.0632 35.1994 7.13809 20.1137 35.1545 7.4544 20.0092 35.1433 7.67554 19.8473 35.177 7.6315 19.8877 35.1657 7.81178 19.6813 35.1545 7.92744 19.4328 35.1208 7.94303 19.3751 35.1433 7.96932 19.162 35.1096 7.96822 19.1022 35.0871 7.79168 18.589 35.0984 7.42246 18.2745 35.0647 6.62231 18.2499 35.0422 6.19861 18.589 35.0085 6.16571 18.6389 35.031 6.07388 18.8331 35.0085 6.04726 19.3751 34.9973 6.14746 19.6302 34.9524 6.35879 19.8877 34.9524 7.06681 20.1216 34.9187 7.12626 20.1154 34.9299 7.5755 19.9325 34.8625 7.9691 19.1739 34.8513 7.93722 18.9017 34.8738 7.85993 18.7013 34.8401 7.83079 18.6491 34.8625 7.70074 18.4782 34.8176 7.43318 18.2798 34.8401 7.23187 18.2049 34.8064 7.17347 18.1922 34.8288 6.95928 18.1764 34.7951 6.89965 18.1804 34.7839 6.63339 18.2454 34.7727 6.39575 18.382 34.7615 6.20555 18.5793 34.7502 6.07784 18.8218 34.7727 6.02822 19.0307 34.7278 6.04457 19.3635 34.7615 6.03326 19.3048 34.7502 6.11443 19.5665 34.7165 6.14163 19.6198 34.7053 6.30624 19.8389 34.7278 6.47392 19.9731 34.7165 6.72379 20.0857 34.6828 6.78168 20.1006 34.6716 7.05488 20.1224 34.6828 7.51636 19.9731 34.6604 7.32336 20.0673 34.6716 7.72499 19.7954 34.6491 7.56586 19.9396 34.6379 7.76319 19.7494 34.6491 7.95702 19.3048 34.6042 7.95293 18.9717 34.6267 7.89059 18.7662 34.593 7.86537 18.712 34.5818 7.70893 18.4869 34.5593 7.24345 18.2079 34.5818 7.031 18.1764 34.5481 6.97123 18.176 34.5705 6.75842 18.2049 34.5593 6.50457 18.3083 34.5368 6.13036 18.7013 34.5256 6.03961 18.9599 34.5144 6.02449 19.2336 34.4919 6.02976 19.0189 34.4807 6.03144 19.293 34.4695 6.10939 19.5557 34.4919 6.2198 19.7399 34.4582 6.25743 19.7864 34.4807 6.41478 19.9325 34.447 6.46386 19.9666 34.4582 6.92347 20.1216 34.4133 7.25499 20.089 34.4245 7.67554 19.8473 34.4021 7.50622 19.9794 34.3908 7.71701 19.8043 34.3796 7.87068 19.5773 34.4021 7.94303 19.3751 34.3684 7.95505 19.3166 34.3908 7.96822 19.1022 34.3459 7.89523 18.7772 34.3684 7.79168 18.589 34.3347 7.75578 18.5412 34.3235 6.82858 18.1901 34.3122 6.56782 18.2745 34.2673 6.29784 18.4696 34.2561 6.13593 18.6907 34.2785 6.05618 18.8902 34.2449 6.04202 18.9482 34.2673 6.02097 19.162 34.2224 6.08194 19.4894 34.2112 6.21262 19.7304 34.2336 6.35879 19.8877 34.1999 6.40522 19.9253 34.1887 6.64452 20.059 34.2112 6.85219 20.1137 34.1775 6.91155 20.1207 34.1999 7.12626 20.1154 34.1438 7.66693 19.8556 34.1325 7.83687 19.6406 34.1101 7.96873 19.1141 34.1438 7.9691 19.1739 34.1101 7.65822 18.4362 34.0764 6.89965 18.1804 34.0652 6.63339 18.2454 34.0539 6.39575 18.382 34.0427 6.20555 18.5793 34.009 6.17204 18.6288 34.0315 6.07784 18.8218 33.9865 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26.6881 36.154 6.80066 26.8429 36.1316 6.39901 27.0721 36.0305 6.07007 27.3444 36.1203 6.26165 27.261 36.1091 6.18233 27.4807 36.0193 6.02155 27.6141 36.0866 6.21787 27.9418 35.9968 6.15342 28.1406 35.9856 6.32336 28.3556 36.0754 6.32991 28.1468 36.0642 6.49459 28.3124 35.9743 6.54646 28.5148 35.9631 6.80508 28.6055 35.9519 7.07873 28.6207 36.0417 6.92663 28.4774 36.0193 7.37992 28.3857 35.9294 7.58506 28.4253 36.008 7.5696 28.2494 35.9182 7.77767 28.2304 35.9968 7.71383 28.0657 35.8845 7.94827 27.4482 35.9519 7.67821 27.1781 35.8508 7.47535 26.8023 35.9294 7.31975 26.8858 35.8396 7.22025 26.7021 35.8283 6.94734 26.6769 35.8957 6.6377 26.9006 35.8845 6.44313 27.0298 35.8733 6.29225 27.2081 35.862 6.19699 27.4214 35.7722 6.02683 27.5426 35.8396 6.19851 27.8839 35.7497 6.11961 28.0773 35.8171 6.44722 28.2738 35.8059 6.64263 28.4017 35.7947 6.86594 28.4701 35.7834 7.09948 28.4737 35.7048 7.0071 28.6242 35.7722 7.32476 28.412 35.761 7.52395 28.2901 35.7497 7.6813 28.1174 35.6711 7.73285 28.2864 35.7385 7.78434 27.9078 35.6599 7.8809 28.0557 35.6487 7.95885 27.793 35.7048 7.71108 27.2296 35.6262 7.88581 27.2552 35.615 7.74061 27.0227 35.6824 7.37508 26.9118 35.5925 7.28937 26.7212 35.6711 7.15444 26.8352 35.5476 6.28135 26.9869 35.6262 6.32666 27.1576 35.5364 6.12492 27.212 35.5251 6.03735 27.4717 35.6037 6.16695 27.5916 35.5139 6.02558 27.7455 35.5925 6.18346 27.8246 35.5027 6.09055 28.0118 35.4914 6.2271 28.2494 35.4802 6.42443 28.4396 35.4577 6.9354 28.6224 35.5251 7.26781 28.4342 35.424 7.68404 28.3389 35.5139 7.47543 28.3272 35.4128 7.84865 28.1198 35.4016 7.94572 27.8635 35.4802 7.82063 27.7388 35.469 7.8127 27.5054 35.3904 7.96756 27.5903 35.4577 7.74007 27.2834 35.4465 7.60848 27.0904 35.424 7.21395 26.8491 35.323 6.81682 26.6922 35.3117 6.55711 26.7798 35.3005 6.33207 26.9362 35.2781 6.05307 27.4017 35.3679 6.23918 27.3067 35.3342 6.23723 27.9889 35.323 6.36162 28.1866 35.2331 6.36789 28.3955 35.3005 6.747 28.4423 35.2893 6.97749 28.4801 35.1882 7.40085 28.5358 35.2668 7.42431 28.3607 35.177 7.6315 28.3877 35.1657 7.81178 28.1813 35.2444 7.73796 28.0209 35.1545 7.92744 27.9328 35.2331 7.81186 27.7993 35.1433 7.96932 27.662 35.2107 7.76502 27.3392 35.1208 7.82458 27.1389 35.1994 7.64799 27.1371 35.1882 7.47929 26.9755 35.177 7.27228 26.8674 35.0871 7.1617 26.6901 35.1657 7.04333 26.8211 35.1545 6.81058 26.8405 35.1321 6.40614 27.0649 35.1208 6.26648 27.2521 35.031 6.07388 27.3331 35.1096 6.18447 27.4708 35.0984 6.16663 27.7036 35.0085 6.04726 27.8751 34.9973 6.14746 28.1302 35.0759 6.32386 28.1386 34.9748 6.53588 28.5092 35.0534 6.68939 28.4219 35.0422 6.91648 28.4765 34.9524 7.06681 28.6216 35.0198 7.37087 28.3904 35.0085 7.56221 28.2564 34.9299 7.5755 28.4325 34.9187 7.77049 28.2399 34.8962 7.9658 27.7336 34.9748 7.82507 27.6269 34.8738 7.85993 27.2013 34.9636 7.7858 27.3967 34.8625 7.70074 26.9782 34.9411 7.5276 27.013 34.8513 7.48572 26.8083 34.8176 6.68954 26.7249 34.9074 6.87062 26.8291 34.8962 6.64693 26.8963 34.7951 6.24204 27.0319 34.8738 6.29772 27.1995 34.7727 6.02822 27.5307 34.8401 6.1957 27.8741 34.739 6.2653 28.2954 34.7278 6.47392 28.4731 34.7951 6.85589 28.4685 34.6941 7.26649 28.5857 34.7615 7.51606 28.2965 34.7502 7.67551 28.1258 34.739 7.78112 27.9175 34.6491 7.95702 27.8048 34.6379 7.96207 27.5307 34.6267 7.89059 27.2662 34.7053 7.71619 27.2384 34.6042 7.54631 26.8466 34.6828 7.38411 26.9165 34.6716 7.16443 26.8372 34.5705 6.75842 26.7049 34.6379 6.49838 26.9848 34.6267 6.33275 27.1494 34.5256 6.03961 27.4599 34.6155 6.21955 27.3537 34.6042 6.16773 27.5815 34.593 6.18138 27.8146 34.5144 6.02449 27.7336 34.4919 6.2198 28.2399 34.4695 6.6557 28.5632 34.5481 6.79605 28.456 34.4582 6.92347 28.6216 34.5256 7.25816 28.4375 34.4358 7.4544 28.5092 34.5144 7.46709 28.3331 34.5032 7.63866 28.1746 34.4919 7.75931 27.9746 34.4695 7.81441 27.5154 34.4582 7.74451 27.2926 34.3684 7.79168 27.089 34.3572 7.60391 26.8894 34.4358 7.43702 26.9471 34.3347 7.10253 26.6817 34.3235 6.82858 26.6901 34.3122 6.56782 26.7745 34.4021 6.76129 26.8534 34.301 6.34088 26.9281 34.3796 6.37137 27.1021 34.2898 6.16571 27.1389 34.2785 6.05618 27.3902 34.3684 6.24344 27.2975 34.2673 6.02097 27.662 34.2561 6.06284 27.9328 34.2449 6.1785 28.1813 34.2336 6.35879 28.3877 34.3122 6.52769 28.3362 34.301 6.7373 28.4392 34.1999 7.12626 28.6154 34.2785 7.19952 28.4547 34.2673 7.41556 28.3659 34.1438 7.9691 27.6739 34.2112 7.76877 27.3487 34.1101 7.65822 26.9362 34.1887 7.48753 26.9815 34.0876 7.17347 26.6922 34.1662 7.0535 26.8218 34.0652 6.63339 26.7454 34.0427 6.20555 27.0793 34.1325 6.41337 27.0577 34.1213 6.27141 27.2431 34.0315 6.07784 27.3218 34.0202 6.02273 27.5903 34.1101 6.18673 27.4608 34.0989 6.16603 27.6935 34.0876 6.21094 27.9227 33.9978 6.14163 28.1198 33.9865 6.30624 28.3389 33.9753 6.52538 28.5035 34.0652 6.47848 28.2999 33.9641 6.78168 28.6006 34.0539 6.67994 28.4181 34.0427 6.90634 28.4755 33.9529 7.05488 28.6224 34.0315 7.13977 28.4676 33.9416 7.32336 28.5673 33.9304 7.56586 28.4396 34.009 7.55472 28.2633 33.9192 7.76319 28.2494 33.9978 7.70341 28.0832 33.9079 7.89974 28.0118 33.8967 7.9647 27.7455 33.8855 7.95293 27.4717 33.9641 7.78885 27.4064 33.9529 7.68959 27.195 33.9304 7.3384 26.894 33.8406 7.24345 26.7079 33.8181 6.70091 26.7212 33.8069 6.45388 26.8399 33.7956 6.24968 27.0227 33.8742 6.3033 27.191 33.7844 6.10447 27.2552 33.7732 6.02976 27.5189 33.8406 6.19301 27.8642 33.7619 6.03144 27.793 33.7507 6.10939 28.0557 33.7395 6.25743 28.2864 33.8293 6.28442 28.0792 33.8181 6.43207 28.2601 33.8069 6.62429 28.3928 33.717 6.71233 28.5823 33.7058 6.98319 28.6242 33.6946 7.25499 28.589 33.7732 7.30596 28.4199 33.7619 7.50809 28.3028 33.6721 7.71701 28.3043 33.7395 7.77777 27.9271 33.7282 7.82399 27.6982 33.6384 7.96346 27.5426 33.717 7.80462 27.4654 33.7058 7.72118 27.2473 33.6047 7.55612 26.8535 33.6946 7.58029 27.061 33.6833 7.39309 26.9213 33.5598 6.51494 26.8023 33.6384 6.50658 26.9787 33.5373 6.13593 27.1907 33.5261 6.04202 27.4482 33.5935 6.17942 27.8046 33.4924 6.21262 28.2304 33.4812 6.40522 28.4253 33.5598 6.57065 28.3635 33.5486 6.78618 28.4535 33.4699 6.64452 28.559 33.5261 7.24848 28.4407 33.5149 7.45867 28.3388 33.4138 7.83687 28.1406 33.4026 7.9402 27.8867 33.3801 7.92022 27.3444 33.3576 7.6132 26.8969 33.3464 7.37899 26.7546 33.3352 7.1144 26.6831 33.3127 6.5786 26.7693 33.3913 6.55728 26.9446 33.3015 6.34978 26.9202 33.2903 6.17204 27.1288 33.279 6.05944 27.3787 33.3576 6.17665 27.5107 33.2678 6.02089 27.65 33.3352 6.22914 27.9702 33.2453 6.17204 28.1712 33.324 6.34864 28.1709 33.2116 6.84038 28.6119 33.2903 6.95713 28.4794 33.1892 7.37899 28.5454 33.178 7.6132 28.4031 33.2566 7.59128 28.2279 33.2453 7.72864 28.039 33.1555 7.92022 27.9556 33.1443 7.96873 27.6859 33.133 7.9402 27.4133 33.2116 7.77241 27.3582 33.1218 7.83687 27.1594 33.2004 7.66038 27.1532 33.1106 7.66693 26.9444 33.0993 7.44382 26.7852 33.178 7.2914 26.8744 33.0769 6.91155 26.6793 33.0657 6.64452 26.741 33.1443 6.61036 26.9143 33.0432 6.21262 27.0696 33.0095 6.04202 27.8518 33.0881 6.20766 27.913 32.9983 6.13593 28.1093 33.0769 6.31207 28.1219 32.987 6.29784 28.3304 32.9533 7.04295 28.6231 33.0432 6.89622 28.4743 33.032 7.12973 28.4693 32.9421 7.31208 28.5713 33.0207 7.35258 28.3994 32.9309 7.55612 28.4465 32.9197 7.75578 28.2588 32.9084 7.89523 28.0228 32.9758 7.82539 27.6473 32.9646 7.79178 27.4161 32.8635 7.71701 26.9957 32.841 7.25499 26.711 32.9309 7.34765 26.8983 32.9197 7.12434 26.8299 32.8298 6.98319 26.6758 32.8186 6.71233 26.7177 32.8972 6.66553 26.888 32.8074 6.46386 26.8334 32.7961 6.25743 27.0136 32.886 6.46633 27.0099 32.7849 6.10939 27.2443 32.8635 6.20595 27.3922 32.8523 6.16536 27.6222 32.8298 6.27921 28.0704 32.8074 6.6152 28.3882 32.7175 6.70091 28.5788 32.7063 6.97123 28.624 32.7849 7.06909 28.4769 32.695 7.24345 28.5921 32.6726 7.70893 28.3131 32.6614 7.86537 28.088 32.6501 7.95293 27.8283 32.7287 7.82334 27.7084 32.6389 7.9647 27.5545 32.7063 7.72607 27.2562 32.6164 7.76319 27.0506 32.6838 7.402 26.9263 32.594 7.32336 26.7327 32.6614 6.95168 26.8209 32.5715 6.78168 26.6994 32.6389 6.51485 26.9728 32.6052 6.16966 27.5612 32.5266 6.04457 27.4365 32.4817 6.39575 28.418 32.4704 6.63339 28.5546 32.448 7.17347 28.6078 32.5378 7.00806 28.4802 32.4367 7.43318 28.5202 32.4255 7.65822 28.3638 32.5154 7.45018 28.3444 32.5041 7.62559 28.1902 32.4143 7.83079 28.1509 32.4031 7.93722 27.8983 32.4817 7.8168 27.7691 32.3918 7.9691 27.6261 32.3806 7.9239 27.3558 32.4704 7.81747 27.5356 32.448 7.62866 27.1134 32.4367 7.45414 26.9582 32.4255 7.24328 26.8577 32.3244 6.85219 26.6863 32.3132 6.58944 26.7642 32.2907 6.1785 27.1187 32.3806 6.385 27.0869 32.2795 6.06284 27.3672 32.3581 6.17843 27.5007 32.2683 6.02097 27.638 32.3469 6.16916 27.7341 32.2458 6.16571 28.1611 32.2346 6.34088 28.3719 32.2234 6.56782 28.5255 32.2121 6.82858 28.6099 32.2907 6.94695 28.4788 32.2009 7.10253 28.6183 32.2795 7.17971 28.4595 32.2683 7.39786 28.376 32.1672 7.79168 28.211 32.156 7.9164 27.9669 32.2346 7.80581 27.8292 32.1335 7.94303 27.4249 32.1223 7.84283 27.1698 32.1111 7.67554 26.9527 32.0998 7.4544 26.7908 32.1448 6.61942 26.9096 32.1335 6.42808 27.0436 32.0437 6.2198 27.0601 32.0324 6.08617 27.2994 32.0212 6.02449 27.5664 32.0998 6.16521 27.6731 32.0886 6.20449 27.9033 31.9988 6.13036 28.0987 31.9875 6.28955 28.3218 32.0549 6.66119 28.4101 31.9651 6.75842 28.5951 32.0437 6.88611 28.4731 32.0212 7.34336 28.4037 32.01 7.5395 28.2769 31.9988 7.69256 28.1005 31.9875 7.79043 27.8884 31.9089 7.89059 28.0338 31.9651 7.79459 27.4259 31.8865 7.95702 27.4952 31.8752 7.87585 27.2335 31.9538 7.70055 27.2121 31.8528 7.51636 26.8269 31.8303 6.99514 26.6758 31.9201 7.1344 26.8315 31.8977 6.6749 26.884 31.8865 6.47423 27.0035 31.8752 6.31478 27.1742 31.864 6.20917 27.3825 31.8303 6.14874 27.3851 31.8303 6.12726 27.6195 37.5578 7.2086 26.6994 37.5803 7.2473 26.7089 37.5691 7.46491 26.7965 37.5578 6.47392 26.8269 37.5241 6.42443 26.8604 37.5466 6.2653 27.0046 37.5017 6.09055 27.2882 37.468 6.12492 28.088 37.4905 6.24204 28.2681 37.468 6.68954 28.5751 37.4455 7.23187 28.5951 37.4231 7.01905 28.624 37.4343 6.74684 28.5921 37.4118 7.28937 28.5788 37.4343 7.48572 28.4917 37.4006 7.53641 28.4601 37.3669 7.96053 27.7811 37.3782 7.90411 27.2994 37.3445 7.8809 27.2443 37.3557 7.5755 26.8675 37.322 7.52643 26.8334 37.322 6.79336 26.6969 37.2883 6.7353 26.711 37.2658 6.27327 26.9957 37.2546 6.11961 27.2227 37.2658 6.02207 27.6978 37.2322 6.02683 27.7574 37.2546 6.07388 27.9669 37.2322 6.38637 28.4106 37.1872 6.67821 28.5713 37.2209 6.62231 28.5501 37.2097 6.88776 28.6183 37.1985 7.1617 28.6099 37.176 6.94734 28.6231 37.1872 7.42246 28.5255 37.1648 7.22025 28.5979 37.1423 7.69244 28.3304 37.1199 7.94827 27.8518 37.1423 7.96932 27.638 37.0974 7.90835 27.3106 37.1199 7.81178 27.1187 37.0862 7.77767 27.0696 37.1086 7.6315 26.9123 37.0974 7.40085 26.7642 37.0525 7.07873 26.6793 37.0862 7.13809 26.6863 37.0637 6.60034 26.7593 37.03 6.54646 26.7852 37.0075 6.15342 27.1594 36.9851 6.02155 27.6859 36.9739 6.07007 27.9556 36.9626 6.19179 28.2012 36.9851 6.33207 28.3638 36.9514 6.37709 28.4031 36.9177 7.14991 28.6119 36.9514 7.09064 28.6196 36.8952 7.6405 28.3798 36.9177 7.78473 28.2207 36.884 7.81824 28.1712 36.9065 7.91244 27.9782 36.8728 7.93084 27.9213 36.8728 7.84865 27.1802 36.8391 7.81824 27.1288 36.8503 7.46491 26.7965 36.8166 7.41169 26.7693 36.8279 6.9354 26.6776 36.8166 6.66693 26.7327 36.7942 6.87588 26.6831 36.7942 6.2271 27.0506 36.7492 6.07007 27.3444 36.7717 6.02558 27.5545 36.738 6.02155 27.6141 36.7268 6.05009 27.8867 36.7156 6.15342 28.1406 36.738 6.28135 28.3131 36.7156 6.74684 28.5921 36.7043 7.01905 28.624 36.6819 6.80508 28.6055 36.6819 7.53641 28.4601 36.6482 7.58506 28.4253 36.6369 7.77767 28.2304 36.6482 7.96053 27.7811 36.6032 7.94827 27.4482 36.6032 7.52643 26.8334 36.5696 7.47535 26.8023 36.5808 7.0071 26.6758 36.5471 6.94734 26.6769 36.5359 6.67821 26.7287 36.5246 6.43416 26.8535 36.5246 6.03524 27.4834 36.5134 6.02683 27.7574 36.5022 6.09505 28.0228 36.4685 6.11961 28.0773 36.4573 6.27327 28.3043 36.4573 6.94734 28.6231 36.4348 6.7353 28.589 36.4123 7.27795 28.5823 36.4011 7.52643 28.4666 36.3674 7.95885 27.793 36.3562 7.96053 27.5189 36.3786 7.90835 27.3106 36.3449 7.88581 27.2552 36.3337 7.74061 27.0227 36.3562 7.58506 26.8747 36.3225 7.53641 26.8399 36.3449 7.34577 26.741 36.3 7.01905 26.676 36.3337 7.07873 26.6793 36.2888 6.74684 26.7079 36.3 6.32336 26.9444 36.2776 6.49428 26.8144 36.2551 6.12492 27.212 36.2776 6.05009 27.4133 36.2439 6.03735 27.4717 36.2663 6.02155 27.6859 36.2551 6.07007 27.9556 36.2102 6.2271 28.2494 36.2326 6.37709 28.4031 36.2214 6.6113 28.5454 36.1877 6.66693 28.5673 36.2102 6.87588 28.6169 36.1765 6.9354 28.6224 36.154 7.46491 28.5035 36.1203 7.94572 27.8635 36.1428 7.96939 27.65 36.1091 7.96756 27.5903 36.1316 7.93084 27.3787 36.0979 7.91244 27.3218 36.1203 7.81824 27.1288 36.0754 7.59453 26.882 36.0979 7.41169 26.7693 36.053 7.09064 26.6804 36.0754 6.87588 26.6831 36.0642 6.6113 26.7546 36.0417 6.81682 26.6922 36.0305 6.55711 26.7798 36.053 6.37709 26.8969 36.0417 6.19179 27.0988 36.008 6.1595 27.1491 35.9968 6.05307 27.4017 36.008 6.05009 27.8867 35.9631 6.18508 28.1913 35.9407 6.60034 28.5407 35.907 7.40085 28.5358 35.9407 7.34577 28.559 35.8957 7.6315 28.3877 35.8733 7.92744 27.9328 35.907 7.90835 27.9894 35.8957 7.96675 27.7217 35.8508 7.9341 27.3902 35.8733 7.85435 27.1907 35.862 7.69244 26.9696 35.8171 7.42246 26.7745 35.7947 6.88776 26.6817 35.7834 6.62231 26.7499 35.8171 6.67821 26.7287 35.8059 6.43416 26.8535 35.7947 6.23451 27.0412 35.7834 6.09505 27.2772 35.7497 6.07388 27.3331 35.7385 6.02207 27.6022 35.761 6.03524 27.8166 35.7385 6.27327 28.3043 35.7048 6.31475 28.3473 35.7273 6.48406 28.4794 35.6936 6.53588 28.5092 35.716 6.7353 28.589 35.6711 7.06681 28.6216 35.6936 7.27795 28.5823 35.6487 7.5755 28.4325 35.6824 7.52643 28.4666 35.6374 7.96053 27.5189 35.5925 7.85993 27.2013 35.57 7.48572 26.8083 35.6037 7.53641 26.8399 35.5588 7.23187 26.7049 35.5813 7.01905 26.676 35.5476 6.95928 26.6764 35.5364 6.68954 26.7249 35.57 6.74684 26.7079 35.5588 6.49428 26.8144 35.5139 6.24204 27.0319 35.5027 6.0997 27.2662 35.4914 6.02822 27.5307 35.4802 6.03326 27.8048 35.469 6.11443 28.0665 35.469 6.66693 28.5673 35.4465 6.47392 28.4731 35.4353 6.72379 28.5857 35.424 6.99514 28.6243 35.4465 7.2086 28.6006 35.4353 7.46491 28.5035 35.3904 7.72499 28.2954 35.3679 7.95702 27.8048 35.3454 7.89059 27.2662 35.3791 7.91244 27.3218 35.3679 7.78473 27.0793 35.3342 7.74825 27.0319 35.3567 7.59453 26.882 35.3454 7.3569 26.7454 35.3117 7.30075 26.7249 35.3342 7.09064 26.6804 35.3005 7.031 26.6764 35.2668 6.28955 26.9782 35.2893 6.1595 27.1491 35.2556 6.13036 27.2013 35.2668 6.02119 27.6739 35.2219 6.08617 28.0006 35.2556 6.06638 27.9442 35.2444 6.18508 28.1913 35.2107 6.2198 28.2399 35.2219 6.60034 28.5407 35.2107 6.86403 28.6154 35.1994 7.13809 28.6137 35.1321 7.84283 28.1302 35.1321 7.9341 27.3902 35.1096 7.64941 26.9281 35.0984 7.42246 26.7745 35.0647 7.36797 26.7499 35.0759 6.88776 26.6817 35.0534 7.10253 26.6817 35.0647 6.62231 26.7499 35.0534 6.38637 26.8894 35.0198 6.34088 26.9281 35.0422 6.19861 27.089 35.0085 6.16571 27.1389 35.0198 6.02207 27.6022 34.9861 6.31475 28.3473 34.9411 6.58944 28.5358 34.9636 6.79336 28.6031 34.9187 7.12626 28.6154 34.9411 7.33459 28.5632 34.9074 7.90411 28.0006 34.885 7.95067 27.4599 34.8513 7.93722 27.4017 34.8401 7.83079 27.1491 34.8176 7.43318 26.7798 34.8401 7.23187 26.7049 34.8288 6.95928 26.6764 34.7951 6.89965 26.6804 34.8064 6.44398 26.8466 34.7839 6.63339 26.7454 34.7727 6.39575 26.882 34.7615 6.20555 27.0793 34.7839 6.0997 27.2662 34.7278 6.04457 27.8635 34.7615 6.03326 27.8048 34.7502 6.11443 28.0665 34.7053 6.30624 28.3389 34.7165 6.72379 28.5857 34.7053 6.99514 28.6243 34.6828 6.78168 28.6006 34.6716 7.05488 28.6224 34.6491 7.56586 28.4396 34.6828 7.51636 28.4731 34.6716 7.72499 28.2954 34.6379 7.76319 28.2494 34.6604 7.87585 28.0665 34.6267 7.89974 28.0118 34.593 7.86537 27.212 34.6155 7.74825 27.0319 34.5705 7.49601 26.8144 34.593 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51.3862 93.5 34.0266 52.7395 93.5 32.8276 52.7395 92.75 32.8276 54.3405 92.75 31.9874 56.096 92.75 31.5547 57.904 92.75 31.5547 56.096 93.5 31.5547 59.6595 92.75 31.9874 59.6595 93.5 31.9874 61.2605 93.5 32.8276 63.6409 93.5 35.5146 64.5 92.75 39 64.3788 92.5 38.104 64.2821 92.75 37.2051 63.6409 92.75 35.5146 62.6138 92.75 34.0266 61.2605 92.75 32.8276 60.4543 92.5 32.4184 57 92.5 31.567 53.5457 92.5 32.4184 52.071 92.5 33.4363 49.7179 92.75 37.2051 49.6212 92.5 38.104 49.6212 92.5 39.896 49.7179 92.75 40.7949 50.3591 92.75 42.4854 51.3862 92.75 43.9734 52.071 92.5 44.5637 55.2212 92.5 46.217 57 92.5 46.433 57.904 92.75 46.4453 58.7788 92.5 46.217 61.929 92.5 44.5637 62.6138 92.75 43.9734 63.1172 92.5 43.2224 63.6409 92.75 42.4854 64 92.25 39 63.7789 92.317 41.5709 61.8076 92.317 44.4267 60.7508 92.25 44.9103 58.735 92.317 46.0393 57.4395 92.25 45.9862 55.6883 92.25 45.876 57 92.317 46.25 55.265 92.317 46.0393 54.0195 92.25 45.3338 53.6308 92.317 45.4196 51.3369 92.25 43.1145 51.0334 92.317 43.1185 50.2211 92.317 41.5709 63.7789 92.317 36.4291 62.9666 92.317 34.8815 61.8076 92.317 33.5733 60.3692 92.317 32.5804 60.7508 92.25 33.0897 57.4395 92.25 32.0138 55.265 92.317 31.9607 51.3369 92.25 34.8855 50.4916 92.25 36.4231 50.2211 92.317 36.4291 50.0552 92.25 38.1227 49.8029 92.317 38.1261 60.4543 92.5 45.5816 60.3692 92.317 45.4196 62.9666 92.317 43.1185 63.95 92.5 41.6358 64.3788 92.5 39.896 64.1971 92.317 39.8739 64.1971 92.317 38.1261 63.95 92.5 36.3642 63.1172 92.5 34.7776 61.929 92.5 33.4363 58.7788 92.5 31.783 58.735 92.317 31.9607 55.2212 92.5 31.783 57 92.317 31.75 53.6308 92.317 32.5804 52.1924 92.317 33.5733 50.8828 92.5 34.7776 51.0334 92.317 34.8815 50.05 92.5 36.3642 52.1924 92.317 44.4267 53.5457 92.5 45.5816 50.8828 92.5 43.2224 49.8029 92.317 39.8739 50.05 92.5 41.6358 63.7801 92.25 37.2592 63.1341 92.25 35.6277 60.6406 92.25 36.355 62.1028 92.25 34.2082 59.1631 92.25 32.3426 58.3906 92.25 34.7202 55.6883 92.25 32.124 54.0195 92.25 32.6662 52.538 92.25 33.6064 54.355 92.25 35.3594 52.7202 92.25 37.6094 52.5 92.25 39 50.0552 92.25 39.8773 50.4916 92.25 41.5769 52.538 92.25 44.3936 54.355 92.25 42.6406 55.6094 92.25 43.2798 57 92.25 43.5 59.1631 92.25 45.6574 58.3906 92.25 43.2798 59.645 92.25 42.6406 62.1028 92.25 43.7918 63.1341 92.25 42.3723 63.7801 92.25 40.7408 64.3788 73.25 39.896 64.5 73.5 39 64.3788 73.25 38.104 62.6138 73.5 34.0266 61.929 73.25 33.4363 61.2605 73.5 32.8276 60.4543 73.25 32.4184 59.6595 73.5 31.9874 57 73.25 31.567 54.3405 73.5 31.9874 52.7395 73.5 32.8276 51.3862 73.5 34.0266 52.071 73.25 33.4363 50.3591 73.5 35.5146 50.05 73.25 36.3642 49.6212 73.25 38.104 49.5 73.5 39 49.7179 73.5 40.7949 50.3591 73.5 42.4854 50.8828 73.25 43.2224 51.3862 73.5 43.9734 53.5457 73.25 45.5816 56.096 73.5 46.4453 58.7788 73.25 46.217 60.4543 73.25 45.5816 59.6595 73.5 46.0126 61.2605 73.5 45.1724 62.6138 73.5 43.9734 63.1172 73.25 43.2224 64 73 39 63.7801 73 40.7408 63.7789 73.067 41.5709 63.1341 73 42.3723 62.9666 73.067 43.1185 62.1028 73 43.7918 61.8076 73.067 44.4267 59.1631 73 45.6574 60.3692 73.067 45.4196 55.6883 73 45.876 54.0195 73 45.3338 53.6308 73.067 45.4196 52.538 73 44.3936 50.2211 73.067 41.5709 49.6212 73.25 39.896 49.8029 73.067 38.1261 63.7801 73 37.2592 62.9666 73.067 34.8815 60.7508 73 33.0897 60.3692 73.067 32.5804 59.1631 73 32.3426 58.735 73.067 31.9607 57.4395 73 32.0138 55.265 73.067 31.9607 54.0195 73 32.6662 52.1924 73.067 33.5733 52.538 73 33.6064 51.0334 73.067 34.8815 51.3369 73 34.8855 50.0552 73 38.1227 58.735 73.067 46.0393 61.929 73.25 44.5637 63.95 73.25 41.6358 64.1971 73.067 39.8739 64.1971 73.067 38.1261 63.95 73.25 36.3642 63.7789 73.067 36.4291 63.1172 73.25 34.7776 61.8076 73.067 33.5733 58.7788 73.25 31.783 57 73.067 31.75 55.2212 73.25 31.783 53.6308 73.067 32.5804 53.5457 73.25 32.4184 50.8828 73.25 34.7776 50.2211 73.067 36.4291 57 73.067 46.25 55.265 73.067 46.0393 57 73.25 46.433 55.2212 73.25 46.217 52.1924 73.067 44.4267 52.071 73.25 44.5637 51.0334 73.067 43.1185 50.05 73.25 41.6358 49.8029 73.067 39.8739 64.2821 73.5 40.7949 64.2821 73.5 37.2051 63.6409 73.5 35.5146 62.6138 74.25 34.0266 61.2605 74.25 32.8276 57.904 73.5 31.5547 56.096 73.5 31.5547 56.096 74.25 31.5547 54.3405 74.25 31.9874 51.3862 74.25 34.0266 50.3591 74.25 35.5146 49.7179 73.5 37.2051 49.5 74.25 39 49.7179 74.25 40.7949 50.3591 74.25 42.4854 52.7395 73.5 45.1724 54.3405 73.5 46.0126 56.096 74.25 46.4453 57.904 74.25 46.4453 57.904 73.5 46.4453 61.2605 74.25 45.1724 62.6138 74.25 43.9734 63.6409 74.25 42.4854 63.6409 73.5 42.4854 64.3788 74.5 39.896 64.5 74.25 39 64.2821 74.25 40.7949 63.1172 74.5 43.2224 59.6595 74.25 46.0126 58.7788 74.5 46.217 57 74.5 46.433 54.3405 74.25 46.0126 53.5457 74.5 45.5816 52.7395 74.25 45.1724 51.3862 74.25 43.9734 50.8828 74.5 43.2224 49.6212 74.5 39.896 49.7179 74.25 37.2051 50.05 74.5 36.3642 50.8828 74.5 34.7776 52.7395 74.25 32.8276 55.2212 74.5 31.783 58.7788 74.5 31.783 57.904 74.25 31.5547 60.4543 74.5 32.4184 59.6595 74.25 31.9874 61.929 74.5 33.4363 63.6409 74.25 35.5146 63.95 74.5 36.3642 64.2821 74.25 37.2051 64.3788 74.5 38.104 63.7801 74.75 37.2592 63.1341 74.75 35.6277 60.7508 74.75 33.0897 59.1631 74.75 32.3426 57 74.683 31.75 57.4395 74.75 32.0138 55.6883 74.75 32.124 54.0195 74.75 32.6662 51.3369 74.75 34.8855 50.4916 74.75 36.4231 51.0334 74.683 34.8815 50.2211 74.683 36.4291 49.6212 74.5 38.104 63.7801 74.75 40.7408 62.9666 74.683 43.1185 63.1341 74.75 42.3723 62.1028 74.75 43.7918 60.7508 74.75 44.9103 57.4395 74.75 45.9862 55.265 74.683 46.0393 55.6883 74.75 45.876 54.0195 74.75 45.3338 52.538 74.75 44.3936 52.1924 74.683 44.4267 50.2211 74.683 41.5709 50.4916 74.75 41.5769 57 74.5 31.567 58.735 74.683 31.9607 60.3692 74.683 32.5804 61.8076 74.683 33.5733 63.1172 74.5 34.7776 62.9666 74.683 34.8815 63.7789 74.683 36.4291 64.1971 74.683 38.1261 64.1971 74.683 39.8739 63.95 74.5 41.6358 63.7789 74.683 41.5709 61.929 74.5 44.5637 61.8076 74.683 44.4267 60.4543 74.5 45.5816 60.3692 74.683 45.4196 58.735 74.683 46.0393 55.2212 74.5 46.217 57 74.683 46.25 53.6308 74.683 45.4196 52.071 74.5 44.5637 50.05 74.5 41.6358 51.0334 74.683 43.1185 49.8029 74.683 39.8739 55.265 74.683 31.9607 53.5457 74.5 32.4184 53.6308 74.683 32.5804 52.1924 74.683 33.5733 52.071 74.5 33.4363 49.8029 74.683 38.1261 50.0552 74.75 38.1227 52.5 74.75 39 50.0552 74.75 39.8773 52.7202 74.75 40.3906 51.3369 74.75 43.1145 53.3594 74.75 36.355 52.538 74.75 33.6064 54.355 74.75 35.3594 57 74.75 34.5 62.1028 74.75 34.2082 64 74.75 39 61.5 74.75 39 61.2798 74.75 40.3906 60.6406 74.75 41.645 59.645 74.75 42.6406 59.1631 74.75 45.6574 55.6094 74.75 43.2798 62.7775 88.5 37.3812 61.6543 88 35.2135 58.2207 88.5 33.1255 56.5905 88.5 33.014 55.7793 88 33.1255 53.5399 88.5 34.0982 51.8735 88 35.8825 52.3457 88.5 35.2135 51.2225 88 37.3812 51.0559 88.5 38.183 51.0559 88.5 39.817 51.4967 88.5 41.3904 52.3457 88.5 42.7865 52.9047 88 43.385 59.0093 88 44.6536 61.0953 88.5 43.385 62.5033 79 41.3904 61.6543 79 42.7865 57.4095 79 44.986 55.7793 79 44.8745 56.5905 78.5 44.986 53.5399 78.5 43.9018 52.9047 79 43.385 52.3457 78.5 42.7865 51.8735 79 42.1175 51.4967 78.5 41.3904 51.2225 79 40.6188 51.0559 78.5 39.817 51.0559 78.5 38.183 51.2225 79 37.3812 51.4967 78.5 36.6096 51.8735 79 35.8825 52.3457 78.5 35.2135 54.2396 79 33.6727 54.9907 78.5 33.3464 56.5905 78.5 33.014 58.2207 78.5 33.1255 59.0093 79 33.3464 60.4601 79 34.0982 61.6543 79 35.2135 62.7775 78.5 40.6188 63 78.5 39 62.9192 78.25 38.5951 62.7775 78.5 37.3812 61.8471 78.25 35.5785 62.1265 78.5 35.8825 61.0953 78.5 34.615 59.7604 78.5 33.6727 53.5399 78.5 34.0982 53.2557 78.25 34.3977 51.4096 78.25 37.0132 52.6639 78.25 43.0496 53.9173 78.25 44.0693 54.9907 78.5 44.6536 58.2207 78.5 44.8745 58.6007 78.25 44.713 59.7604 78.5 44.3273 61.0953 78.5 43.385 62.1265 78.5 42.1175 62.2678 78.25 41.7296 61.6269 78 41.9735 61.2023 78.067 42.9247 59.9876 78.067 43.9129 57.7827 78 44.444 56.2173 78 44.444 57 78.067 44.75 55.4487 78.067 44.5368 54.7152 78 44.003 54.0124 78.067 43.9129 52.7977 78.067 42.9247 51.7228 78 40.5495 51.8947 78.067 41.6454 51.3703 78.067 40.1699 51.2634 78.067 38.6076 51.5 78 39 51.7228 78 37.4505 51.582 78.067 37.0744 52.3731 78 36.0265 53.3712 78.067 34.5397 54.7152 78 33.997 56.2173 78 33.556 56.217 78.067 33.3036 57.783 78.067 33.3036 56.1921 78.25 33.1222 57.8079 78.25 33.1222 61.6269 78 36.0265 61.6976 78.067 35.6841 59.2908 78.067 33.726 58.5513 78.067 44.5368 60.0827 78.25 44.0693 61.3361 78.25 43.0496 62.1053 78.067 41.6454 62.8089 78.25 40.2071 62.6297 78.067 40.1699 62.7366 78.067 38.6076 62.5904 78.25 37.0132 62.418 78.067 37.0744 60.7443 78.25 34.3977 60.6288 78.067 34.5397 59.3637 78.25 33.5582 57 78.25 44.933 55.3993 78.25 44.713 51.7322 78.25 41.7296 51.1911 78.25 40.2071 51.0808 78.25 38.5951 52.3024 78.067 35.6841 52.1529 78.25 35.5785 54.7092 78.067 33.726 54.6363 78.25 33.5582 52.3731 78 41.9735 52.7202 78 40.3906 53.3983 78 43.1566 54.355 78 42.6406 58.3906 78 43.2798 59.2848 78 44.003 59.645 78 42.6406 60.6017 78 43.1566 62.2772 78 40.5495 62.5 78 39 62.2772 78 37.4505 61.2798 78 37.6094 60.6017 78 34.8434 59.2848 78 33.997 57 78 34.5 57.7827 78 33.556 55.6094 78 34.7202 53.3983 78 34.8434 54.355 78 35.3594 53.3594 78 36.355 52.7202 78 37.6094 52.5 78 39 62.8089 88.75 37.7929 63 88.5 39 62.7775 88.5 40.6188 62.5904 88.75 40.9868 61.8471 88.75 42.4215 62.1265 88.5 42.1175 59.7604 88.5 44.3273 60.7443 88.75 43.6023 58.2207 88.5 44.8745 56.5905 88.5 44.986 57.8079 88.75 44.8778 54.9907 88.5 44.6536 53.5399 88.5 43.9018 51.1911 88.75 37.7929 51.4967 88.5 36.6096 52.6639 88.75 34.9504 53.9173 88.75 33.9307 54.9907 88.5 33.3464 55.3993 88.75 33.287 57 88.75 33.067 59.7604 88.5 33.6727 60.0827 88.75 33.9307 61.3361 88.75 34.9504 61.0953 88.5 34.615 62.1265 88.5 35.8825 62.2678 88.75 36.2704 62.2772 89 40.5495 62.5 89 39 62.6297 88.933 37.8301 62.1053 88.933 36.3546 61.6269 89 36.0265 60.6017 89 34.8434 59.2848 89 33.997 57 88.933 33.25 55.4487 88.933 33.4632 53.3983 89 34.8434 52.7977 88.933 35.0753 52.3731 89 36.0265 51.8947 88.933 36.3546 51.7228 89 37.4505 51.3703 88.933 37.8301 51.5 89 39 51.2634 88.933 39.3924 52.3024 88.933 42.3159 54.7092 88.933 44.274 61.6269 89 41.9735 62.418 88.933 40.9256 60.6017 89 43.1566 59.2848 89 44.003 56.2173 89 44.444 58.6007 88.75 33.287 58.5513 88.933 33.4632 59.9876 88.933 34.0871 61.2023 88.933 35.0753 62.7366 88.933 39.3924 62.9192 88.75 39.4049 61.6976 88.933 42.3159 60.6288 88.933 43.4603 59.3637 88.75 44.4418 59.2908 88.933 44.274 57.783 88.933 44.6964 54.0124 88.933 34.0871 51.7322 88.75 36.2704 51.0808 88.75 39.4049 51.582 88.933 40.9256 51.4096 88.75 40.9868 53.3712 88.933 43.4603 52.1529 88.75 42.4215 53.2557 88.75 43.6023 54.6363 88.75 44.4418 56.217 88.933 44.6964 56.1921 88.75 44.8778 52.5 89 39 54.355 89 35.3594 54.7152 89 33.997 56.2173 89 33.556 57.7827 89 33.556 58.3906 89 34.7202 59.645 89 35.3594 60.6406 89 36.355 62.2772 89 37.4505 61.5 89 39 61.2798 89 40.3906 60.6406 89 41.645 59.645 89 42.6406 57.7827 89 44.444 54.7152 89 44.003 53.3983 89 43.1566 52.3731 89 41.9735 51.7228 89 40.5495 64 87.5 39 63.9448 87 39.8773 63.7801 87.5 37.2592 63.5084 87 36.4231 62.6631 87 34.8855 62.1028 87.5 34.2082 59.1631 87.5 32.3426 59.9805 87 32.6662 56.5605 87 32.0138 52.538 87.5 33.6064 50.8659 87 35.6277 50.4916 87.5 36.4231 50.0552 87.5 38.1227 50.0552 87.5 39.8773 50.8659 87 42.3723 51.3369 87.5 43.1145 55.6883 87.5 45.876 56.5605 87 45.9862 57.4395 87.5 45.9862 60.7508 87.5 44.9103 62.1028 87.5 43.7918 61.462 87 44.3936 62.6631 87 43.1145 63.5084 87 41.5769 64 79.5 39 63.5084 80 41.5769 62.1028 79.5 43.7918 62.6631 80 43.1145 61.462 80 44.3936 56.5605 80 45.9862 55.6883 79.5 45.876 54.8369 80 45.6574 54.0195 79.5 45.3338 52.538 79.5 44.3936 51.8972 80 43.7918 50.0552 79.5 39.8773 50 80 39 50.4916 79.5 36.4231 51.8972 80 34.2082 54.0195 79.5 32.6662 53.2492 80 33.0897 55.6883 79.5 32.124 57.4395 79.5 32.0138 58.3117 80 32.124 59.1631 79.5 32.3426 59.9805 80 32.6662 61.462 80 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24.1813 52.4824 9.89761 24.7683 52.5947 9.72376 24.6325 52.5049 9.63027 25.2925 52.5273 9.17869 25.6697 52.6621 8.6809 25.6289 52.5723 8.03047 25.7747 52.707 7.71541 25.3871 52.6172 7.16007 25.0185 52.752 7.22178 24.5228 52.6621 7.10353 23.8668 52.7744 7.26535 24.0168 52.7969 7.504 23.5684 52.6846 7.41398 23.367 52.8193 7.89945 23.2496 52.707 7.89567 23.029 52.7295 8.47134 22.9072 52.752 9.04866 23.021 52.8867 9.33002 23.4336 52.9092 9.63189 23.8422 52.7969 9.85241 23.8477 52.8193 9.94994 24.4279 52.8867 8.9522 25.7682 53.0215 8.46828 25.6446 52.9092 8.36832 25.8413 53.0664 7.55694 25.2445 52.9541 7.34582 25.3084 53.1113 7.21505 24.3097 52.999 7.02278 24.2016 53.0439 7.59815 23.2024 53.1787 8.09642 23.168 53.0889 8.71759 22.9262 53.1113 9.26768 23.1351 53.2461 9.47594 23.5891 53.1338 9.69169 23.5431 53.2686 9.70512 24.0424 53.3135 9.56946 25.0284 53.2012 9.68871 25.214 53.2236 9.26324 25.6205 53.3584 8.76384 25.6129 53.2461 8.7124 25.8274 53.2686 8.12455 25.8016 53.291 7.59396 25.5472 53.3584 7.07267 23.9597 53.4932 7.45238 23.6352 53.5381 8.30428 23.1205 53.4258 8.37356 22.9111 53.4932 9.81417 23.7576 53.5156 9.95012 24.3301 53.5381 9.85051 24.91 53.6729 9.44488 25.2014 53.6055 8.46609 25.8456 53.7178 8.55273 25.6427 53.6504 7.41038 25.382 53.6729 7.10172 24.881 53.8301 7.30814 23.8952 53.7178 7.16237 23.7296 53.8525 7.59107 23.4733 53.7402 7.52196 23.2638 53.7852 8.62053 22.9137 53.8076 9.18331 23.0855 53.8525 9.899 23.9895 54.0098 9.61046 24.9545 54.0547 8.84553 25.5914 53.9648 8.22021 25.8222 54.0771 8.33961 25.6367 54.1221 7.4736 25.1461 54.0322 7.03669 24.6427 54.0547 7.04806 24.0544 54.1895 7.40532 23.7054 54.2119 7.75492 23.3369 54.1221 8.27626 22.9216 54.167 9.38962 23.2213 54.2793 9.19726 23.3293 54.2344 9.883 24.8177 54.3691 9.49766 25.1355 54.4814 7.3589 24.9664 54.3467 7.4797 25.451 54.5264 7.2787 23.9743 54.4141 7.12224 23.8188 54.5713 7.93931 23.2299 54.6162 8.93388 23.1915 54.4814 8.52285 22.9077 54.6611 9.64991 23.8828 54.6836 9.74989 24.3808 54.5488 9.8701 23.896 54.7061 9.64644 24.8781 54.6162 9.42158 25.5056 54.751 8.9256 25.5644 54.6387 8.90312 25.7839 54.7959 7.93132 25.5191 54.7061 7.31384 25.268 54.8408 7.27593 24.77 54.8633 7.21816 24.2654 54.7285 7.05762 24.7383 54.751 7.0298 24.1506 54.7959 7.63985 23.1722 54.9307 8.13902 23.1552 54.8184 8.17987 22.9385 54.8633 9.31071 23.1634 54.998 9.50293 23.6244 54.8857 9.72016 23.586 55.0654 9.54594 25.0661 54.9756 9.21915 25.6471 55.0879 9.18994 25.4284 55.1104 8.72032 25.622 55.1328 8.21242 25.6158 55.0205 8.07481 25.7882 55.1777 7.40067 25.0399 55.0879 7.01712 24.4947 55.2227 7.25461 24.0553 55.2451 7.47899 23.5996 55.1553 7.85346 23.0482 55.29 8.34841 23.1151 55.335 9.29985 23.4073 55.2002 9.00561 23.0038 55.2451 9.83505 23.8047 55.3799 9.74737 24.2964 55.4023 9.67725 24.7995 55.2676 9.95084 24.3816 55.3125 9.49467 25.4405 55.4473 9.0037 25.5322 55.335 8.99588 25.7527 55.3574 8.4146 25.8441 55.5146 7.58479 25.2732 55.4248 7.08488 24.8323 55.4697 7.18586 23.6837 55.5146 8.08481 22.9617 55.5596 9.22813 23.1109 55.6943 9.45061 23.5581 55.582 9.6648 23.5053 55.7617 9.58949 24.9938 55.6494 9.71453 25.1755 55.7842 9.2584 25.379 55.6719 9.3021 25.5952 55.7168 8.16969 25.8121 55.7393 7.63134 25.5746 55.7617 7.22937 25.1449 55.7842 7.02824 24.5919 55.8965 7.2422 24.6456 55.9189 7.23596 24.1377 55.8066 7.06022 24.0044 56.0088 8.77246 23.1419 56.0312 9.23353 23.355 56.0537 9.57399 23.732 55.9639 9.94792 24.2838 56.0986 9.70276 24.7189 55.9863 9.86667 24.8666 56.1436 9.07949 25.4949 56.166 8.59265 25.6398 56.0312 9.08635 25.7154 56.0986 7.44264 25.4153 56.1211 7.11833 24.9243 56.2559 7.21461 24.4342 56.1436 7.01267 24.3454 56.2783 7.29354 23.9324 56.3008 7.56302 23.5019 56.1885 7.48733 23.2947 56.3232 7.97983 23.2116 56.2109 7.99152 22.9913 56.3457 8.47713 23.1081 56.3682 8.97514 23.2081 56.4355 9.74895 24.4253 56.3008 9.88609 23.945 56.5029 8.88368 25.5793 56.3682 9.38142 25.5379 56.5254 8.37945 25.6406 56.4131 8.26596 25.8297 56.5479 7.8916 25.4991 56.4355 7.71299 25.6286 56.5703 7.49839 25.1776 56.5928 7.26287 24.7275 56.4805 7.04581 24.6882 56.6377 7.38469 23.7397 56.5479 7.68258 23.1434 56.7051 8.68964 23.1253 56.6152 9.35272 23.1932 56.75 9.52867 23.6607 56.6377 9.7471 23.6299 56.6826 9.89623 24.7733 56.75 9.79701 24.667 56.75 9.69925 25.0095 56.75 9.2622 25.5645 56.7275 9.17415 25.6722 51.0225 7.88363 25.4949 51.0674 7.2604 24.7188 51 7.22769 24.5669 51.0898 7.22397 24.2122 51.0225 7.25349 24.0596 51.0674 7.86031 23.2707 51.1348 7.72973 23.355 51.1797 8.69853 23.1268 51.1348 9.29645 23.4045 51.2021 9.17146 23.3121 51.2246 9.53373 23.6682 51.2471 9.72725 24.1378 51.1797 9.74708 24.2919 51.2021 9.67873 24.7953 51.2246 9.41837 25.2314 51.2471 9.00775 25.5304 51.3594 8.16039 25.6033 51.3818 7.70472 25.3789 51.3369 7.30647 24.8535 51.4043 7.37365 24.9937 51.4268 7.22029 24.5094 51.3594 7.21349 24.3542 51.4492 7.26924 24.0039 51.4043 7.62 23.4457 51.4941 7.91145 23.2435 51.5166 8.40171 23.1106 51.4941 9.44773 23.5547 51.5615 9.33998 23.4427 51.6064 9.74962 24.3498 51.584 9.26191 25.3762 51.6738 8.9545 25.5532 51.6064 8.80701 25.6022 51.6289 8.29992 25.6316 51.6514 7.82197 25.4597 51.7412 7.54777 25.2346 51.6738 7.44981 25.114 51.7637 7.28591 24.7994 51.8086 7.34877 23.806 51.7412 7.42703 23.6718 51.876 8.61487 23.1151 51.8086 8.76813 23.1409 51.8984 9.09908 23.2686 51.8311 9.22994 23.3524 51.9209 9.48425 23.5997 51.9434 9.7086 24.0554 51.876 9.73865 24.2079 51.8984 9.70396 24.7146 51.9658 9.73615 24.5626 52.0107 9.21544 25.4108 51.9209 9.47321 25.1671 51.9658 8.59708 25.6394 52.0107 7.64983 25.3339 52.1455 7.24713 24.0854 52.0557 7.21482 24.4386 52.0781 7.29199 23.9366 52.1006 7.55996 23.5051 52.168 7.46031 23.6243 52.123 7.97575 23.2133 52.1455 8.47268 23.1081 52.168 8.97104 23.2063 52.2578 9.27592 23.3876 52.1904 9.39089 23.4922 52.2129 9.6649 23.9199 52.3027 9.74504 24.2655 52.2354 9.74912 24.4208 52.3477 9.43606 25.2116 52.2578 9.63003 24.9146 52.2803 9.32674 25.3221 52.3701 9.03179 25.5191 52.3027 8.88789 25.5778 52.3252 8.38388 25.6409 52.3477 7.89554 25.5012 52.3701 7.5012 25.181 52.46 7.31672 24.878 52.415 7.22229 24.2256 52.5273 7.60071 23.4639 52.46 7.71893 23.363 52.5498 8.02939 23.1914 52.4824 8.17772 23.145 52.5049 8.68525 23.1245 52.5273 9.16011 23.3048 52.5498 9.52615 23.657 52.6172 9.43032 23.5347 52.6621 9.74576 24.4787 52.6846 9.60425 24.9665 52.707 9.28267 25.3597 52.6172 9.52365 25.0994 52.6396 9.15639 25.4503 52.7295 8.8326 25.5951 52.6846 8.17345 25.6067 52.752 8.32623 25.6351 52.7744 7.84478 25.4732 52.8193 7.24915 24.6758 52.7295 7.38027 25.0054 52.8643 7.41251 23.694 52.8867 7.766 23.3292 52.9092 8.23427 23.1324 52.8418 8.38827 23.1115 52.9316 8.74221 23.1352 52.9541 9.20834 23.337 52.8643 8.89206 23.1763 52.999 9.73485 24.1816 52.9316 9.74926 24.3363 53.0215 9.71077 24.689 52.9541 9.66331 24.837 53.0664 9.10664 25.48 52.9766 9.38782 25.2637 52.999 8.96697 25.5481 53.0439 7.97172 25.5377 53.1562 7.3527 24.9545 53.1787 7.2164 24.4651 53.0889 7.29047 24.812 53.2012 7.28304 23.9616 53.1338 7.34277 23.8181 53.2461 7.95152 23.2242 53.1562 7.65316 23.416 53.2686 8.44613 23.1086 53.2012 8.60146 23.1138 53.2236 9.08728 23.2621 53.291 8.94644 23.1963 53.3135 9.37219 23.4734 53.3584 9.74977 24.3943 53.291 9.73806 24.5493 53.3809 9.64104 24.8905 53.4033 9.34635 25.3042 53.3359 9.22638 25.403 53.4482 8.41037 25.6427 53.3809 8.25603 25.6245 53.4033 7.7844 25.4359 53.4932 7.51826 25.2014 53.4258 7.42459 25.0773 53.5156 7.27181 24.7572 53.4482 7.23432 24.6064 53.5381 7.21941 24.252 53.4707 7.24411 24.0985 53.5605 7.36946 23.7667 53.5156 7.82573 23.2908 53.5605 8.81126 23.1517 53.583 9.26538 23.3793 53.6055 9.59377 23.7668 53.6504 9.13754 23.2909 53.6279 9.74379 24.2521 53.6504 9.69135 24.7573 53.7178 9.72885 24.6065 53.7402 9.53855 25.0774 53.7627 9.17872 25.4359 53.6953 9.0439 25.5132 53.7852 8.70708 25.6245 53.7402 8.05015 25.569 53.7627 7.61678 25.3041 53.7852 7.32211 24.8904 53.8525 7.39368 25.0283 53.875 7.22512 24.5492 53.8076 7.21342 24.3942 53.9199 7.4873 23.589 53.875 8.01683 23.1963 53.9648 8.36182 23.1138 53.8975 8.51714 23.1086 53.9873 8.86685 23.168 53.9199 9.01175 23.2242 53.9648 9.68018 23.9617 54.0322 9.62045 23.8182 53.9424 9.42133 23.5246 54.0098 9.3101 23.4161 53.9873 9.74678 24.4652 54.0996 9.40619 25.2445 54.0322 9.29307 25.3511 54.1221 8.99139 25.5377 54.1445 8.49483 25.6446 54.167 7.99614 25.5481 54.1895 7.57531 25.2636 54.0996 7.85647 25.4799 54.2119 7.29985 24.8369 54.1445 7.2524 24.6889 54.167 7.22835 24.1815 54.3018 8.07121 23.1763 54.2344 8.22107 23.1351 54.3242 8.57501 23.1115 54.2568 8.72901 23.1325 54.3467 9.06382 23.2496 54.3018 9.55072 23.6941 54.3242 9.73271 24.1683 54.4141 9.7414 24.5229 54.3467 9.71402 24.6759 54.3916 9.11833 25.4733 54.4141 8.63687 25.6351 54.4365 8.13051 25.5951 54.5264 7.80673 25.4502 54.459 7.68045 25.3596 54.5713 7.23941 24.6324 54.5938 7.23856 24.1245 54.5039 7.21742 24.4786 54.5488 7.53292 23.5346 54.6836 8.78556 23.1451 54.5938 8.43267 23.109 54.6387 9.36254 23.464 54.7285 9.58077 23.7436 54.7734 9.69906 24.7319 54.7959 9.46194 25.1811 54.7285 9.35616 25.2949 54.8184 9.06757 25.5012 54.7734 8.42383 25.6434 54.8633 8.07521 25.5778 54.8857 7.63639 25.322 54.8184 7.52708 25.2115 54.9082 7.33312 24.9145 54.9307 7.21407 24.4207 54.9531 7.29832 23.9198 54.8857 7.36304 23.7785 54.9756 7.57236 23.4922 54.9082 7.68733 23.3876 54.9531 8.64565 23.1187 54.9756 9.12597 23.284 55.1104 9.74836 24.4387 55.0205 9.71608 24.0855 55.043 9.73123 24.5932 55.1777 8.87088 25.5835 55.2002 8.36602 25.6394 55.1553 7.74768 25.4108 55.2002 7.22703 24.5625 55.2676 7.86419 23.2685 55.3125 8.85399 23.164 55.4248 9.53621 23.6718 55.3574 9.61446 23.8061 55.4697 9.72002 24.65 55.4248 9.41536 25.2347 55.5371 8.66319 25.6316 55.4697 8.5083 25.6444 55.5596 8.15609 25.6022 55.582 7.70121 25.3762 55.4922 8.00861 25.5532 55.5371 7.30481 24.8494 55.627 7.21983 24.505 55.5596 7.21358 24.3497 55.6494 7.27055 23.9996 55.582 7.32573 23.8543 55.6719 7.51551 23.5546 55.6045 7.62327 23.4426 55.627 8.05849 23.1807 55.6494 8.56156 23.1106 55.7168 8.40615 23.1103 55.6719 9.05182 23.2435 55.7168 9.69398 24.0039 55.7842 9.63932 23.8585 55.7617 9.34325 23.4457 55.8066 9.7497 24.3543 55.7393 9.74289 24.5095 55.8291 9.65668 24.8536 55.8516 9.37519 25.2764 55.874 8.95037 25.5549 55.8066 8.80271 25.6034 55.8291 8.29552 25.631 55.8516 7.81817 25.4573 55.9414 7.54476 25.2313 55.9639 7.28443 24.7952 55.874 7.44723 25.1103 56.0312 7.66681 23.4044 55.9414 7.42951 23.6681 55.9639 7.79181 23.3121 55.9863 8.26474 23.1268 56.0986 9.10296 23.2707 56.1211 9.48697 23.6032 56.0762 9.73923 24.2123 56.1885 9.56014 25.0437 56.1211 9.47043 25.1706 56.2334 8.74634 25.6167 56.1885 8.088 25.5821 56.2109 7.64648 25.3309 56.2334 7.33891 24.9267 56.3232 7.2312 24.5887 56.3682 7.46295 23.6208 56.4131 8.32204 23.1182 56.4355 8.82854 23.1565 56.458 9.27939 23.3904 56.3906 9.39399 23.4954 56.4805 9.60228 23.7825 56.4131 9.6665 23.9241 56.5254 9.68585 24.7743 56.458 9.62813 24.9186 56.4805 9.32342 25.325 56.6152 8.03335 25.5628 56.6602 7.31497 24.8739 56.6152 7.22283 24.2212 56.7051 7.31505 23.8786 56.6602 7.72248 23.3603 56.75 8.03355 23.1899 56.6826 8.18204 23.144 56.7275 9.16387 23.3072 51 9.89979 24.475 51.0225 9.95052 24.3455 51.0449 9.84483 24.9244 51 9.37922 25.3809 51.0674 9.52048 25.4153 51 9.07139 25.5589 51.0898 9.0295 25.7397 51 8.7265 25.6481 51.1123 8.45064 25.8453 51.0449 7.49271 25.1705 51.1797 7.09649 24.8665 51.1123 7.38925 23.7319 51.2695 8.05022 22.9719 51.1572 8.19081 23.1419 51.3145 9.19685 23.093 51.3369 9.64307 23.4766 51.3594 9.90299 24.0045 51.2695 9.72097 24.6457 51.292 9.51591 25.1104 51.4268 9.33177 25.5747 51.3145 9.14495 25.4574 51.4492 8.7934 25.8122 51.3369 8.66759 25.631 51.4941 7.661 25.5951 51.5615 7.05152 24.0394 51.4717 7.51264 23.558 51.6064 7.73515 23.1109 51.6289 8.29157 22.9195 51.5391 8.90479 23.1808 51.6738 9.40172 23.2309 51.6963 9.77738 23.6838 51.584 9.6375 23.8544 51.7188 9.94521 24.2478 51.7412 9.87828 24.8324 51.6289 9.65835 24.8495 51.6514 9.37834 25.2733 51.6963 8.45481 25.6444 51.7188 7.95941 25.5322 51.8311 7.96722 25.7527 51.8535 7.46845 25.4405 51.876 7.13218 24.9576 51.7861 7.21583 24.2963 51.8984 7.01235 24.3815 51.9209 7.12818 23.8046 51.9434 7.46109 23.3194 51.8311 7.66341 23.4073 51.9658 7.95768 23.0037 51.8535 8.10928 23.164 52.0107 9.10983 23.0482 52.0332 9.58059 23.4012 52.0557 9.87508 23.9107 52.0781 9.94607 24.4948 51.9883 9.56248 25.0399 52.0332 8.75069 25.6158 52.1455 8.88829 25.7882 52.168 8.30169 25.8346 52.0557 8.24278 25.622 52.0781 7.77318 25.4284 52.1006 7.4172 25.0661 52.123 7.23195 24.5931 52.2578 7.03226 24.1353 52.3027 7.65256 23.1634 52.1904 7.8373 23.2839 52.3252 8.19501 22.9354 52.2129 8.31763 23.1187 52.2354 8.82426 23.1553 52.3701 9.32343 23.1722 52.2803 9.60019 23.7786 52.3252 9.68723 24.7701 52.4375 9.90554 24.7384 52.46 9.64929 25.2681 52.4824 9.20574 25.6548 52.3926 8.53928 25.6434 52.415 8.03751 25.5644 52.5273 8.05998 25.7838 52.4375 7.60697 25.2949 52.5723 7.17387 25.0461 52.4824 7.2133 24.3807 52.5947 7.01595 24.4793 52.6172 7.09312 23.8959 52.5049 7.31331 23.8827 52.6846 8.44044 22.9077 52.5723 8.53061 23.109 52.5947 9.02396 23.2299 52.7295 9.51324 23.3302 52.752 9.84099 23.8189 52.6396 9.68451 23.9744 52.7969 9.82478 24.9718 52.8193 9.48342 25.4511 52.9092 7.36568 25.3321 52.7969 7.46548 25.1354 52.9316 7.08016 24.8176 52.8418 7.2305 24.1682 53.0215 8.09972 22.9576 52.9766 9.55791 23.7055 53.1113 9.91516 24.0545 53.1338 9.92648 24.6428 53.0439 9.48954 25.1462 53.2012 8.74288 25.8222 53.0889 8.62349 25.6367 53.1113 8.11758 25.5913 53.2461 7.61878 25.5656 53.2686 7.22135 25.1317 53.1338 7.67005 25.3511 53.291 7.02605 24.5766 53.3584 7.77997 23.0855 53.2236 7.54192 23.5246 53.3809 8.34276 22.9137 53.4033 8.92782 22.9765 53.4258 9.44131 23.2639 53.3359 9.65509 23.8952 53.5156 9.55274 25.382 53.4258 8.91295 25.5691 53.583 7.91929 25.7338 53.4707 7.91921 25.5132 53.6279 7.11264 24.9099 53.6504 7.01308 24.33 53.6729 7.14906 23.7575 53.583 7.69788 23.3792 53.6953 7.49877 23.2843 53.7178 8.00612 22.9862 53.6055 8.15201 23.1517 53.6279 8.659 23.1206 53.7852 9.6141 23.4404 53.6729 9.51086 23.6353 53.6953 9.7191 24.0986 53.875 9.36915 25.5473 53.8975 8.83854 25.8016 53.9199 8.25069 25.8274 53.8076 8.19926 25.6129 53.8301 7.73674 25.4029 53.9648 7.27443 25.2139 54.0098 7.0416 24.0847 53.8975 7.25809 24.0423 54.0547 7.69559 23.1351 53.9424 7.87599 23.262 54.1221 9.36512 23.2025 54.0547 9.74815 24.3098 54.1895 9.89197 24.7881 54.0771 9.67269 24.8121 54.2119 9.61731 25.3085 54.3242 7.15119 24.9999 54.2344 7.21393 24.3363 54.2568 7.33134 23.8421 54.2793 7.63324 23.4336 54.3916 7.42825 23.3521 54.4141 7.91463 23.0209 54.4814 9.54928 23.3671 54.3691 9.45925 23.5684 54.3916 9.69787 24.0168 54.5264 9.94907 24.4485 54.4365 9.58287 25.0055 54.5713 9.44513 25.4856 54.459 9.24771 25.3872 54.5938 8.93263 25.7747 54.4814 8.78966 25.6067 54.5039 8.2822 25.6289 54.6162 8.34779 25.8395 54.6611 7.33286 25.2924 54.6836 7.06555 24.7682 54.5488 7.43949 25.0993 54.6162 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10.6893 52.5947 8.99767 10.8102 52.7295 9.48695 10.9105 52.752 9.8147 11.3992 52.6396 9.65823 11.5547 52.7744 9.92441 11.9773 52.6621 9.71948 12.059 52.7969 9.79849 12.5521 52.6846 9.57796 12.5468 52.707 9.25638 12.94 52.752 8.29995 13.2154 52.8867 7.80389 13.2736 52.7744 7.8185 13.0535 52.9092 7.33939 12.9124 52.7969 7.43919 12.7157 52.9316 7.05387 12.3979 52.9541 6.99314 11.8126 52.8193 7.22286 12.2561 52.9766 7.16693 11.2504 52.999 7.54736 10.8015 53.0664 9.21511 10.6991 52.9316 8.71592 10.7154 53.1113 9.88887 11.6348 52.9766 9.53163 11.2858 53.1338 9.9002 12.2231 53.2236 8.12832 13.3891 53.2461 7.5925 13.1459 53.1562 7.32641 12.5347 53.1787 7.19012 12.0454 53.2236 7.51563 11.1049 53.4033 8.90153 10.5568 53.291 8.92015 10.7766 53.4258 9.41502 10.8442 53.3135 9.3459 11.0537 53.4482 9.77458 11.31 53.3584 9.72348 11.9746 53.3809 9.61476 12.4707 53.5381 9.04595 13.302 53.5605 8.47071 13.4258 53.4258 8.88667 13.1494 53.6055 7.40549 12.9846 53.4932 7.49197 12.7816 53.5156 7.24553 12.3375 53.6504 6.98679 11.9103 53.6953 7.47248 10.8645 53.7402 8.56344 10.4914 53.7852 9.58781 11.0207 53.6729 9.48458 11.2156 53.8076 9.86426 11.5401 53.8301 9.91473 12.1263 53.8975 8.81226 13.3819 53.7627 9.15243 13.0162 53.8076 8.17298 13.1931 53.9648 7.24814 12.7942 53.8975 7.2318 11.6226 53.9424 7.8497 10.8423 54.0771 8.21941 10.5065 54.167 9.91414 11.782 54.0547 9.72186 11.8901 54.2119 9.59102 12.8888 54.1221 8.96511 13.118 54.2568 8.56848 13.4216 54.2793 7.98461 13.3485 54.1895 7.54902 12.8439 54.3242 7.12491 12.5802 54.3467 6.98696 12.0081 54.2793 7.60695 11.0139 54.4141 7.88834 10.6012 54.459 9.04132 10.6093 54.3242 8.54872 10.6918 54.3916 9.67158 11.5971 54.5264 9.92279 12.0288 54.4365 9.55659 12.5858 54.5713 9.41884 13.0659 54.5938 8.90634 13.355 54.6162 8.3215 13.4198 54.5039 8.25592 13.2092 54.6387 7.75813 13.25 54.5264 7.78044 13.0305 54.5488 7.41321 12.6796 54.5713 7.21312 12.2127 54.6387 7.77686 10.8851 54.7959 8.71162 10.51 54.8184 9.25873 10.7265 54.6836 8.75927 10.7253 54.8633 9.89927 11.6853 54.8857 9.88997 12.2736 54.751 9.71462 11.8059 54.9082 9.65055 12.8111 54.7959 9.43565 12.7614 54.8184 9.04128 13.0815 54.9531 8.66574 13.4108 54.9756 8.07831 13.3767 54.8408 8.55293 13.2212 55.0205 7.16936 12.6673 54.9082 7.30684 12.4948 55.043 6.99364 12.1058 54.9531 7.27203 11.5001 55.0654 7.05236 11.5203 55.043 8.96123 10.7936 55.2227 9.92433 11.931 55.1104 9.72207 12.019 55.1553 9.28701 12.9142 55.29 8.99843 13.3219 55.1777 8.84459 13.1638 55.2002 8.33974 13.2197 55.2227 7.85342 13.0731 55.2451 7.46364 12.7474 55.3574 7.3701 12.9471 55.3799 7.06849 12.4419 55.2676 7.23292 12.2948 55.29 7.19826 11.7881 55.3574 8.16886 10.7211 55.3799 8.67663 10.7078 55.4922 8.61474 10.4961 55.4248 9.50992 11.2521 55.4473 9.70179 11.7224 55.6045 9.70478 12.7297 55.4697 9.69373 12.2303 55.4922 9.48704 12.6943 55.627 9.30127 13.1579 55.5146 9.11486 13.04 55.6494 8.76208 13.3935 55.5371 8.6369 13.2119 55.5596 8.12981 13.1825 55.6943 7.63045 13.1725 55.7168 7.21952 12.7514 55.582 7.67492 12.9565 55.7393 7.00681 12.2027 55.6045 7.34521 12.5701 55.627 7.19355 12.0853 55.7842 7.27523 11.0814 55.6719 7.48923 11.1349 55.6943 7.88914 10.8218 55.8291 8.27039 10.4991 55.7168 8.37986 10.6906 55.874 9.37944 10.8145 55.7617 9.31696 11.026 55.9189 9.91936 11.8332 55.8066 9.72342 11.9345 55.9414 9.85039 12.4176 55.9639 9.55765 12.928 55.8291 9.6304 12.4339 55.9863 9.0881 13.2827 55.8516 9.3489 12.8567 56.0088 8.51706 13.4246 55.8965 8.42407 13.2246 56.0312 7.93611 13.3311 56.0537 7.43844 13.0172 55.9414 7.51848 12.8116 56.0762 7.10387 12.5331 55.9639 7.25814 12.3755 56.0986 6.98606 11.9566 56.0088 7.32449 11.3824 56.1211 7.10391 11.3801 56.0312 7.64052 10.9847 56.1436 7.43851 10.8961 56.166 7.9362 10.5822 56.0537 8.08724 10.743 56.2109 9.08819 10.6307 56.0762 8.593 10.6959 56.2783 9.91935 12.0802 56.166 9.7092 12.1473 56.3008 9.75347 12.6448 56.3232 9.37936 13.099 56.1885 9.53386 12.624 56.2109 9.18552 12.9937 56.3457 8.85705 13.3699 56.2334 8.72005 13.197 56.3682 8.27029 13.4142 56.2559 8.21213 13.2014 56.3906 7.71322 13.2247 56.4131 7.27517 12.8319 56.3232 7.20491 12.169 56.3457 7.22187 11.6614 56.5029 7.63053 10.7408 56.5254 8.17377 10.5146 56.4131 8.29575 10.6984 56.5479 8.76217 10.5198 56.4355 8.80225 10.7367 56.458 9.2531 10.9707 56.5029 9.71913 11.8502 56.5254 9.65956 12.3546 56.6377 9.87798 12.3237 56.6602 9.61987 12.8525 56.5703 9.00149 13.1013 56.6152 8.00706 13.1431 56.6602 7.28868 12.4542 56.75 7.13449 12.4823 56.7051 7.28876 11.4589 51.0449 9.80675 11.3802 51.0674 9.92456 11.9567 51.0449 9.81854 12.5047 51.0898 9.80671 12.5332 51.0898 9.00321 13.3199 51.1348 8.97441 13.3312 51.1572 7.37358 12.9509 51.2021 6.98899 11.864 51.2246 7.0602 12.4175 51.2471 6.99126 11.8331 51.2246 7.14296 11.296 51.2471 7.50743 10.8341 51.292 7.53125 10.8144 51.2695 8.02393 10.5522 51.3145 8.05357 10.5434 51.292 8.60962 10.4955 51.3145 9.17056 10.6733 51.3818 9.63545 11.0815 51.3594 9.87671 11.5848 51.3818 9.90865 12.1723 51.4268 9.90379 12.2028 51.4043 9.70748 12.7253 51.4268 9.30548 13.155 51.4717 9.28008 13.1726 51.4941 8.73684 13.3987 51.5615 7.20578 12.7296 51.5166 7.22232 12.7557 51.5615 7.02523 11.6196 51.6064 7.03264 11.5896 51.6289 7.29075 11.0608 51.6514 7.73565 10.6757 51.6514 8.85219 10.542 51.6963 8.88186 10.5507 51.7412 9.76538 11.2915 51.6963 9.75109 11.2641 51.7637 9.9213 11.8589 51.7861 9.84209 12.442 51.7412 9.85199 12.4127 51.8086 9.54045 12.9472 51.8311 9.06476 13.2936 51.8086 8.5222 13.4244 51.8535 8.49131 13.4255 51.8311 7.94093 13.3329 51.8984 7.42 12.9992 51.876 7.1059 12.5379 51.9883 7.45726 10.8784 51.9883 8.51201 10.4885 52.0332 8.54288 10.49 52.0332 9.5543 10.9815 52.0557 9.84879 11.491 52.0781 9.91978 12.0751 52.1455 9.74121 12.6674 52.1006 9.75587 12.6402 52.123 9.38336 13.0957 52.168 9.3592 13.115 52.2129 8.24477 13.4108 52.2354 7.6911 13.2115 52.2803 7.02063 12.2735 52.2803 7.2168 11.1662 52.3252 7.2337 11.1404 52.3252 8.16872 10.5156 52.3477 8.75714 10.5188 52.3701 9.29714 10.7525 52.3926 9.70212 11.1794 52.4375 9.71819 11.2058 52.415 9.90712 11.731 52.4824 9.87132 12.3486 52.46 9.623 12.8484 52.5273 9.1524 13.25 52.5049 8.61976 13.4167 52.5723 8.00418 13.3549 52.5498 7.51525 13.0858 52.6172 7.13378 12.5987 52.5723 7.14758 12.6264 52.5947 6.98967 12.0596 52.6396 6.98783 12.0287 52.6846 8.41415 10.488 52.7295 8.44506 10.4875 52.707 8.99373 10.5896 52.752 9.02237 10.6013 52.7969 9.82613 11.4279 52.8193 9.45713 13.0314 52.8643 9.4343 13.0522 52.8418 8.95508 13.3383 52.8643 8.37288 13.4236 52.9092 8.34204 13.4215 53.0215 7.18207 11.2235 53.0215 8.07343 10.5379 53.0439 8.66074 10.5019 53.0889 8.6913 10.5065 53.0889 9.64761 11.0981 53.1338 9.66541 11.1234 53.1787 9.89427 12.2535 53.2012 9.66242 12.7943 53.1562 9.67977 12.7687 53.1787 9.26295 13.184 53.2236 9.23695 13.2007 53.2012 8.71659 13.4025 53.2686 7.19506 12.712 53.291 7.56767 13.1275 53.3135 7.17945 12.6853 53.3359 6.99588 12.1262 53.291 6.99977 12.1569 53.3135 7.03793 11.5697 53.3809 7.32287 11.0206 53.3359 7.30343 11.0446 53.3584 7.75368 10.6658 53.4033 7.78099 10.6513 53.3809 8.31647 10.494 53.4707 9.43821 10.8646 53.4707 9.92253 11.8795 53.4932 9.83515 12.4614 53.5605 9.50506 12.9846 53.5156 9.52645 12.9623 53.6055 8.4398 13.4258 53.6279 7.86457 13.3019 53.583 7.893 13.3141 53.6504 7.3841 12.9623 53.6279 7.08635 12.4902 53.6953 6.98809 11.8794 53.6729 7.12277 11.3378 53.7178 7.13608 11.3099 53.7402 7.49567 10.8441 53.7627 8.00918 10.5568 53.7178 7.97983 10.5665 53.7852 8.59424 10.494 53.7627 9.12971 10.6513 53.8301 9.60725 11.0447 53.8525 9.87271 11.5698 53.8525 9.73111 12.6854 53.8975 9.7155 12.7121 53.875 9.34286 13.1275 53.9199 9.31804 13.146 53.9199 8.2244 13.4077 53.9424 7.67358 13.2007 53.9648 8.19393 13.4025 53.9873 7.64758 13.184 54.0322 7.0104 12.223 53.9873 7.01632 12.2534 54.0098 7.01531 11.6649 54.0771 7.26307 11.098 54.0322 7.24527 11.1233 54.0547 7.66931 10.7153 54.1221 8.24997 10.5018 54.0996 8.80736 10.5302 54.1221 9.33883 10.7828 54.1445 9.7286 11.2236 54.1895 9.74374 11.2505 54.1895 9.86569 12.3684 54.2344 9.1342 13.2597 54.3242 7.95544 13.3383 54.3018 7.47624 13.0522 54.3467 7.45341 13.0313 54.3691 7.11208 12.552 54.3691 7.08453 11.4278 54.3916 7.40196 10.9324 54.4814 8.49656 10.488 54.4365 8.46566 10.4875 54.5039 9.06953 10.622 54.4814 9.52299 10.9473 54.5039 9.83341 11.4472 54.5713 9.92094 12.0597 54.5488 9.77679 12.5988 54.6162 9.39529 13.0859 54.6611 8.29075 13.4167 54.6836 7.73107 13.235 54.6611 7.30657 12.8727 54.7061 7.28756 12.8483 54.6836 7.03927 12.3485 54.7061 6.99909 11.7614 54.7285 7.19248 11.2057 54.751 7.58841 10.7704 54.7959 7.61356 10.7524 54.8184 8.15358 10.5187 54.7734 8.1234 10.5254 54.8408 9.67697 11.1404 54.8857 9.69387 11.1663 54.9307 9.88298 12.3037 54.9531 9.63231 12.8361 54.9307 9.21943 13.2116 54.998 8.63511 13.4149 55.0205 8.04852 13.3685 54.998 7.55134 13.1149 55.043 7.52717 13.0956 55.0879 7.33611 11.0048 55.1104 7.79937 10.642 55.1328 8.36783 10.49 55.1553 8.95033 10.5733 55.1777 8.39871 10.4885 55.2002 8.97932 10.584 55.1777 9.45343 10.8785 55.2227 9.47589 10.8997 55.2002 9.79644 11.3566 55.2451 9.80876 11.385 55.2451 9.81661 12.5094 55.2676 9.49054 12.9993 55.3125 9.46838 13.0208 55.3125 8.4192 13.4255 55.335 7.84577 13.2935 55.4248 7.05859 12.4126 55.4023 6.98932 11.8588 55.4248 7.14529 11.2914 55.4697 7.15957 11.264 55.4473 7.51137 10.8308 55.4922 7.53526 10.8112 55.4697 8.02886 10.5507 55.5146 9.17506 10.6758 55.5371 9.61993 11.0609 55.582 9.63851 11.0856 55.6045 9.8854 11.6197 55.5596 9.878 11.5897 55.582 9.90788 12.1774 55.627 9.90292 12.2079 55.6494 9.68824 12.7558 55.6943 8.73178 13.3997 55.6719 8.17368 13.3987 55.7393 7.60505 13.1549 55.7617 7.20308 12.7252 55.7617 7.02642 11.6146 55.7842 7.00195 12.1722 55.8066 7.03394 11.5847 55.8066 7.7133 10.6886 55.8516 7.74014 10.6732 55.874 8.3011 10.4955 55.8516 8.85714 10.5434 55.8965 9.75351 11.2687 55.9414 9.7677 11.2961 55.9189 9.40326 10.8341 56.0762 7.90731 13.3199 56.1436 6.98638 11.9257 56.166 7.11633 11.3518 56.1885 8.51716 10.4887 56.2109 7.96523 10.5716 56.2334 8.54802 10.4904 56.2559 9.11594 10.6443 56.2334 9.55771 10.9854 56.2783 9.5779 11.0088 56.2559 9.85042 11.4958 56.3008 9.8598 11.5253 56.3232 9.91643 12.111 56.4131 8.23967 13.41 56.4355 7.0264 12.2986 56.4805 7.01952 12.2685 56.458 7.00683 11.7105 56.4805 7.21958 11.1619 56.5479 7.65629 10.7237 56.5703 8.20417 10.509 56.5703 9.30136 10.7555 56.5928 8.79233 10.5266 56.6152 9.32644 10.7735 56.5928 9.70483 11.1838 56.6152 9.9079 11.736 56.6826 9.86994 12.3536 56.7051 9.60076 12.8768 56.6826 9.17497 13.2376 56.7051 8.61464 13.4173 56.75 8.20069 13.4037 56.7275 8.02876 13.3626 56.75 7.83485 13.2885 51 9.59217 11.026 50.7835 9.31901 10.9266 50.7835 8.68826 10.6328 50.75 7.52103 11.1733 50.7835 7.42525 11.093 50.75 8.87272 13.1022 50.75 9.38959 12.7401 50.75 9.65611 12.168 50.7835 9.71833 11.4965 51 9.79432 11.3519 51 9.31255 10.7634 51 8.97451 10.5822 50.875 8.70412 10.5426 50.875 7.96377 10.6077 50.875 7.35513 11.0342 51 7.57974 10.7768 51 6.98938 12.0554 50.875 7.10631 12.4482 50.875 7.53281 13.0569 51 7.74579 13.2432 51 8.44917 13.4259 50.875 8.94685 13.3057 51 9.68799 12.7562 51 9.92036 12.0676 50.875 9.8043 11.4651 50.875 8.20649 13.3707 50.7835 8.22235 13.2806 50.7835 8.91552 13.2197 50.875 9.55549 12.8792 50.7835 9.48537 12.8204 50.7835 9.77922 12.1896 50.875 9.86934 12.2055 50.875 9.3778 10.8565 50.7835 7.9951 10.6937 50.7835 7.1314 11.7237 50.875 7.04128 11.7079 50.7835 7.19229 12.4169 50.7835 7.59161 12.9867 50.75 8.6666 10.7559 50.75 9.2387 11.0224 50.75 7.30974 12.3741 50.75 9.60088 11.5393 50.75 7.67192 12.891 50.75 8.24401 13.1575 50.75 7.25451 11.7454 50.75 8.03789 10.8111 57 6.06082 13.2042 56.875 6.09053 13.1888 57 6.38637 10.2219 57 7.20774 9.56219 57 9.2663 9.38135 56.875 9.25624 9.4133 57 11.1449 11.7204 57 10.5242 13.6915 56.875 10.4986 13.6699 57 9.70288 14.3512 56.875 9.6874 14.3215 56.875 8.68865 14.6129 57 7.64432 14.532 56.7835 6.17168 13.1465 56.7835 6.80083 13.9298 56.75 6.88115 13.834 56.7835 7.68186 14.4128 56.875 7.65438 14.5 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7.54631 19.9534 31.9201 7.74825 19.7681 32.01 7.5395 19.7769 31.9089 7.89059 19.5338 31.9875 7.79043 19.3884 31.9763 7.82536 19.1575 31.9426 7.55068 18.533 31.8528 7.51636 18.3269 31.9314 7.35685 18.4027 31.8415 7.26649 18.2143 31.8303 6.99514 18.1758 31.9089 6.90092 18.3251 31.8303 6.54965 18.322 31.8752 6.31478 18.6742 31.864 6.20917 18.8825 31.8528 6.16576 19.112 31.8303 6.14874 18.8851 31.8303 6.12726 19.1195 31.8415 6.18799 19.3445 37.5578 7.2086 18.1994 37.5803 7.48227 18.3063 37.5466 6.9354 18.1776 37.5578 6.47392 18.3269 37.5354 6.66693 18.2327 37.5129 6.2271 18.5506 37.5466 6.2653 18.5046 37.5017 6.09055 18.7882 37.5354 6.11443 18.7335 37.5241 6.03326 18.9952 37.5129 6.02822 19.2693 37.4905 6.24204 19.7681 37.4568 6.28135 19.8131 37.4792 6.44398 19.9534 37.4343 6.74684 20.0921 37.4006 7.53641 19.9601 37.4231 7.70074 19.8218 37.3669 7.96053 19.2811 37.3894 7.9658 19.0664 37.3782 7.90411 18.7994 37.3445 7.8809 18.7443 37.3332 7.73285 18.5136 37.3445 7.33459 18.2368 37.2995 7.0071 18.1758 37.3332 7.06681 18.1784 37.322 6.79336 18.1969 37.2658 6.27327 18.4957 37.2434 6.03524 18.9834 37.2209 6.09505 19.5228 37.2434 6.19861 19.711 37.2097 6.23451 19.7588 37.1985 6.43416 19.9465 37.2209 6.62231 20.0501 37.2097 6.88776 20.1183 37.1985 7.1617 20.1099 37.1872 7.42246 20.0255 37.1535 7.47535 19.9977 37.1423 7.69244 19.8304 37.176 7.64941 19.8719 37.1311 7.92744 18.8672 37.1199 7.81178 18.6187 37.0974 7.40085 18.2642 37.0862 7.13809 18.1863 37.0525 7.07873 18.1793 37.0412 6.80508 18.1945 37.0637 6.60034 18.2593 37.03 6.54646 18.2852 37.0525 6.36789 18.4045 37.0075 6.15342 18.6594 36.9963 6.05009 18.9133 37.0075 6.05307 19.3983 36.9626 6.19179 19.7012 36.9514 6.37709 19.9031 36.9402 6.6113 20.0454 36.9626 6.81682 20.1078 36.9514 7.09064 20.1196 36.9289 6.87588 20.1169 36.9177 7.14991 20.1119 36.9289 7.59453 19.918 36.9065 7.91244 19.4782 36.8503 7.93084 18.8787 36.8391 7.81824 18.6288 36.8728 7.84865 18.6802 36.8615 7.68404 18.4611 36.8503 7.46491 18.2965 36.8391 7.2086 18.1994 36.8166 7.41169 18.2693 36.8054 7.14991 18.1881 36.8279 6.9354 18.1776 36.7717 6.37709 18.3969 36.7492 6.07007 18.8444 36.7156 6.15342 19.6406 36.738 6.28135 19.8131 36.7043 6.32336 19.8556 36.7268 6.49428 19.9856 36.6931 6.54646 20.0148 36.6819 6.80508 20.1055 36.6931 7.28937 20.0788 36.6706 7.07873 20.1207 36.6594 7.88581 19.5448 36.6145 7.96675 19.2217 36.592 7.85435 18.6907 36.5808 7.69244 18.4696 36.5696 7.47535 18.3023 36.5471 6.94734 18.1769 36.5359 6.67821 18.2287 36.5583 6.48406 18.3206 36.5134 6.23451 18.5412 36.5471 6.27327 18.4957 36.5022 6.09505 18.7772 36.5359 6.11961 18.7227 36.4909 6.02683 19.0426 36.4685 6.11961 19.5773 36.4909 6.23451 19.7588 36.4797 6.43416 19.9465 36.446 6.48406 19.9794 36.4348 6.7353 20.089 36.4011 7.52643 19.9666 36.4348 7.47535 19.9977 36.4123 7.85435 19.6093 36.3899 7.73285 19.7864 36.3674 7.95885 19.293 36.3562 7.96053 19.0189 36.3449 7.88581 18.7552 36.3337 7.74061 18.5227 36.3562 7.58506 18.3747 36.3225 7.53641 18.3399 36.3449 7.34577 18.241 36.3337 7.07873 18.1793 36.3113 7.28937 18.2212 36.3 7.01905 18.176 36.3225 6.80508 18.1945 36.3113 6.54646 18.2852 36.2776 6.49428 18.3144 36.2663 6.28135 18.4869 36.3 6.32336 18.4444 36.2888 6.15342 18.6594 36.2776 6.05009 18.9133 36.2326 6.02558 19.2455 36.2551 6.07007 19.4556 36.2439 6.19179 19.7012 36.2214 6.6113 20.0454 36.2102 6.87588 20.1169 36.1765 6.9354 20.1224 36.1653 7.2086 20.1006 36.1877 7.41169 20.0307 36.1428 7.68404 19.8389 36.1203 7.94572 19.3635 36.1316 7.93084 18.8787 36.0979 7.91244 18.8218 36.1091 7.6405 18.4202 36.0642 7.3569 18.2454 36.0866 7.14991 18.1881 36.053 6.37709 18.3969 36.0305 6.55711 18.2798 36.0193 6.33207 18.4362 36.0193 6.02155 19.1141 36.008 6.05009 19.3867 35.9968 6.15342 19.6406 35.9519 6.36789 19.8955 35.9856 6.32336 19.8556 35.9407 6.60034 20.0407 35.9631 6.80508 20.1055 35.9294 6.86403 20.1154 35.9182 7.13809 20.1137 35.9407 7.34577 20.059 35.907 7.40085 20.0358 35.8957 7.6315 19.8877 35.8733 7.92744 19.4328 35.862 7.96932 19.162 35.8957 7.96675 19.2217 35.8733 7.85435 18.6907 35.862 7.69244 18.4696 35.8396 7.82458 18.6389 35.8283 7.64941 18.4281 35.8171 7.42246 18.2745 35.8059 7.1617 18.1901 35.7722 6.38637 18.3894 35.7834 6.09505 18.7772 35.7722 6.02683 19.0426 35.7273 6.04726 19.3751 35.761 6.03524 19.3166 35.7497 6.11961 19.5773 35.7385 6.27327 19.8043 35.7048 6.31475 19.8473 35.6936 6.53588 20.0092 35.7273 6.48406 19.9794 35.6824 6.79336 20.1031 35.6711 7.06681 20.1216 35.6599 7.33459 20.0632 35.6936 7.27795 20.0823 35.6711 7.73285 19.7864 35.6487 7.5755 19.9325 35.6599 7.8809 19.5557 35.6374 7.96053 19.0189 35.6262 7.88581 18.7552 35.615 7.74061 18.5227 35.57 7.48572 18.3083 35.5813 7.01905 18.176 35.5476 6.95928 18.1764 35.5139 6.24204 18.5319 35.5027 6.0997 18.7662 35.5364 6.12492 18.712 35.5251 6.03735 18.9717 35.5139 6.02558 19.2455 35.4914 6.02822 19.0307 35.469 6.11443 19.5665 35.5027 6.09055 19.5118 35.4577 6.2653 19.7954 35.4802 6.42443 19.9396 35.4353 6.72379 20.0857 35.424 6.99514 20.1243 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34.9299 7.5755 19.9325 34.8625 7.9691 19.1739 34.8513 7.93722 18.9017 34.8738 7.85993 18.7013 34.8401 7.83079 18.6491 34.8625 7.70074 18.4782 34.8176 7.43318 18.2798 34.8401 7.23187 18.2049 34.8064 7.17347 18.1922 34.8288 6.95928 18.1764 34.7951 6.89965 18.1804 34.7839 6.63339 18.2454 34.7727 6.39575 18.382 34.7615 6.20555 18.5793 34.7502 6.07784 18.8218 34.7727 6.02822 19.0307 34.7278 6.04457 19.3635 34.7615 6.03326 19.3048 34.7502 6.11443 19.5665 34.7165 6.14163 19.6198 34.7053 6.30624 19.8389 34.7278 6.47392 19.9731 34.7165 6.72379 20.0857 34.6828 6.78168 20.1006 34.6716 7.05488 20.1224 34.6828 7.51636 19.9731 34.6604 7.32336 20.0673 34.6716 7.72499 19.7954 34.6491 7.56586 19.9396 34.6379 7.76319 19.7494 34.6491 7.95702 19.3048 34.6042 7.95293 18.9717 34.6267 7.89059 18.7662 34.593 7.86537 18.712 34.5818 7.70893 18.4869 34.5593 7.24345 18.2079 34.5818 7.031 18.1764 34.5481 6.97123 18.176 34.5705 6.75842 18.2049 34.5593 6.50457 18.3083 34.5368 6.13036 18.7013 34.5256 6.03961 18.9599 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34.0539 6.39575 18.382 34.0427 6.20555 18.5793 34.009 6.17204 18.6288 34.0315 6.07784 18.8218 33.9865 6.02089 19.15 34.009 6.04457 19.3635 33.9641 6.17204 19.6712 33.9865 6.30624 19.8389 33.9529 6.34978 19.8798 33.9753 6.52538 20.0035 33.9416 6.5786 20.0307 33.9529 7.05488 20.1224 33.9416 7.32336 20.0673 33.9192 7.1144 20.1169 33.9304 7.56586 19.9396 33.8855 7.7985 19.7012 33.9192 7.76319 19.7494 33.8742 7.92022 19.4556 33.8967 7.9647 19.2455 33.8855 7.95293 18.9717 33.8518 7.9402 18.9133 33.8742 7.86537 18.712 33.8293 7.66693 18.4444 33.8518 7.49601 18.3144 33.8406 7.24345 18.2079 33.7956 6.91155 18.1793 33.8293 6.97123 18.176 33.8181 6.70091 18.2212 33.7844 6.64452 18.241 33.8069 6.45388 18.3399 33.7956 6.24968 18.5227 33.7732 6.40522 18.3747 33.7619 6.21262 18.5696 33.7732 6.02976 19.0189 33.7395 6.02353 19.0783 33.7282 6.04202 19.3518 33.717 6.13593 19.6093 33.7395 6.25743 19.7864 33.7282 6.46386 19.9666 33.7058 6.29784 19.8304 33.6946 6.51494 19.9977 33.7058 6.98319 20.1242 33.6946 7.25499 20.089 33.6609 7.31208 20.0713 33.6721 7.04295 20.1231 33.6721 7.71701 19.8043 33.6384 7.75578 19.7588 33.6272 7.89523 19.5228 33.6609 7.87068 19.5773 33.6272 7.89523 18.7772 33.6159 7.75578 18.5412 33.5823 7.71701 18.4957 33.6047 7.55612 18.3535 33.571 7.50622 18.3206 33.5935 7.31208 18.2287 33.5823 7.04295 18.1769 33.571 6.77003 18.2021 33.5261 6.46386 18.3334 33.5486 6.29784 18.4696 33.5149 6.25743 18.5136 33.5373 6.13593 18.6907 33.5036 6.10939 18.7443 33.4924 6.03144 19.007 33.5261 6.04202 18.9482 33.5036 6.08194 19.4894 33.4363 6.70091 20.0788 33.4587 6.91155 20.1207 33.425 6.97123 20.124 33.4138 7.24345 20.0921 33.4363 7.44382 20.0148 33.425 7.66693 19.8556 33.3913 7.70893 19.8131 33.4138 7.83687 19.6406 33.3689 7.95293 19.3283 33.4026 7.9402 19.3867 33.3913 7.96873 19.1141 33.3576 7.9647 19.0545 33.3352 7.76319 18.5506 33.3576 7.6132 18.3969 33.324 7.56586 18.3604 33.3127 7.32336 18.2327 33.3015 7.05488 18.1776 33.324 6.84038 18.1881 33.2678 6.30624 18.4611 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6.44722 28.2738 35.8059 6.64263 28.4017 35.7947 6.86594 28.4701 35.7834 7.09948 28.4737 35.7048 7.0071 28.6242 35.7722 7.32476 28.412 35.761 7.52395 28.2901 35.7497 7.6813 28.1174 35.6711 7.73285 28.2864 35.7385 7.78434 27.9078 35.6599 7.8809 28.0557 35.6487 7.95885 27.793 35.7048 7.71108 27.2296 35.6262 7.88581 27.2552 35.615 7.74061 27.0227 35.6824 7.37508 26.9118 35.5925 7.28937 26.7212 35.6711 7.15444 26.8352 35.5476 6.28135 26.9869 35.6262 6.32666 27.1576 35.5364 6.12492 27.212 35.5251 6.03735 27.4717 35.6037 6.16695 27.5916 35.5139 6.02558 27.7455 35.5925 6.18346 27.8246 35.5027 6.09055 28.0118 35.4914 6.2271 28.2494 35.4802 6.42443 28.4396 35.4577 6.9354 28.6224 35.5251 7.26781 28.4342 35.424 7.68404 28.3389 35.5139 7.47543 28.3272 35.4128 7.84865 28.1198 35.4016 7.94572 27.8635 35.4802 7.82063 27.7388 35.469 7.8127 27.5054 35.3904 7.96756 27.5903 35.4577 7.74007 27.2834 35.4465 7.60848 27.0904 35.424 7.21395 26.8491 35.323 6.81682 26.6922 35.3117 6.55711 26.7798 35.3005 6.33207 26.9362 35.2781 6.05307 27.4017 35.3679 6.23918 27.3067 35.3342 6.23723 27.9889 35.323 6.36162 28.1866 35.2331 6.36789 28.3955 35.3005 6.747 28.4423 35.2893 6.97749 28.4801 35.1882 7.40085 28.5358 35.2668 7.42431 28.3607 35.177 7.6315 28.3877 35.1657 7.81178 28.1813 35.2444 7.73796 28.0209 35.1545 7.92744 27.9328 35.2331 7.81186 27.7993 35.1433 7.96932 27.662 35.2107 7.76502 27.3392 35.1208 7.82458 27.1389 35.1994 7.64799 27.1371 35.1882 7.47929 26.9755 35.177 7.27228 26.8674 35.0871 7.1617 26.6901 35.1657 7.04333 26.8211 35.1545 6.81058 26.8405 35.1321 6.40614 27.0649 35.1208 6.26648 27.2521 35.031 6.07388 27.3331 35.1096 6.18447 27.4708 35.0984 6.16663 27.7036 35.0085 6.04726 27.8751 34.9973 6.14746 28.1302 35.0759 6.32386 28.1386 34.9748 6.53588 28.5092 35.0534 6.68939 28.4219 35.0422 6.91648 28.4765 34.9524 7.06681 28.6216 35.0198 7.37087 28.3904 35.0085 7.56221 28.2564 34.9299 7.5755 28.4325 34.9187 7.77049 28.2399 34.8962 7.9658 27.7336 34.9748 7.82507 27.6269 34.8738 7.85993 27.2013 34.9636 7.7858 27.3967 34.8625 7.70074 26.9782 34.9411 7.5276 27.013 34.8513 7.48572 26.8083 34.8176 6.68954 26.7249 34.9074 6.87062 26.8291 34.8962 6.64693 26.8963 34.7951 6.24204 27.0319 34.8738 6.29772 27.1995 34.7727 6.02822 27.5307 34.8401 6.1957 27.8741 34.739 6.2653 28.2954 34.7278 6.47392 28.4731 34.7951 6.85589 28.4685 34.6941 7.26649 28.5857 34.7615 7.51606 28.2965 34.7502 7.67551 28.1258 34.739 7.78112 27.9175 34.6491 7.95702 27.8048 34.6379 7.96207 27.5307 34.6267 7.89059 27.2662 34.7053 7.71619 27.2384 34.6042 7.54631 26.8466 34.6828 7.38411 26.9165 34.6716 7.16443 26.8372 34.5705 6.75842 26.7049 34.6379 6.49838 26.9848 34.6267 6.33275 27.1494 34.5256 6.03961 27.4599 34.6155 6.21955 27.3537 34.6042 6.16773 27.5815 34.593 6.18138 27.8146 34.5144 6.02449 27.7336 34.4919 6.2198 28.2399 34.4695 6.6557 28.5632 34.5481 6.79605 28.456 34.4582 6.92347 28.6216 34.5256 7.25816 28.4375 34.4358 7.4544 28.5092 34.5144 7.46709 28.3331 34.5032 7.63866 28.1746 34.4919 7.75931 27.9746 34.4695 7.81441 27.5154 34.4582 7.74451 27.2926 34.3684 7.79168 27.089 34.3572 7.60391 26.8894 34.4358 7.43702 26.9471 34.3347 7.10253 26.6817 34.3235 6.82858 26.6901 34.3122 6.56782 26.7745 34.4021 6.76129 26.8534 34.301 6.34088 26.9281 34.3796 6.37137 27.1021 34.2898 6.16571 27.1389 34.2785 6.05618 27.3902 34.3684 6.24344 27.2975 34.2673 6.02097 27.662 34.2561 6.06284 27.9328 34.2449 6.1785 28.1813 34.2336 6.35879 28.3877 34.3122 6.52769 28.3362 34.301 6.7373 28.4392 34.1999 7.12626 28.6154 34.2785 7.19952 28.4547 34.2673 7.41556 28.3659 34.1438 7.9691 27.6739 34.2112 7.76877 27.3487 34.1101 7.65822 26.9362 34.1887 7.48753 26.9815 34.0876 7.17347 26.6922 34.1662 7.0535 26.8218 34.0652 6.63339 26.7454 34.0427 6.20555 27.0793 34.1325 6.41337 27.0577 34.1213 6.27141 27.2431 34.0315 6.07784 27.3218 34.0202 6.02273 27.5903 34.1101 6.18673 27.4608 34.0989 6.16603 27.6935 34.0876 6.21094 27.9227 33.9978 6.14163 28.1198 33.9865 6.30624 28.3389 33.9753 6.52538 28.5035 34.0652 6.47848 28.2999 33.9641 6.78168 28.6006 34.0539 6.67994 28.4181 34.0427 6.90634 28.4755 33.9529 7.05488 28.6224 34.0315 7.13977 28.4676 33.9416 7.32336 28.5673 33.9304 7.56586 28.4396 34.009 7.55472 28.2633 33.9192 7.76319 28.2494 33.9978 7.70341 28.0832 33.9079 7.89974 28.0118 33.8967 7.9647 27.7455 33.8855 7.95293 27.4717 33.9641 7.78885 27.4064 33.9529 7.68959 27.195 33.9304 7.3384 26.894 33.8406 7.24345 26.7079 33.8181 6.70091 26.7212 33.8069 6.45388 26.8399 33.7956 6.24968 27.0227 33.8742 6.3033 27.191 33.7844 6.10447 27.2552 33.7732 6.02976 27.5189 33.8406 6.19301 27.8642 33.7619 6.03144 27.793 33.7507 6.10939 28.0557 33.7395 6.25743 28.2864 33.8293 6.28442 28.0792 33.8181 6.43207 28.2601 33.8069 6.62429 28.3928 33.717 6.71233 28.5823 33.7058 6.98319 28.6242 33.6946 7.25499 28.589 33.7732 7.30596 28.4199 33.7619 7.50809 28.3028 33.6721 7.71701 28.3043 33.7395 7.77777 27.9271 33.7282 7.82399 27.6982 33.6384 7.96346 27.5426 33.717 7.80462 27.4654 33.7058 7.72118 27.2473 33.6047 7.55612 26.8535 33.6946 7.58029 27.061 33.6833 7.39309 26.9213 33.5598 6.51494 26.8023 33.6384 6.50658 26.9787 33.5373 6.13593 27.1907 33.5261 6.04202 27.4482 33.5935 6.17942 27.8046 33.4924 6.21262 28.2304 33.4812 6.40522 28.4253 33.5598 6.57065 28.3635 33.5486 6.78618 28.4535 33.4699 6.64452 28.559 33.5261 7.24848 28.4407 33.5149 7.45867 28.3388 33.4138 7.83687 28.1406 33.4026 7.9402 27.8867 33.3801 7.92022 27.3444 33.3576 7.6132 26.8969 33.3464 7.37899 26.7546 33.3352 7.1144 26.6831 33.3127 6.5786 26.7693 33.3913 6.55728 26.9446 33.3015 6.34978 26.9202 33.2903 6.17204 27.1288 33.279 6.05944 27.3787 33.3576 6.17665 27.5107 33.2678 6.02089 27.65 33.3352 6.22914 27.9702 33.2453 6.17204 28.1712 33.324 6.34864 28.1709 33.2116 6.84038 28.6119 33.2903 6.95713 28.4794 33.1892 7.37899 28.5454 33.178 7.6132 28.4031 33.2566 7.59128 28.2279 33.2453 7.72864 28.039 33.1555 7.92022 27.9556 33.1443 7.96873 27.6859 33.133 7.9402 27.4133 33.2116 7.77241 27.3582 33.1218 7.83687 27.1594 33.2004 7.66038 27.1532 33.1106 7.66693 26.9444 33.0993 7.44382 26.7852 33.178 7.2914 26.8744 33.0769 6.91155 26.6793 33.0657 6.64452 26.741 33.1443 6.61036 26.9143 33.0432 6.21262 27.0696 33.0095 6.04202 27.8518 33.0881 6.20766 27.913 32.9983 6.13593 28.1093 33.0769 6.31207 28.1219 32.987 6.29784 28.3304 32.9533 7.04295 28.6231 33.0432 6.89622 28.4743 33.032 7.12973 28.4693 32.9421 7.31208 28.5713 33.0207 7.35258 28.3994 32.9309 7.55612 28.4465 32.9197 7.75578 28.2588 32.9084 7.89523 28.0228 32.9758 7.82539 27.6473 32.9646 7.79178 27.4161 32.8635 7.71701 26.9957 32.841 7.25499 26.711 32.9309 7.34765 26.8983 32.9197 7.12434 26.8299 32.8298 6.98319 26.6758 32.8186 6.71233 26.7177 32.8972 6.66553 26.888 32.8074 6.46386 26.8334 32.7961 6.25743 27.0136 32.886 6.46633 27.0099 32.7849 6.10939 27.2443 32.8635 6.20595 27.3922 32.8523 6.16536 27.6222 32.8298 6.27921 28.0704 32.8074 6.6152 28.3882 32.7175 6.70091 28.5788 32.7063 6.97123 28.624 32.7849 7.06909 28.4769 32.695 7.24345 28.5921 32.6726 7.70893 28.3131 32.6614 7.86537 28.088 32.6501 7.95293 27.8283 32.7287 7.82334 27.7084 32.6389 7.9647 27.5545 32.7063 7.72607 27.2562 32.6164 7.76319 27.0506 32.6838 7.402 26.9263 32.594 7.32336 26.7327 32.6614 6.95168 26.8209 32.5715 6.78168 26.6994 32.6389 6.51485 26.9728 32.6052 6.16966 27.5612 32.5266 6.04457 27.4365 32.4817 6.39575 28.418 32.4704 6.63339 28.5546 32.448 7.17347 28.6078 32.5378 7.00806 28.4802 32.4367 7.43318 28.5202 32.4255 7.65822 28.3638 32.5154 7.45018 28.3444 32.5041 7.62559 28.1902 32.4143 7.83079 28.1509 32.4031 7.93722 27.8983 32.4817 7.8168 27.7691 32.3918 7.9691 27.6261 32.3806 7.9239 27.3558 32.4704 7.81747 27.5356 32.448 7.62866 27.1134 32.4367 7.45414 26.9582 32.4255 7.24328 26.8577 32.3244 6.85219 26.6863 32.3132 6.58944 26.7642 32.2907 6.1785 27.1187 32.3806 6.385 27.0869 32.2795 6.06284 27.3672 32.3581 6.17843 27.5007 32.2683 6.02097 27.638 32.3469 6.16916 27.7341 32.2458 6.16571 28.1611 32.2346 6.34088 28.3719 32.2234 6.56782 28.5255 32.2121 6.82858 28.6099 32.2907 6.94695 28.4788 32.2009 7.10253 28.6183 32.2795 7.17971 28.4595 32.2683 7.39786 28.376 32.1672 7.79168 28.211 32.156 7.9164 27.9669 32.2346 7.80581 27.8292 32.1335 7.94303 27.4249 32.1223 7.84283 27.1698 32.1111 7.67554 26.9527 32.0998 7.4544 26.7908 32.1448 6.61942 26.9096 32.1335 6.42808 27.0436 32.0437 6.2198 27.0601 32.0324 6.08617 27.2994 32.0212 6.02449 27.5664 32.0998 6.16521 27.6731 32.0886 6.20449 27.9033 31.9988 6.13036 28.0987 31.9875 6.28955 28.3218 32.0549 6.66119 28.4101 31.9651 6.75842 28.5951 32.0437 6.88611 28.4731 32.0212 7.34336 28.4037 32.01 7.5395 28.2769 31.9988 7.69256 28.1005 31.9875 7.79043 27.8884 31.9089 7.89059 28.0338 31.9651 7.79459 27.4259 31.8865 7.95702 27.4952 31.8752 7.87585 27.2335 31.9538 7.70055 27.2121 31.8528 7.51636 26.8269 31.8303 6.99514 26.6758 31.9201 7.1344 26.8315 31.8977 6.6749 26.884 31.8865 6.47423 27.0035 31.8752 6.31478 27.1742 31.864 6.20917 27.3825 31.8303 6.14874 27.3851 31.8303 6.12726 27.6195 37.5578 7.2086 26.6994 37.5803 7.2473 26.7089 37.5691 7.46491 26.7965 37.5578 6.47392 26.8269 37.5241 6.42443 26.8604 37.5466 6.2653 27.0046 37.5017 6.09055 27.2882 37.468 6.12492 28.088 37.4905 6.24204 28.2681 37.468 6.68954 28.5751 37.4455 7.23187 28.5951 37.4231 7.01905 28.624 37.4343 6.74684 28.5921 37.4118 7.28937 28.5788 37.4343 7.48572 28.4917 37.4006 7.53641 28.4601 37.3669 7.96053 27.7811 37.3782 7.90411 27.2994 37.3445 7.8809 27.2443 37.3557 7.5755 26.8675 37.322 7.52643 26.8334 37.322 6.79336 26.6969 37.2883 6.7353 26.711 37.2658 6.27327 26.9957 37.2546 6.11961 27.2227 37.2658 6.02207 27.6978 37.2322 6.02683 27.7574 37.2546 6.07388 27.9669 37.2322 6.38637 28.4106 37.1872 6.67821 28.5713 37.2209 6.62231 28.5501 37.2097 6.88776 28.6183 37.1985 7.1617 28.6099 37.176 6.94734 28.6231 37.1872 7.42246 28.5255 37.1648 7.22025 28.5979 37.1423 7.69244 28.3304 37.1199 7.94827 27.8518 37.1423 7.96932 27.638 37.0974 7.90835 27.3106 37.1199 7.81178 27.1187 37.0862 7.77767 27.0696 37.1086 7.6315 26.9123 37.0974 7.40085 26.7642 37.0525 7.07873 26.6793 37.0862 7.13809 26.6863 37.0637 6.60034 26.7593 37.03 6.54646 26.7852 37.0075 6.15342 27.1594 36.9851 6.02155 27.6859 36.9739 6.07007 27.9556 36.9626 6.19179 28.2012 36.9851 6.33207 28.3638 36.9514 6.37709 28.4031 36.9177 7.14991 28.6119 36.9514 7.09064 28.6196 36.8952 7.6405 28.3798 36.9177 7.78473 28.2207 36.884 7.81824 28.1712 36.9065 7.91244 27.9782 36.8728 7.93084 27.9213 36.8728 7.84865 27.1802 36.8391 7.81824 27.1288 36.8503 7.46491 26.7965 36.8166 7.41169 26.7693 36.8279 6.9354 26.6776 36.8166 6.66693 26.7327 36.7942 6.87588 26.6831 36.7942 6.2271 27.0506 36.7492 6.07007 27.3444 36.7717 6.02558 27.5545 36.738 6.02155 27.6141 36.7268 6.05009 27.8867 36.7156 6.15342 28.1406 36.738 6.28135 28.3131 36.7156 6.74684 28.5921 36.7043 7.01905 28.624 36.6819 6.80508 28.6055 36.6819 7.53641 28.4601 36.6482 7.58506 28.4253 36.6369 7.77767 28.2304 36.6482 7.96053 27.7811 36.6032 7.94827 27.4482 36.6032 7.52643 26.8334 36.5696 7.47535 26.8023 36.5808 7.0071 26.6758 36.5471 6.94734 26.6769 36.5359 6.67821 26.7287 36.5246 6.43416 26.8535 36.5246 6.03524 27.4834 36.5134 6.02683 27.7574 36.5022 6.09505 28.0228 36.4685 6.11961 28.0773 36.4573 6.27327 28.3043 36.4573 6.94734 28.6231 36.4348 6.7353 28.589 36.4123 7.27795 28.5823 36.4011 7.52643 28.4666 36.3674 7.95885 27.793 36.3562 7.96053 27.5189 36.3786 7.90835 27.3106 36.3449 7.88581 27.2552 36.3337 7.74061 27.0227 36.3562 7.58506 26.8747 36.3225 7.53641 26.8399 36.3449 7.34577 26.741 36.3 7.01905 26.676 36.3337 7.07873 26.6793 36.2888 6.74684 26.7079 36.3 6.32336 26.9444 36.2776 6.49428 26.8144 36.2551 6.12492 27.212 36.2776 6.05009 27.4133 36.2439 6.03735 27.4717 36.2663 6.02155 27.6859 36.2551 6.07007 27.9556 36.2102 6.2271 28.2494 36.2326 6.37709 28.4031 36.2214 6.6113 28.5454 36.1877 6.66693 28.5673 36.2102 6.87588 28.6169 36.1765 6.9354 28.6224 36.154 7.46491 28.5035 36.1203 7.94572 27.8635 36.1428 7.96939 27.65 36.1091 7.96756 27.5903 36.1316 7.93084 27.3787 36.0979 7.91244 27.3218 36.1203 7.81824 27.1288 36.0754 7.59453 26.882 36.0979 7.41169 26.7693 36.053 7.09064 26.6804 36.0754 6.87588 26.6831 36.0642 6.6113 26.7546 36.0417 6.81682 26.6922 36.0305 6.55711 26.7798 36.053 6.37709 26.8969 36.0417 6.19179 27.0988 36.008 6.1595 27.1491 35.9968 6.05307 27.4017 36.008 6.05009 27.8867 35.9631 6.18508 28.1913 35.9407 6.60034 28.5407 35.907 7.40085 28.5358 35.9407 7.34577 28.559 35.8957 7.6315 28.3877 35.8733 7.92744 27.9328 35.907 7.90835 27.9894 35.8957 7.96675 27.7217 35.8508 7.9341 27.3902 35.8733 7.85435 27.1907 35.862 7.69244 26.9696 35.8171 7.42246 26.7745 35.7947 6.88776 26.6817 35.7834 6.62231 26.7499 35.8171 6.67821 26.7287 35.8059 6.43416 26.8535 35.7947 6.23451 27.0412 35.7834 6.09505 27.2772 35.7497 6.07388 27.3331 35.7385 6.02207 27.6022 35.761 6.03524 27.8166 35.7385 6.27327 28.3043 35.7048 6.31475 28.3473 35.7273 6.48406 28.4794 35.6936 6.53588 28.5092 35.716 6.7353 28.589 35.6711 7.06681 28.6216 35.6936 7.27795 28.5823 35.6487 7.5755 28.4325 35.6824 7.52643 28.4666 35.6374 7.96053 27.5189 35.5925 7.85993 27.2013 35.57 7.48572 26.8083 35.6037 7.53641 26.8399 35.5588 7.23187 26.7049 35.5813 7.01905 26.676 35.5476 6.95928 26.6764 35.5364 6.68954 26.7249 35.57 6.74684 26.7079 35.5588 6.49428 26.8144 35.5139 6.24204 27.0319 35.5027 6.0997 27.2662 35.4914 6.02822 27.5307 35.4802 6.03326 27.8048 35.469 6.11443 28.0665 35.469 6.66693 28.5673 35.4465 6.47392 28.4731 35.4353 6.72379 28.5857 35.424 6.99514 28.6243 35.4465 7.2086 28.6006 35.4353 7.46491 28.5035 35.3904 7.72499 28.2954 35.3679 7.95702 27.8048 35.3454 7.89059 27.2662 35.3791 7.91244 27.3218 35.3679 7.78473 27.0793 35.3342 7.74825 27.0319 35.3567 7.59453 26.882 35.3454 7.3569 26.7454 35.3117 7.30075 26.7249 35.3342 7.09064 26.6804 35.3005 7.031 26.6764 35.2668 6.28955 26.9782 35.2893 6.1595 27.1491 35.2556 6.13036 27.2013 35.2668 6.02119 27.6739 35.2219 6.08617 28.0006 35.2556 6.06638 27.9442 35.2444 6.18508 28.1913 35.2107 6.2198 28.2399 35.2219 6.60034 28.5407 35.2107 6.86403 28.6154 35.1994 7.13809 28.6137 35.1321 7.84283 28.1302 35.1321 7.9341 27.3902 35.1096 7.64941 26.9281 35.0984 7.42246 26.7745 35.0647 7.36797 26.7499 35.0759 6.88776 26.6817 35.0534 7.10253 26.6817 35.0647 6.62231 26.7499 35.0534 6.38637 26.8894 35.0198 6.34088 26.9281 35.0422 6.19861 27.089 35.0085 6.16571 27.1389 35.0198 6.02207 27.6022 34.9861 6.31475 28.3473 34.9411 6.58944 28.5358 34.9636 6.79336 28.6031 34.9187 7.12626 28.6154 34.9411 7.33459 28.5632 34.9074 7.90411 28.0006 34.885 7.95067 27.4599 34.8513 7.93722 27.4017 34.8401 7.83079 27.1491 34.8176 7.43318 26.7798 34.8401 7.23187 26.7049 34.8288 6.95928 26.6764 34.7951 6.89965 26.6804 34.8064 6.44398 26.8466 34.7839 6.63339 26.7454 34.7727 6.39575 26.882 34.7615 6.20555 27.0793 34.7839 6.0997 27.2662 34.7278 6.04457 27.8635 34.7615 6.03326 27.8048 34.7502 6.11443 28.0665 34.7053 6.30624 28.3389 34.7165 6.72379 28.5857 34.7053 6.99514 28.6243 34.6828 6.78168 28.6006 34.6716 7.05488 28.6224 34.6491 7.56586 28.4396 34.6828 7.51636 28.4731 34.6716 7.72499 28.2954 34.6379 7.76319 28.2494 34.6604 7.87585 28.0665 34.6267 7.89974 28.0118 34.593 7.86537 27.212 34.6155 7.74825 27.0319 34.5705 7.49601 26.8144 34.593 7.30075 26.7249 34.5818 7.031 26.6764 34.5368 6.70091 26.7212 34.5593 6.50457 26.8083 34.5481 6.28955 26.9782 34.5368 6.13036 27.2013 34.5032 6.10447 27.2552 34.5032 6.08617 28.0006 34.4807 6.03144 27.793 34.4582 6.25743 28.2864 34.4807 6.41478 28.4325 34.4358 6.71233 28.5823 34.447 7.19692 28.6031 34.4133 7.25499 28.589 34.4245 7.67554 28.3473 34.4133 7.84283 28.1302 34.3796 7.87068 28.0773 34.4021 7.94303 27.8751 34.3684 7.95505 27.8166 34.3908 7.96822 27.6022 34.3572 7.96346 27.5426 34.3796 7.9164 27.3331 34.3459 7.36797 26.7499 34.2785 6.51494 26.8023 34.2673 6.29784 26.9696 34.2561 6.13593 27.1907 34.2449 6.04202 27.4482 34.2224 6.58944 28.5358 34.1999 6.40522 28.4253 34.2112 6.85219 28.6137 34.1887 6.64452 28.559 34.1887 7.38995 28.5407 34.1775 7.6224 28.3955 34.1438 7.66693 28.3556 34.1325 7.83687 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92.25 44.9103 58.735 92.317 46.0393 57.4395 92.25 45.9862 55.6883 92.25 45.876 57 92.317 46.25 55.265 92.317 46.0393 54.0195 92.25 45.3338 53.6308 92.317 45.4196 51.3369 92.25 43.1145 51.0334 92.317 43.1185 50.2211 92.317 41.5709 63.7789 92.317 36.4291 62.9666 92.317 34.8815 61.8076 92.317 33.5733 60.3692 92.317 32.5804 60.7508 92.25 33.0897 57.4395 92.25 32.0138 55.265 92.317 31.9607 51.3369 92.25 34.8855 50.4916 92.25 36.4231 50.2211 92.317 36.4291 50.0552 92.25 38.1227 49.8029 92.317 38.1261 60.4543 92.5 45.5816 60.3692 92.317 45.4196 62.9666 92.317 43.1185 63.95 92.5 41.6358 64.3788 92.5 39.896 64.1971 92.317 39.8739 64.1971 92.317 38.1261 63.95 92.5 36.3642 63.1172 92.5 34.7776 61.929 92.5 33.4363 58.7788 92.5 31.783 58.735 92.317 31.9607 55.2212 92.5 31.783 57 92.317 31.75 53.6308 92.317 32.5804 52.1924 92.317 33.5733 50.8828 92.5 34.7776 51.0334 92.317 34.8815 50.05 92.5 36.3642 52.1924 92.317 44.4267 53.5457 92.5 45.5816 50.8828 92.5 43.2224 49.8029 92.317 39.8739 50.05 92.5 41.6358 63.7801 92.25 37.2592 63.1341 92.25 35.6277 60.6406 92.25 36.355 62.1028 92.25 34.2082 59.1631 92.25 32.3426 58.3906 92.25 34.7202 55.6883 92.25 32.124 54.0195 92.25 32.6662 52.538 92.25 33.6064 54.355 92.25 35.3594 52.7202 92.25 37.6094 52.5 92.25 39 50.0552 92.25 39.8773 50.4916 92.25 41.5769 52.538 92.25 44.3936 54.355 92.25 42.6406 55.6094 92.25 43.2798 57 92.25 43.5 59.1631 92.25 45.6574 58.3906 92.25 43.2798 59.645 92.25 42.6406 62.1028 92.25 43.7918 63.1341 92.25 42.3723 63.7801 92.25 40.7408 64.3788 73.25 39.896 64.5 73.5 39 64.3788 73.25 38.104 62.6138 73.5 34.0266 61.929 73.25 33.4363 61.2605 73.5 32.8276 60.4543 73.25 32.4184 59.6595 73.5 31.9874 57 73.25 31.567 54.3405 73.5 31.9874 52.7395 73.5 32.8276 51.3862 73.5 34.0266 52.071 73.25 33.4363 50.3591 73.5 35.5146 50.05 73.25 36.3642 49.6212 73.25 38.104 49.5 73.5 39 49.7179 73.5 40.7949 50.3591 73.5 42.4854 50.8828 73.25 43.2224 51.3862 73.5 43.9734 53.5457 73.25 45.5816 56.096 73.5 46.4453 58.7788 73.25 46.217 60.4543 73.25 45.5816 59.6595 73.5 46.0126 61.2605 73.5 45.1724 62.6138 73.5 43.9734 63.1172 73.25 43.2224 64 73 39 63.7801 73 40.7408 63.7789 73.067 41.5709 63.1341 73 42.3723 62.9666 73.067 43.1185 62.1028 73 43.7918 61.8076 73.067 44.4267 59.1631 73 45.6574 60.3692 73.067 45.4196 55.6883 73 45.876 54.0195 73 45.3338 53.6308 73.067 45.4196 52.538 73 44.3936 50.2211 73.067 41.5709 49.6212 73.25 39.896 49.8029 73.067 38.1261 63.7801 73 37.2592 62.9666 73.067 34.8815 60.7508 73 33.0897 60.3692 73.067 32.5804 59.1631 73 32.3426 58.735 73.067 31.9607 57.4395 73 32.0138 55.265 73.067 31.9607 54.0195 73 32.6662 52.1924 73.067 33.5733 52.538 73 33.6064 51.0334 73.067 34.8815 51.3369 73 34.8855 50.0552 73 38.1227 58.735 73.067 46.0393 61.929 73.25 44.5637 63.95 73.25 41.6358 64.1971 73.067 39.8739 64.1971 73.067 38.1261 63.95 73.25 36.3642 63.7789 73.067 36.4291 63.1172 73.25 34.7776 61.8076 73.067 33.5733 58.7788 73.25 31.783 57 73.067 31.75 55.2212 73.25 31.783 53.6308 73.067 32.5804 53.5457 73.25 32.4184 50.8828 73.25 34.7776 50.2211 73.067 36.4291 57 73.067 46.25 55.265 73.067 46.0393 57 73.25 46.433 55.2212 73.25 46.217 52.1924 73.067 44.4267 52.071 73.25 44.5637 51.0334 73.067 43.1185 50.05 73.25 41.6358 49.8029 73.067 39.8739 64.2821 73.5 40.7949 64.2821 73.5 37.2051 63.6409 73.5 35.5146 62.6138 74.25 34.0266 61.2605 74.25 32.8276 57.904 73.5 31.5547 56.096 73.5 31.5547 56.096 74.25 31.5547 54.3405 74.25 31.9874 51.3862 74.25 34.0266 50.3591 74.25 35.5146 49.7179 73.5 37.2051 49.5 74.25 39 49.7179 74.25 40.7949 50.3591 74.25 42.4854 52.7395 73.5 45.1724 54.3405 73.5 46.0126 56.096 74.25 46.4453 57.904 74.25 46.4453 57.904 73.5 46.4453 61.2605 74.25 45.1724 62.6138 74.25 43.9734 63.6409 74.25 42.4854 63.6409 73.5 42.4854 64.3788 74.5 39.896 64.5 74.25 39 64.2821 74.25 40.7949 63.1172 74.5 43.2224 59.6595 74.25 46.0126 58.7788 74.5 46.217 57 74.5 46.433 54.3405 74.25 46.0126 53.5457 74.5 45.5816 52.7395 74.25 45.1724 51.3862 74.25 43.9734 50.8828 74.5 43.2224 49.6212 74.5 39.896 49.7179 74.25 37.2051 50.05 74.5 36.3642 50.8828 74.5 34.7776 52.7395 74.25 32.8276 55.2212 74.5 31.783 58.7788 74.5 31.783 57.904 74.25 31.5547 60.4543 74.5 32.4184 59.6595 74.25 31.9874 61.929 74.5 33.4363 63.6409 74.25 35.5146 63.95 74.5 36.3642 64.2821 74.25 37.2051 64.3788 74.5 38.104 63.7801 74.75 37.2592 63.1341 74.75 35.6277 60.7508 74.75 33.0897 59.1631 74.75 32.3426 57 74.683 31.75 57.4395 74.75 32.0138 55.6883 74.75 32.124 54.0195 74.75 32.6662 51.3369 74.75 34.8855 50.4916 74.75 36.4231 51.0334 74.683 34.8815 50.2211 74.683 36.4291 49.6212 74.5 38.104 63.7801 74.75 40.7408 62.9666 74.683 43.1185 63.1341 74.75 42.3723 62.1028 74.75 43.7918 60.7508 74.75 44.9103 57.4395 74.75 45.9862 55.265 74.683 46.0393 55.6883 74.75 45.876 54.0195 74.75 45.3338 52.538 74.75 44.3936 52.1924 74.683 44.4267 50.2211 74.683 41.5709 50.4916 74.75 41.5769 57 74.5 31.567 58.735 74.683 31.9607 60.3692 74.683 32.5804 61.8076 74.683 33.5733 63.1172 74.5 34.7776 62.9666 74.683 34.8815 63.7789 74.683 36.4291 64.1971 74.683 38.1261 64.1971 74.683 39.8739 63.95 74.5 41.6358 63.7789 74.683 41.5709 61.929 74.5 44.5637 61.8076 74.683 44.4267 60.4543 74.5 45.5816 60.3692 74.683 45.4196 58.735 74.683 46.0393 55.2212 74.5 46.217 57 74.683 46.25 53.6308 74.683 45.4196 52.071 74.5 44.5637 50.05 74.5 41.6358 51.0334 74.683 43.1185 49.8029 74.683 39.8739 55.265 74.683 31.9607 53.5457 74.5 32.4184 53.6308 74.683 32.5804 52.1924 74.683 33.5733 52.071 74.5 33.4363 49.8029 74.683 38.1261 50.0552 74.75 38.1227 52.5 74.75 39 50.0552 74.75 39.8773 52.7202 74.75 40.3906 51.3369 74.75 43.1145 53.3594 74.75 36.355 52.538 74.75 33.6064 54.355 74.75 35.3594 57 74.75 34.5 62.1028 74.75 34.2082 64 74.75 39 61.5 74.75 39 61.2798 74.75 40.3906 60.6406 74.75 41.645 59.645 74.75 42.6406 59.1631 74.75 45.6574 55.6094 74.75 43.2798 62.7775 88.5 37.3812 61.6543 88 35.2135 58.2207 88.5 33.1255 56.5905 88.5 33.014 55.7793 88 33.1255 53.5399 88.5 34.0982 51.8735 88 35.8825 52.3457 88.5 35.2135 51.2225 88 37.3812 51.0559 88.5 38.183 51.0559 88.5 39.817 51.4967 88.5 41.3904 52.3457 88.5 42.7865 52.9047 88 43.385 59.0093 88 44.6536 61.0953 88.5 43.385 62.5033 79 41.3904 61.6543 79 42.7865 57.4095 79 44.986 55.7793 79 44.8745 56.5905 78.5 44.986 53.5399 78.5 43.9018 52.9047 79 43.385 52.3457 78.5 42.7865 51.8735 79 42.1175 51.4967 78.5 41.3904 51.2225 79 40.6188 51.0559 78.5 39.817 51.0559 78.5 38.183 51.2225 79 37.3812 51.4967 78.5 36.6096 51.8735 79 35.8825 52.3457 78.5 35.2135 54.2396 79 33.6727 54.9907 78.5 33.3464 56.5905 78.5 33.014 58.2207 78.5 33.1255 59.0093 79 33.3464 60.4601 79 34.0982 61.6543 79 35.2135 62.7775 78.5 40.6188 63 78.5 39 62.9192 78.25 38.5951 62.7775 78.5 37.3812 61.8471 78.25 35.5785 62.1265 78.5 35.8825 61.0953 78.5 34.615 59.7604 78.5 33.6727 53.5399 78.5 34.0982 53.2557 78.25 34.3977 51.4096 78.25 37.0132 52.6639 78.25 43.0496 53.9173 78.25 44.0693 54.9907 78.5 44.6536 58.2207 78.5 44.8745 58.6007 78.25 44.713 59.7604 78.5 44.3273 61.0953 78.5 43.385 62.1265 78.5 42.1175 62.2678 78.25 41.7296 61.6269 78 41.9735 61.2023 78.067 42.9247 59.9876 78.067 43.9129 57.7827 78 44.444 56.2173 78 44.444 57 78.067 44.75 55.4487 78.067 44.5368 54.7152 78 44.003 54.0124 78.067 43.9129 52.7977 78.067 42.9247 51.7228 78 40.5495 51.8947 78.067 41.6454 51.3703 78.067 40.1699 51.2634 78.067 38.6076 51.5 78 39 51.7228 78 37.4505 51.582 78.067 37.0744 52.3731 78 36.0265 53.3712 78.067 34.5397 54.7152 78 33.997 56.2173 78 33.556 56.217 78.067 33.3036 57.783 78.067 33.3036 56.1921 78.25 33.1222 57.8079 78.25 33.1222 61.6269 78 36.0265 61.6976 78.067 35.6841 59.2908 78.067 33.726 58.5513 78.067 44.5368 60.0827 78.25 44.0693 61.3361 78.25 43.0496 62.1053 78.067 41.6454 62.8089 78.25 40.2071 62.6297 78.067 40.1699 62.7366 78.067 38.6076 62.5904 78.25 37.0132 62.418 78.067 37.0744 60.7443 78.25 34.3977 60.6288 78.067 34.5397 59.3637 78.25 33.5582 57 78.25 44.933 55.3993 78.25 44.713 51.7322 78.25 41.7296 51.1911 78.25 40.2071 51.0808 78.25 38.5951 52.3024 78.067 35.6841 52.1529 78.25 35.5785 54.7092 78.067 33.726 54.6363 78.25 33.5582 52.3731 78 41.9735 52.7202 78 40.3906 53.3983 78 43.1566 54.355 78 42.6406 58.3906 78 43.2798 59.2848 78 44.003 59.645 78 42.6406 60.6017 78 43.1566 62.2772 78 40.5495 62.5 78 39 62.2772 78 37.4505 61.2798 78 37.6094 60.6017 78 34.8434 59.2848 78 33.997 57 78 34.5 57.7827 78 33.556 55.6094 78 34.7202 53.3983 78 34.8434 54.355 78 35.3594 53.3594 78 36.355 52.7202 78 37.6094 52.5 78 39 62.8089 88.75 37.7929 63 88.5 39 62.7775 88.5 40.6188 62.5904 88.75 40.9868 61.8471 88.75 42.4215 62.1265 88.5 42.1175 59.7604 88.5 44.3273 60.7443 88.75 43.6023 58.2207 88.5 44.8745 56.5905 88.5 44.986 57.8079 88.75 44.8778 54.9907 88.5 44.6536 53.5399 88.5 43.9018 51.1911 88.75 37.7929 51.4967 88.5 36.6096 52.6639 88.75 34.9504 53.9173 88.75 33.9307 54.9907 88.5 33.3464 55.3993 88.75 33.287 57 88.75 33.067 59.7604 88.5 33.6727 60.0827 88.75 33.9307 61.3361 88.75 34.9504 61.0953 88.5 34.615 62.1265 88.5 35.8825 62.2678 88.75 36.2704 62.2772 89 40.5495 62.5 89 39 62.6297 88.933 37.8301 62.1053 88.933 36.3546 61.6269 89 36.0265 60.6017 89 34.8434 59.2848 89 33.997 57 88.933 33.25 55.4487 88.933 33.4632 53.3983 89 34.8434 52.7977 88.933 35.0753 52.3731 89 36.0265 51.8947 88.933 36.3546 51.7228 89 37.4505 51.3703 88.933 37.8301 51.5 89 39 51.2634 88.933 39.3924 52.3024 88.933 42.3159 54.7092 88.933 44.274 61.6269 89 41.9735 62.418 88.933 40.9256 60.6017 89 43.1566 59.2848 89 44.003 56.2173 89 44.444 58.6007 88.75 33.287 58.5513 88.933 33.4632 59.9876 88.933 34.0871 61.2023 88.933 35.0753 62.7366 88.933 39.3924 62.9192 88.75 39.4049 61.6976 88.933 42.3159 60.6288 88.933 43.4603 59.3637 88.75 44.4418 59.2908 88.933 44.274 57.783 88.933 44.6964 54.0124 88.933 34.0871 51.7322 88.75 36.2704 51.0808 88.75 39.4049 51.582 88.933 40.9256 51.4096 88.75 40.9868 53.3712 88.933 43.4603 52.1529 88.75 42.4215 53.2557 88.75 43.6023 54.6363 88.75 44.4418 56.217 88.933 44.6964 56.1921 88.75 44.8778 52.5 89 39 54.355 89 35.3594 54.7152 89 33.997 56.2173 89 33.556 57.7827 89 33.556 58.3906 89 34.7202 59.645 89 35.3594 60.6406 89 36.355 62.2772 89 37.4505 61.5 89 39 61.2798 89 40.3906 60.6406 89 41.645 59.645 89 42.6406 57.7827 89 44.444 54.7152 89 44.003 53.3983 89 43.1566 52.3731 89 41.9735 51.7228 89 40.5495 64 87.5 39 63.9448 87 39.8773 63.7801 87.5 37.2592 63.5084 87 36.4231 62.6631 87 34.8855 62.1028 87.5 34.2082 59.1631 87.5 32.3426 59.9805 87 32.6662 56.5605 87 32.0138 52.538 87.5 33.6064 50.8659 87 35.6277 50.4916 87.5 36.4231 50.0552 87.5 38.1227 50.0552 87.5 39.8773 50.8659 87 42.3723 51.3369 87.5 43.1145 55.6883 87.5 45.876 56.5605 87 45.9862 57.4395 87.5 45.9862 60.7508 87.5 44.9103 62.1028 87.5 43.7918 61.462 87 44.3936 62.6631 87 43.1145 63.5084 87 41.5769 64 79.5 39 63.5084 80 41.5769 62.1028 79.5 43.7918 62.6631 80 43.1145 61.462 80 44.3936 56.5605 80 45.9862 55.6883 79.5 45.876 54.8369 80 45.6574 54.0195 79.5 45.3338 52.538 79.5 44.3936 51.8972 80 43.7918 50.0552 79.5 39.8773 50 80 39 50.4916 79.5 36.4231 51.8972 80 34.2082 54.0195 79.5 32.6662 53.2492 80 33.0897 55.6883 79.5 32.124 57.4395 79.5 32.0138 58.3117 80 32.124 59.1631 79.5 32.3426 59.9805 80 32.6662 61.462 80 33.6064 62.6631 80 34.8855 63.1341 79.5 35.6277 63.7801 79.5 37.2592 63.5084 80 36.4231 63.9448 80 38.1227 63.7801 79.5 40.7408 63.9193 79.25 39.4353 63.8102 79.25 37.7009 62.1028 79.5 34.2082 62.342 79.25 34.5807 59.5522 79.25 32.5538 60.7508 79.5 33.0897 56.1311 79.25 32.1217 54.4478 79.25 32.5538 52.538 79.5 33.6064 51.3369 79.5 34.8855 50.1898 79.25 37.7009 50.0552 79.5 38.1227 50.4916 79.5 41.5769 50.4063 79.25 41.1424 51.3369 79.5 43.1145 55.2758 79.25 45.7152 58.7242 79.25 45.7152 57.4395 79.5 45.9862 59.1631 79.5 45.6574 60.7508 79.5 44.9103 62.8537 79.25 42.7149 63.1341 79.5 42.3723 63.7367 79.067 39.4238 63.2785 79 40.6823 62.6292 79 42.25 62.6992 79.067 42.6168 61.5962 79 43.5962 61.6207 79.067 43.9205 60.25 79 44.6292 58.6823 79 45.2785 60.2518 79.067 44.9151 57 79 45.5 55.3213 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+ + + + + + + + + + + + + + + + + + + diff --git a/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/tilt.dae b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/tilt.dae new file mode 100644 index 00000000..5146806e --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/meshes/tilt.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Sat Apr 11 21:57:38 2015 + Sat Apr 11 21:57:38 2015 + + + + + + + + + 56.188 -10.08 25.3976 57.3473 -10.08 19.6011 58.4731 -9.85161 19.8263 57.5076 -9.77035 25.5681 60.0652 -8.22802 20.1447 59.0219 -8.15908 25.5017 58.945 -6.53606 26.8066 58.7932 -6.44748 27.3455 58.6366 -6.14691 27.9369 58.2454 -6.02063 28.8231 58.4545 -7.02325 27.7386 57.5558 -5.28518 30.1878 57.0335 -3.96908 31.345 56.144 -2.51856 32.3965 56.8969 -2.34494 32.1088 56.0504 -0.745627 32.9558 55.998 1.0865 33.2688 55.9892 3.15655 33.3214 57.0826 3.11636 32.7536 58.061 -4.89615 29.7794 58.4429 -4.73654 29.0848 58.4108 -4.45566 29.2725 58.1072 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23.4427 51.6064 9.74962 24.3498 51.584 9.26191 25.3762 51.6738 8.9545 25.5532 51.6064 8.80701 25.6022 51.6289 8.29992 25.6316 51.6514 7.82197 25.4597 51.7412 7.54777 25.2346 51.6738 7.44981 25.114 51.7637 7.28591 24.7994 51.8086 7.34877 23.806 51.7412 7.42703 23.6718 51.876 8.61487 23.1151 51.8086 8.76813 23.1409 51.8984 9.09908 23.2686 51.8311 9.22994 23.3524 51.9209 9.48425 23.5997 51.9434 9.7086 24.0554 51.876 9.73865 24.2079 51.8984 9.70396 24.7146 51.9658 9.73615 24.5626 52.0107 9.21544 25.4108 51.9209 9.47321 25.1671 51.9658 8.59708 25.6394 52.0107 7.64983 25.3339 52.1455 7.24713 24.0854 52.0557 7.21482 24.4386 52.0781 7.29199 23.9366 52.1006 7.55996 23.5051 52.168 7.46031 23.6243 52.123 7.97575 23.2133 52.1455 8.47268 23.1081 52.168 8.97104 23.2063 52.2578 9.27592 23.3876 52.1904 9.39089 23.4922 52.2129 9.6649 23.9199 52.3027 9.74504 24.2655 52.2354 9.74912 24.4208 52.3477 9.43606 25.2116 52.2578 9.63003 24.9146 52.2803 9.32674 25.3221 52.3701 9.03179 25.5191 52.3027 8.88789 25.5778 52.3252 8.38388 25.6409 52.3477 7.89554 25.5012 52.3701 7.5012 25.181 52.46 7.31672 24.878 52.415 7.22229 24.2256 52.5273 7.60071 23.4639 52.46 7.71893 23.363 52.5498 8.02939 23.1914 52.4824 8.17772 23.145 52.5049 8.68525 23.1245 52.5273 9.16011 23.3048 52.5498 9.52615 23.657 52.6172 9.43032 23.5347 52.6621 9.74576 24.4787 52.6846 9.60425 24.9665 52.707 9.28267 25.3597 52.6172 9.52365 25.0994 52.6396 9.15639 25.4503 52.7295 8.8326 25.5951 52.6846 8.17345 25.6067 52.752 8.32623 25.6351 52.7744 7.84478 25.4732 52.8193 7.24915 24.6758 52.7295 7.38027 25.0054 52.8643 7.41251 23.694 52.8867 7.766 23.3292 52.9092 8.23427 23.1324 52.8418 8.38827 23.1115 52.9316 8.74221 23.1352 52.9541 9.20834 23.337 52.8643 8.89206 23.1763 52.999 9.73485 24.1816 52.9316 9.74926 24.3363 53.0215 9.71077 24.689 52.9541 9.66331 24.837 53.0664 9.10664 25.48 52.9766 9.38782 25.2637 52.999 8.96697 25.5481 53.0439 7.97172 25.5377 53.1562 7.3527 24.9545 53.1787 7.2164 24.4651 53.0889 7.29047 24.812 53.2012 7.28304 23.9616 53.1338 7.34277 23.8181 53.2461 7.95152 23.2242 53.1562 7.65316 23.416 53.2686 8.44613 23.1086 53.2012 8.60146 23.1138 53.2236 9.08728 23.2621 53.291 8.94644 23.1963 53.3135 9.37219 23.4734 53.3584 9.74977 24.3943 53.291 9.73806 24.5493 53.3809 9.64104 24.8905 53.4033 9.34635 25.3042 53.3359 9.22638 25.403 53.4482 8.41037 25.6427 53.3809 8.25603 25.6245 53.4033 7.7844 25.4359 53.4932 7.51826 25.2014 53.4258 7.42459 25.0773 53.5156 7.27181 24.7572 53.4482 7.23432 24.6064 53.5381 7.21941 24.252 53.4707 7.24411 24.0985 53.5605 7.36946 23.7667 53.5156 7.82573 23.2908 53.5605 8.81126 23.1517 53.583 9.26538 23.3793 53.6055 9.59377 23.7668 53.6504 9.13754 23.2909 53.6279 9.74379 24.2521 53.6504 9.69135 24.7573 53.7178 9.72885 24.6065 53.7402 9.53855 25.0774 53.7627 9.17872 25.4359 53.6953 9.0439 25.5132 53.7852 8.70708 25.6245 53.7402 8.05015 25.569 53.7627 7.61678 25.3041 53.7852 7.32211 24.8904 53.8525 7.39368 25.0283 53.875 7.22512 24.5492 53.8076 7.21342 24.3942 53.9199 7.4873 23.589 53.875 8.01683 23.1963 53.9648 8.36182 23.1138 53.8975 8.51714 23.1086 53.9873 8.86685 23.168 53.9199 9.01175 23.2242 53.9648 9.68018 23.9617 54.0322 9.62045 23.8182 53.9424 9.42133 23.5246 54.0098 9.3101 23.4161 53.9873 9.74678 24.4652 54.0996 9.40619 25.2445 54.0322 9.29307 25.3511 54.1221 8.99139 25.5377 54.1445 8.49483 25.6446 54.167 7.99614 25.5481 54.1895 7.57531 25.2636 54.0996 7.85647 25.4799 54.2119 7.29985 24.8369 54.1445 7.2524 24.6889 54.167 7.22835 24.1815 54.3018 8.07121 23.1763 54.2344 8.22107 23.1351 54.3242 8.57501 23.1115 54.2568 8.72901 23.1325 54.3467 9.06382 23.2496 54.3018 9.55072 23.6941 54.3242 9.73271 24.1683 54.4141 9.7414 24.5229 54.3467 9.71402 24.6759 54.3916 9.11833 25.4733 54.4141 8.63687 25.6351 54.4365 8.13051 25.5951 54.5264 7.80673 25.4502 54.459 7.68045 25.3596 54.5713 7.23941 24.6324 54.5938 7.23856 24.1245 54.5039 7.21742 24.4786 54.5488 7.53292 23.5346 54.6836 8.78556 23.1451 54.5938 8.43267 23.109 54.6387 9.36254 23.464 54.7285 9.58077 23.7436 54.7734 9.69906 24.7319 54.7959 9.46194 25.1811 54.7285 9.35616 25.2949 54.8184 9.06757 25.5012 54.7734 8.42383 25.6434 54.8633 8.07521 25.5778 54.8857 7.63639 25.322 54.8184 7.52708 25.2115 54.9082 7.33312 24.9145 54.9307 7.21407 24.4207 54.9531 7.29832 23.9198 54.8857 7.36304 23.7785 54.9756 7.57236 23.4922 54.9082 7.68733 23.3876 54.9531 8.64565 23.1187 54.9756 9.12597 23.284 55.1104 9.74836 24.4387 55.0205 9.71608 24.0855 55.043 9.73123 24.5932 55.1777 8.87088 25.5835 55.2002 8.36602 25.6394 55.1553 7.74768 25.4108 55.2002 7.22703 24.5625 55.2676 7.86419 23.2685 55.3125 8.85399 23.164 55.4248 9.53621 23.6718 55.3574 9.61446 23.8061 55.4697 9.72002 24.65 55.4248 9.41536 25.2347 55.5371 8.66319 25.6316 55.4697 8.5083 25.6444 55.5596 8.15609 25.6022 55.582 7.70121 25.3762 55.4922 8.00861 25.5532 55.5371 7.30481 24.8494 55.627 7.21983 24.505 55.5596 7.21358 24.3497 55.6494 7.27055 23.9996 55.582 7.32573 23.8543 55.6719 7.51551 23.5546 55.6045 7.62327 23.4426 55.627 8.05849 23.1807 55.6494 8.56156 23.1106 55.7168 8.40615 23.1103 55.6719 9.05182 23.2435 55.7168 9.69398 24.0039 55.7842 9.63932 23.8585 55.7617 9.34325 23.4457 55.8066 9.7497 24.3543 55.7393 9.74289 24.5095 55.8291 9.65668 24.8536 55.8516 9.37519 25.2764 55.874 8.95037 25.5549 55.8066 8.80271 25.6034 55.8291 8.29552 25.631 55.8516 7.81817 25.4573 55.9414 7.54476 25.2313 55.9639 7.28443 24.7952 55.874 7.44723 25.1103 56.0312 7.66681 23.4044 55.9414 7.42951 23.6681 55.9639 7.79181 23.3121 55.9863 8.26474 23.1268 56.0986 9.10296 23.2707 56.1211 9.48697 23.6032 56.0762 9.73923 24.2123 56.1885 9.56014 25.0437 56.1211 9.47043 25.1706 56.2334 8.74634 25.6167 56.1885 8.088 25.5821 56.2109 7.64648 25.3309 56.2334 7.33891 24.9267 56.3232 7.2312 24.5887 56.3682 7.46295 23.6208 56.4131 8.32204 23.1182 56.4355 8.82854 23.1565 56.458 9.27939 23.3904 56.3906 9.39399 23.4954 56.4805 9.60228 23.7825 56.4131 9.6665 23.9241 56.5254 9.68585 24.7743 56.458 9.62813 24.9186 56.4805 9.32342 25.325 56.6152 8.03335 25.5628 56.6602 7.31497 24.8739 56.6152 7.22283 24.2212 56.7051 7.31505 23.8786 56.6602 7.72248 23.3603 56.75 8.03355 23.1899 56.6826 8.18204 23.144 56.7275 9.16387 23.3072 51 9.89979 24.475 51.0225 9.95052 24.3455 51.0449 9.84483 24.9244 51 9.37922 25.3809 51.0674 9.52048 25.4153 51 9.07139 25.5589 51.0898 9.0295 25.7397 51 8.7265 25.6481 51.1123 8.45064 25.8453 51.0449 7.49271 25.1705 51.1797 7.09649 24.8665 51.1123 7.38925 23.7319 51.2695 8.05022 22.9719 51.1572 8.19081 23.1419 51.3145 9.19685 23.093 51.3369 9.64307 23.4766 51.3594 9.90299 24.0045 51.2695 9.72097 24.6457 51.292 9.51591 25.1104 51.4268 9.33177 25.5747 51.3145 9.14495 25.4574 51.4492 8.7934 25.8122 51.3369 8.66759 25.631 51.4941 7.661 25.5951 51.5615 7.05152 24.0394 51.4717 7.51264 23.558 51.6064 7.73515 23.1109 51.6289 8.29157 22.9195 51.5391 8.90479 23.1808 51.6738 9.40172 23.2309 51.6963 9.77738 23.6838 51.584 9.6375 23.8544 51.7188 9.94521 24.2478 51.7412 9.87828 24.8324 51.6289 9.65835 24.8495 51.6514 9.37834 25.2733 51.6963 8.45481 25.6444 51.7188 7.95941 25.5322 51.8311 7.96722 25.7527 51.8535 7.46845 25.4405 51.876 7.13218 24.9576 51.7861 7.21583 24.2963 51.8984 7.01235 24.3815 51.9209 7.12818 23.8046 51.9434 7.46109 23.3194 51.8311 7.66341 23.4073 51.9658 7.95768 23.0037 51.8535 8.10928 23.164 52.0107 9.10983 23.0482 52.0332 9.58059 23.4012 52.0557 9.87508 23.9107 52.0781 9.94607 24.4948 51.9883 9.56248 25.0399 52.0332 8.75069 25.6158 52.1455 8.88829 25.7882 52.168 8.30169 25.8346 52.0557 8.24278 25.622 52.0781 7.77318 25.4284 52.1006 7.4172 25.0661 52.123 7.23195 24.5931 52.2578 7.03226 24.1353 52.3027 7.65256 23.1634 52.1904 7.8373 23.2839 52.3252 8.19501 22.9354 52.2129 8.31763 23.1187 52.2354 8.82426 23.1553 52.3701 9.32343 23.1722 52.2803 9.60019 23.7786 52.3252 9.68723 24.7701 52.4375 9.90554 24.7384 52.46 9.64929 25.2681 52.4824 9.20574 25.6548 52.3926 8.53928 25.6434 52.415 8.03751 25.5644 52.5273 8.05998 25.7838 52.4375 7.60697 25.2949 52.5723 7.17387 25.0461 52.4824 7.2133 24.3807 52.5947 7.01595 24.4793 52.6172 7.09312 23.8959 52.5049 7.31331 23.8827 52.6846 8.44044 22.9077 52.5723 8.53061 23.109 52.5947 9.02396 23.2299 52.7295 9.51324 23.3302 52.752 9.84099 23.8189 52.6396 9.68451 23.9744 52.7969 9.82478 24.9718 52.8193 9.48342 25.4511 52.9092 7.36568 25.3321 52.7969 7.46548 25.1354 52.9316 7.08016 24.8176 52.8418 7.2305 24.1682 53.0215 8.09972 22.9576 52.9766 9.55791 23.7055 53.1113 9.91516 24.0545 53.1338 9.92648 24.6428 53.0439 9.48954 25.1462 53.2012 8.74288 25.8222 53.0889 8.62349 25.6367 53.1113 8.11758 25.5913 53.2461 7.61878 25.5656 53.2686 7.22135 25.1317 53.1338 7.67005 25.3511 53.291 7.02605 24.5766 53.3584 7.77997 23.0855 53.2236 7.54192 23.5246 53.3809 8.34276 22.9137 53.4033 8.92782 22.9765 53.4258 9.44131 23.2639 53.3359 9.65509 23.8952 53.5156 9.55274 25.382 53.4258 8.91295 25.5691 53.583 7.91929 25.7338 53.4707 7.91921 25.5132 53.6279 7.11264 24.9099 53.6504 7.01308 24.33 53.6729 7.14906 23.7575 53.583 7.69788 23.3792 53.6953 7.49877 23.2843 53.7178 8.00612 22.9862 53.6055 8.15201 23.1517 53.6279 8.659 23.1206 53.7852 9.6141 23.4404 53.6729 9.51086 23.6353 53.6953 9.7191 24.0986 53.875 9.36915 25.5473 53.8975 8.83854 25.8016 53.9199 8.25069 25.8274 53.8076 8.19926 25.6129 53.8301 7.73674 25.4029 53.9648 7.27443 25.2139 54.0098 7.0416 24.0847 53.8975 7.25809 24.0423 54.0547 7.69559 23.1351 53.9424 7.87599 23.262 54.1221 9.36512 23.2025 54.0547 9.74815 24.3098 54.1895 9.89197 24.7881 54.0771 9.67269 24.8121 54.2119 9.61731 25.3085 54.3242 7.15119 24.9999 54.2344 7.21393 24.3363 54.2568 7.33134 23.8421 54.2793 7.63324 23.4336 54.3916 7.42825 23.3521 54.4141 7.91463 23.0209 54.4814 9.54928 23.3671 54.3691 9.45925 23.5684 54.3916 9.69787 24.0168 54.5264 9.94907 24.4485 54.4365 9.58287 25.0055 54.5713 9.44513 25.4856 54.459 9.24771 25.3872 54.5938 8.93263 25.7747 54.4814 8.78966 25.6067 54.5039 8.2822 25.6289 54.6162 8.34779 25.8395 54.6611 7.33286 25.2924 54.6836 7.06555 24.7682 54.5488 7.43949 25.0993 54.6162 7.43709 23.6569 54.6387 7.80315 23.3048 54.751 7.6147 23.1901 54.6611 8.27803 23.1245 54.7061 9.24433 23.3631 54.8633 9.92556 24.105 54.751 9.74091 24.2257 54.9082 9.67684 25.2308 54.8408 8.57922 25.6409 54.998 7.57763 25.5346 55.1104 7.82565 23.0617 55.1328 8.39412 22.9097 54.998 7.99223 23.2063 55.0205 8.4906 23.1081 55.043 8.98752 23.2134 55.0654 9.40329 23.5051 55.1777 9.47972 23.2982 55.0879 9.67123 23.9367 55.2227 9.95062 24.3507 55.1328 9.62231 24.9308 55.1553 9.31329 25.3339 55.29 9.02471 25.7416 55.2227 7.87971 25.4928 55.3574 7.39639 25.3668 55.2451 7.48993 25.1671 55.3799 7.09478 24.8616 55.2676 7.25921 24.7146 55.29 7.22455 24.2078 55.3125 7.39151 23.7281 55.335 7.73332 23.3523 55.4473 7.53766 23.2505 55.4922 8.64103 22.9158 55.3574 8.19514 23.1409 55.5146 9.20134 23.0955 55.3799 8.70291 23.1275 55.4023 9.17519 23.3145 55.5371 9.64621 23.4806 55.5596 9.90429 24.0095 55.4473 9.72808 24.1422 55.582 9.93417 24.5971 55.6045 9.73107 25.1494 55.4922 9.51333 25.114 55.5146 9.14115 25.4597 55.7168 7.24581 25.1711 55.7393 7.0331 24.6224 55.6045 7.3715 24.9898 55.7617 7.05271 24.0344 55.7842 7.30151 23.5011 55.8066 7.73959 23.1083 55.8291 8.29668 22.9188 55.6943 7.91543 23.2415 55.8516 8.88343 22.9632 55.7393 8.90898 23.1823 55.874 9.40573 23.2342 55.8965 9.7798 23.6884 55.9189 9.94565 24.2529 55.9414 9.87667 24.8373 55.9639 9.58393 25.3477 55.9863 9.11439 25.7024 56.0088 8.54335 25.8443 55.8965 8.45036 25.6443 55.9189 7.95536 25.5304 56.0537 7.46473 25.4369 55.9863 7.21612 24.2918 56.1211 7.13019 23.7998 56.0088 7.35077 23.8021 56.1436 7.4648 23.3158 56.0537 8.11353 23.1627 56.2109 9.11448 23.0504 56.0762 8.61929 23.1156 56.2334 9.584 23.4051 56.2559 9.87671 23.9156 56.1436 9.70972 24.0597 56.166 9.73549 24.567 56.3232 9.40565 25.5187 56.2109 9.2118 25.4134 56.3457 8.88334 25.7896 56.2559 8.23842 25.6212 56.3682 8.29658 25.8339 56.2783 7.7695 25.4259 56.4131 7.30145 25.2516 56.3008 7.41479 25.0623 56.458 7.03311 24.1302 56.3457 7.24816 24.0811 56.4805 7.24586 23.5816 56.5029 7.65682 23.1605 56.3906 7.84113 23.2817 56.5254 8.20006 22.9344 56.5703 9.32764 23.1752 56.5928 9.73112 23.6035 56.5029 9.74542 24.2699 56.5479 9.43312 25.2149 56.6602 9.64615 25.2722 56.5703 9.02778 25.5211 56.6826 9.20126 25.6573 56.5928 8.53483 25.6436 56.7051 8.64093 25.837 56.7275 8.05505 25.7824 56.75 7.53758 25.5022 56.6377 7.60376 25.2918 56.75 7.12118 24.1961 56.6826 7.21329 24.3763 56.7275 7.60391 23.4608 56.75 7.43802 23.5659 51.0449 9.83304 23.7999 51.1123 9.49839 25.437 51.1348 9.0007 25.7509 51.1572 8.41974 25.8443 51.1348 7.87674 25.7154 51.1572 7.39986 25.3706 51.1797 7.84871 25.7023 51.2021 7.37919 25.3477 51.2021 7.01527 24.2837 51.2246 7.16925 23.7158 51.2695 7.18344 23.6883 51.2471 7.53371 23.2538 51.292 7.55754 23.2341 51.292 8.63591 22.9153 51.3369 8.66661 22.9188 51.3594 9.22369 23.1083 51.3818 9.66174 23.5012 51.4268 9.93008 24.6225 51.3818 9.93494 24.592 51.4043 9.73377 25.145 51.4717 9.30637 25.5923 51.4717 8.20502 25.8194 51.5166 7.2486 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55.5371 8.64543 10.4998 55.5596 9.20184 10.6912 55.7168 9.66769 11.5842 55.6719 9.27582 13.1755 55.7842 9.23211 12.9592 55.7168 8.1434 13.3924 55.8291 8.26923 13.2112 55.874 7.42095 12.6906 55.8965 7.21591 12.2259 55.9189 7.20967 11.718 55.8291 7.2939 11.0568 55.9863 8.23845 10.707 55.8965 8.88678 10.5522 56.0312 9.20724 10.9353 56.0537 9.5477 11.3123 55.9639 9.92164 11.8641 55.9863 9.84038 12.4468 56.0088 9.53697 12.951 56.0312 9.06007 13.2957 56.0537 8.48617 13.4256 56.0986 7.41636 12.9956 56.1211 7.09204 12.5046 56.2559 7.18833 12.0145 56.2783 7.26725 11.5127 56.3008 7.53673 11.0821 56.1885 7.46105 10.8749 56.3232 7.95354 10.7918 56.3906 9.3677 11.0757 56.4355 9.72267 12.0056 56.3457 9.73871 12.6719 56.3682 9.35513 13.1181 56.5029 8.85739 13.1595 56.3906 8.82723 13.3781 56.5479 7.86531 13.0794 56.4355 7.68671 13.2088 56.458 7.25702 12.8068 56.5928 7.23658 12.3078 56.5029 7.01232 11.6801 56.6602 7.6962 10.9406 56.5254 7.23657 11.1361 56.7051 8.66335 10.7056 56.7275 9.13758 10.8875 56.6377 9.72082 11.2102 56.6602 9.91222 11.7666 56.75 9.67296 12.5898 56.7275 9.14786 13.2525 56.75 9.23591 13.1448 51.0449 7.46642 12.7508 51.0674 7.23411 12.2991 51.0449 7.44999 11.1834 51.0674 7.83402 10.851 51.0898 8.3177 10.6959 51.2021 9.14517 10.8924 51.1123 8.82345 10.743 51.2695 9.69469 12.226 51.1797 9.72079 11.8722 51.2021 9.65244 12.3755 51.292 9.48962 12.6907 51.2246 9.39208 12.8117 51.3369 8.6413 13.2113 51.3594 8.13411 13.1836 51.2695 8.48646 13.2246 51.3145 7.56165 12.8567 51.3369 7.28019 12.4338 51.4268 7.19401 12.0897 51.3594 7.1872 11.9345 51.3818 7.29762 11.4387 51.4717 7.48635 11.1383 51.5166 8.37543 10.6909 51.4268 8.02801 10.7625 51.4492 8.53084 10.6906 51.5391 8.8785 10.7611 51.4717 9.02155 10.8218 51.5615 9.56536 12.5702 51.6514 9.35205 12.8536 51.6738 8.92821 13.1335 51.6963 8.42852 13.2247 51.6289 8.27363 13.2119 51.6514 7.79568 13.0399 51.6738 7.42353 12.6942 51.7412 7.52148 12.8149 51.7637 7.25962 12.3797 51.7861 7.18954 11.8766 51.7188 7.20884 11.7224 51.7412 7.40074 11.2521 51.7637 7.76179 10.8948 51.8311 7.63712 10.9876 51.8086 8.74184 10.7212 51.8311 9.20365 10.9327 51.8535 9.54543 11.3084 51.9209 9.45796 11.18 51.9658 9.70986 12.1429 51.8984 9.67767 12.2949 51.9209 9.44692 12.7474 52.0107 9.18915 12.9911 51.9883 8.06594 13.1637 52.1006 7.39092 12.6464 52.0332 7.31456 12.511 52.123 7.20566 12.1734 52.0557 7.18854 12.0189 52.0781 7.2657 11.5169 52.168 7.43402 11.2046 52.1006 7.53367 11.0854 52.168 8.94475 10.7866 52.2354 8.79797 10.7355 52.1904 9.3646 11.0725 52.2354 9.72283 12.0011 52.3027 9.71875 11.8457 52.3252 9.66095 12.3504 52.2578 9.60374 12.4949 52.2803 9.30045 12.9024 52.3252 8.35759 13.2212 52.3477 7.86925 13.0815 52.4375 7.58068 12.8752 52.3701 7.47491 12.7613 52.4824 7.18702 11.961 52.5049 7.28703 11.463 52.4375 7.35618 11.3238 52.5049 8.65896 10.7048 52.5273 9.13383 10.8851 52.6172 9.40404 11.1149 52.5498 9.49986 11.2373 52.5723 9.69836 11.7049 52.7295 8.80631 13.1754 52.6621 8.65461 13.2092 52.6846 8.14716 13.187 52.707 7.68913 12.9674 52.7295 7.35399 12.5857 52.752 7.19549 12.1031 52.8418 7.20421 11.7485 52.8643 7.38622 11.2743 52.8867 7.73972 10.9095 52.8193 7.87316 10.8299 52.9092 8.20798 10.7127 52.8418 8.36198 10.6918 52.9541 9.18206 10.9172 52.8867 9.30373 11.0139 52.999 9.70856 11.7619 53.0215 9.68448 12.2693 53.0439 9.46325 12.7265 53.0664 9.08036 13.0603 52.999 8.94069 13.1284 53.0889 8.5972 13.217 53.0215 8.44199 13.2249 53.1113 8.09129 13.1716 53.1338 7.64377 12.9313 53.0889 7.26418 12.3923 53.1113 7.18876 11.89 53.2012 7.25676 11.5419 53.1562 7.62687 10.9963 53.2461 7.92523 10.8045 53.2012 8.57517 10.694 53.2686 8.41985 10.6889 53.3359 9.6288 11.4755 53.2686 9.67884 11.6227 53.3135 9.54318 12.6087 53.4033 9.32006 12.8845 53.3584 8.73755 13.1932 53.4482 8.38408 13.223 53.3809 8.22974 13.2048 53.4707 7.89293 13.0935 53.4258 7.3983 12.6576 53.5381 7.19313 11.8322 53.5605 7.34317 11.347 53.583 7.6716 10.9595 53.6055 8.12572 10.7319 53.5156 7.79944 10.8711 53.5381 8.27799 10.7008 53.6279 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9.22142 12.9674 54.4814 8.76337 13.187 54.4365 8.10422 13.1754 54.5938 7.21228 11.7048 54.6162 7.4108 11.2372 54.6611 8.25174 10.7048 54.5713 7.91302 10.8102 54.6162 8.90759 10.7718 54.7061 9.21805 10.9434 54.7285 9.55448 11.3239 54.6836 9.7236 11.9611 54.7734 9.67277 12.3122 54.751 8.89931 13.1447 54.8633 8.04893 13.1581 54.8857 7.6101 12.9023 54.8184 7.50079 12.7918 54.8408 7.24964 12.3503 54.9307 7.18778 12.001 54.8857 7.33676 11.3588 54.9756 7.54607 11.0724 54.9307 8.11273 10.7355 54.998 7.96595 10.7866 55.0205 8.46431 10.6884 55.0654 9.37701 11.0854 55.0879 9.64495 11.517 55.1328 9.59602 12.5111 55.0654 9.51965 12.6464 55.0879 9.16365 13.0087 55.1328 8.18613 13.1961 55.1777 7.37438 12.6201 55.2002 7.20074 12.1428 55.3125 7.36523 11.3084 55.2451 7.4527 11.1799 55.335 7.70703 10.9326 55.3125 8.82771 10.7443 55.4023 9.1489 10.8948 55.335 9.27356 10.9876 55.3574 9.58817 11.3864 55.4023 9.65097 12.3797 55.4248 9.38908 12.815 55.4697 8.48201 13.2247 55.4922 7.98232 13.1335 55.5371 7.27852 12.4297 55.6494 7.24426 11.5799 55.7393 8.88269 10.7625 55.6719 9.02553 10.8238 55.6943 9.42432 11.1384 55.7842 9.61304 11.4387 55.7393 9.7166 12.0898 55.7617 9.56321 12.574 55.874 8.92408 13.1352 55.8066 8.77643 13.1836 55.9189 7.92907 13.1106 55.8516 7.79188 13.0376 55.9863 7.18983 11.8721 55.9414 7.40322 11.2484 55.9639 7.76552 10.8924 56.0986 9.07667 10.851 56.0088 8.74617 10.7222 56.1211 9.46068 11.1835 56.0762 9.71295 11.7926 56.1436 9.68343 11.64 56.0986 9.67648 12.2992 56.1211 9.44414 12.7509 56.1436 9.0532 13.0752 56.166 8.56636 13.2201 56.1885 8.06171 13.1624 56.2783 7.74321 13.0062 56.2109 7.62019 12.9112 56.2334 7.31262 12.507 56.3008 7.38851 12.6426 56.3682 7.43667 11.2011 56.3906 7.81484 10.862 56.3457 8.45084 10.6884 56.3682 8.94885 10.7883 56.4131 9.64021 11.5043 56.4805 9.57599 11.3628 56.458 9.60185 12.4989 56.4805 9.29713 12.9053 56.5479 9.40684 12.7952 56.5928 8.50855 13.2239 56.5254 8.35316 13.2209 56.6377 7.57747 12.8721 56.5703 7.4721 12.7578 56.6826 7.18701 11.9566 56.6152 7.19654 11.8014 56.6377 7.3584 11.32 56.7275 7.57763 11.0411 56.6826 8.15575 10.7243 56.75 9.50238 11.241 51 9.8735 12.0553 51.0225 9.92423 11.9258 51 9.60368 12.7082 51.0674 9.49419 12.9956 51 9.35293 12.9612 51.1123 8.42435 13.4256 51 8.34417 13.2201 51.1348 7.85046 13.2956 51.0225 7.85734 13.0752 51.1797 7.0702 12.4467 51.0898 7.19768 11.7925 51.1123 7.36296 11.3122 51.1348 7.70345 10.9353 51.1572 8.16453 10.7222 51.1797 8.67225 10.7071 51.3369 9.61678 11.0569 51.2246 9.50745 11.2484 51.2471 9.70096 11.7181 51.3145 9.11866 13.0377 51.4492 8.76711 13.3925 51.4717 8.17873 13.3997 51.4941 7.63472 13.1754 51.3818 7.67843 12.9592 51.4043 7.34737 12.574 51.5391 7.00768 12.2078 51.4492 7.24295 11.5841 51.584 7.27216 11.0855 51.6064 7.70886 10.6912 51.4941 7.88516 10.8237 51.6289 8.26528 10.4998 51.6738 9.37543 10.8112 51.5615 9.3137 11.023 51.584 9.61121 11.4347 51.7188 9.91892 11.8281 51.6064 9.72333 11.9301 51.6289 9.63206 12.4298 51.7637 9.56105 12.9242 51.7861 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53.6504 6.98679 11.9103 53.6953 7.47248 10.8645 53.7402 8.56344 10.4914 53.7852 9.58781 11.0207 53.6729 9.48458 11.2156 53.8076 9.86426 11.5401 53.8301 9.91473 12.1263 53.8975 8.81226 13.3819 53.7627 9.15243 13.0162 53.8076 8.17298 13.1931 53.9648 7.24814 12.7942 53.8975 7.2318 11.6226 53.9424 7.8497 10.8423 54.0771 8.21941 10.5065 54.167 9.91414 11.782 54.0547 9.72186 11.8901 54.2119 9.59102 12.8888 54.1221 8.96511 13.118 54.2568 8.56848 13.4216 54.2793 7.98461 13.3485 54.1895 7.54902 12.8439 54.3242 7.12491 12.5802 54.3467 6.98696 12.0081 54.2793 7.60695 11.0139 54.4141 7.88834 10.6012 54.459 9.04132 10.6093 54.3242 8.54872 10.6918 54.3916 9.67158 11.5971 54.5264 9.92279 12.0288 54.4365 9.55659 12.5858 54.5713 9.41884 13.0659 54.5938 8.90634 13.355 54.6162 8.3215 13.4198 54.5039 8.25592 13.2092 54.6387 7.75813 13.25 54.5264 7.78044 13.0305 54.5488 7.41321 12.6796 54.5713 7.21312 12.2127 54.6387 7.77686 10.8851 54.7959 8.71162 10.51 54.8184 9.25873 10.7265 54.6836 8.75927 10.7253 54.8633 9.89927 11.6853 54.8857 9.88997 12.2736 54.751 9.71462 11.8059 54.9082 9.65055 12.8111 54.7959 9.43565 12.7614 54.8184 9.04128 13.0815 54.9531 8.66574 13.4108 54.9756 8.07831 13.3767 54.8408 8.55293 13.2212 55.0205 7.16936 12.6673 54.9082 7.30684 12.4948 55.043 6.99364 12.1058 54.9531 7.27203 11.5001 55.0654 7.05236 11.5203 55.043 8.96123 10.7936 55.2227 9.92433 11.931 55.1104 9.72207 12.019 55.1553 9.28701 12.9142 55.29 8.99843 13.3219 55.1777 8.84459 13.1638 55.2002 8.33974 13.2197 55.2227 7.85342 13.0731 55.2451 7.46364 12.7474 55.3574 7.3701 12.9471 55.3799 7.06849 12.4419 55.2676 7.23292 12.2948 55.29 7.19826 11.7881 55.3574 8.16886 10.7211 55.3799 8.67663 10.7078 55.4922 8.61474 10.4961 55.4248 9.50992 11.2521 55.4473 9.70179 11.7224 55.6045 9.70478 12.7297 55.4697 9.69373 12.2303 55.4922 9.48704 12.6943 55.627 9.30127 13.1579 55.5146 9.11486 13.04 55.6494 8.76208 13.3935 55.5371 8.6369 13.2119 55.5596 8.12981 13.1825 55.6943 7.63045 13.1725 55.7168 7.21952 12.7514 55.582 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76.3076 3.44151 3.33738 76.4424 3.9139 3.11813 76.3301 3.88956 3.28691 76.3975 5.55191 4.2468 76.5547 5.85705 5.20384 76.5996 5.58371 5.74681 76.5098 5.19707 5.52629 76.6221 5.19125 5.874 76.5322 4.62256 5.76557 76.5547 4.04421 4.45677 76.7344 3.33141 4.36704 76.6221 3.12989 3.79377 76.6445 3.26255 3.01754 76.6895 4.11513 3.13665 76.8242 4.60018 3.23896 76.8467 5.09771 3.52829 76.8691 5.5152 3.46239 76.7568 5.72571 3.95823 76.8916 5.78568 4.45982 76.9141 5.86576 4.56617 76.8018 6.05903 4.95261 76.9365 5.74261 5.35756 76.959 5.43598 5.12626 76.8242 5.87865 5.60971 76.9815 4.99504 5.52486 77.0264 4.00335 5.24944 76.9365 3.39635 4.75031 77.0713 3.37828 4.70996 76.959 3.16141 4.24376 77.0938 3.34063 4.12155 76.9815 3.15699 3.76307 77.1162 3.50477 3.38533 77.1387 3.84435 3.17113 77.1611 4.30492 3.16819 77.0264 3.80547 2.95615 77.0488 4.35436 3.15482 77.1836 4.8126 3.22593 77.0938 5.47536 3.6942 77.2285 5.64909 3.66449 77.1162 5.86767 4.16338 77.251 5.84373 4.22182 77.1387 6.05644 4.6713 77.2734 5.83867 5.48436 77.3184 5.26458 5.70399 77.2061 5.28507 5.40932 77.3857 3.82417 5.5061 77.2734 3.62594 5.02488 77.4082 3.49219 4.4649 77.3184 3.13062 4.03532 77.4531 3.38541 3.38678 77.3633 3.53939 3.58891 77.4756 3.62774 3.27339 77.4981 4.0258 3.0528 77.3857 4.02385 3.13936 77.5205 4.51575 3.46922 77.5654 5.45481 3.8802 77.5879 5.7533 3.88752 77.4756 5.97378 4.21324 77.5879 5.8795 4.56819 77.5879 5.90993 4.91767 77.5879 5.84439 5.03945 77.5205 5.92383 5.23826 77.5879 5.68911 5.80062 77.5654 5.05777 5.37101 71.8379 3.77688 5.01699 71.8828 3.4878 4.92425 71.8379 3.44154 4.53203 71.9053 3.33673 4.37674 71.8379 3.33066 3.88147 71.8604 3.44342 4.02669 71.9277 3.38807 3.58202 71.9502 3.63357 3.26934 71.9727 4.03387 3.1388 71.9951 4.52475 3.13927 71.9277 4.68017 3.47534 72.04 5.46144 4.03399 71.9951 5.81149 4.88361 72.1074 5.77316 4.53963 72.0176 5.85978 5.02367 72.04 5.70579 5.58401 72.1524 5.06598 5.63231 72.085 4.91827 5.67282 72.1748 4.56586 5.48508 72.1299 3.9339 5.25875 72.2197 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5.26836 5.62535 73.208 4.94389 5.66295 73.2305 4.43734 5.63377 73.1631 4.28469 5.41203 73.1856 3.8277 5.15914 73.2754 3.57895 4.69854 73.2979 3.3648 4.54543 73.2305 3.33815 4.03957 73.2529 3.38412 3.71751 73.3428 3.53281 3.59232 73.2754 3.62489 3.35443 73.3652 3.88802 3.15984 73.3877 4.35721 3.13966 73.3203 4.51131 3.16496 73.4102 4.86513 3.36896 73.4326 5.3303 3.87616 73.3877 5.75146 4.21609 73.4775 5.85281 5.51148 73.5449 5.21847 5.66594 73.5674 4.73458 5.56382 73.5225 4.08329 4.97768 73.6348 3.46703 4.83497 73.5674 3.40548 4.33231 73.5899 3.33243 3.54869 73.7022 3.66301 3.84129 73.6123 3.46248 3.44069 73.6348 3.77476 3.62235 73.7246 5.59671 3.92936 73.8145 5.77441 4.42884 73.8369 5.86672 5.0621 73.792 5.68342 5.43504 73.8145 5.33857 5.64276 73.8369 4.87504 5.65195 73.8594 4.36718 4.78003 73.9941 3.38708 5.10089 73.9043 3.53834 4.62903 73.9268 3.3503 4.12123 73.9492 3.36249 3.78999 74.0391 3.48941 3.65894 73.9717 3.57295 3.3163 73.9941 3.94792 3.40407 74.0615 3.81966 3.17867 74.084 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7.58414 19.7351 32.2907 7.7858 19.4033 32.2795 7.82507 19.1731 32.2234 7.82366 19.0964 32.2683 7.79867 18.941 32.2458 7.56221 18.5436 32.1897 7.50379 18.4938 32.1784 7.3009 18.3781 32.2234 7.14979 18.3343 32.2121 6.91648 18.3235 32.1448 6.61942 18.4096 32.1784 6.32386 18.6614 32.1672 6.21435 18.8677 32.0998 6.16521 19.1731 32.156 6.16663 19.0964 32.1448 6.18447 19.3292 32.0774 6.30633 19.6135 32.0661 6.46269 19.787 32.0549 6.66119 19.9101 32.0998 6.81058 19.9595 31.9988 7.69256 19.6005 32.0324 7.82112 19.2341 32.0212 7.81186 19.0007 31.9651 7.79459 18.9259 31.9538 7.70055 18.7121 31.9988 7.60528 18.5869 31.9875 7.42431 18.4393 31.9201 7.1344 18.3315 31.9651 6.97749 18.3199 31.8977 6.6749 18.384 31.9538 6.747 18.3577 31.9426 6.53615 18.4582 31.8865 6.47423 18.5035 31.9314 6.36162 18.6134 31.9089 6.17282 19.0356 31.8865 6.23918 19.4933 31.8752 6.36469 19.6902 31.8303 6.51782 19.8293 37.5691 6.72379 18.2143 37.5803 6.23172 18.6638 37.5803 6.16956 19.3505 37.5017 6.0997 19.5338 37.5803 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32.3357 7.12626 18.1846 32.3244 6.85219 18.1863 32.3132 6.58944 18.2642 32.3918 6.56597 18.4393 32.302 6.35879 18.4123 32.3806 6.385 18.5869 32.2907 6.1785 18.6187 32.3694 6.25232 18.7791 32.2795 6.06284 18.8672 32.3581 6.17843 19.0007 32.3469 6.16916 19.2341 32.2571 6.05618 19.4098 32.3357 6.22527 19.4608 32.2458 6.16571 19.6611 32.2346 6.34088 19.8719 32.2234 6.56782 20.0255 32.302 6.71801 19.9326 32.1897 7.36797 20.0501 32.1784 7.60391 19.9106 32.1672 7.79168 19.711 32.156 7.9164 19.4669 32.2458 7.72381 19.5479 32.2346 7.80581 19.3292 32.1448 7.96822 19.1978 32.2121 7.77594 18.8677 32.2009 7.66642 18.6614 32.1111 7.67554 18.4527 32.1672 7.07381 18.3235 32.0886 7.19692 18.1969 32.156 6.8405 18.3343 32.0661 6.6557 18.2368 32.1335 6.42808 18.5436 32.0437 6.2198 18.5601 32.1223 6.28162 18.7255 32.1111 6.19162 18.941 32.01 6.03961 19.3401 32.0886 6.20449 19.4033 31.9988 6.13036 19.5987 31.9763 6.50457 19.9917 32.0437 6.88611 19.9731 32.0324 7.11966 19.9709 32.0212 7.34336 19.9037 31.9314 7.54631 19.9534 31.9201 7.74825 19.7681 32.01 7.5395 19.7769 31.9089 7.89059 19.5338 31.9875 7.79043 19.3884 31.9763 7.82536 19.1575 31.9426 7.55068 18.533 31.8528 7.51636 18.3269 31.9314 7.35685 18.4027 31.8415 7.26649 18.2143 31.8303 6.99514 18.1758 31.9089 6.90092 18.3251 31.8303 6.54965 18.322 31.8752 6.31478 18.6742 31.864 6.20917 18.8825 31.8528 6.16576 19.112 31.8303 6.14874 18.8851 31.8303 6.12726 19.1195 31.8415 6.18799 19.3445 37.5578 7.2086 18.1994 37.5803 7.48227 18.3063 37.5466 6.9354 18.1776 37.5578 6.47392 18.3269 37.5354 6.66693 18.2327 37.5129 6.2271 18.5506 37.5466 6.2653 18.5046 37.5017 6.09055 18.7882 37.5354 6.11443 18.7335 37.5241 6.03326 18.9952 37.5129 6.02822 19.2693 37.4905 6.24204 19.7681 37.4568 6.28135 19.8131 37.4792 6.44398 19.9534 37.4343 6.74684 20.0921 37.4006 7.53641 19.9601 37.4231 7.70074 19.8218 37.3669 7.96053 19.2811 37.3894 7.9658 19.0664 37.3782 7.90411 18.7994 37.3445 7.8809 18.7443 37.3332 7.73285 18.5136 37.3445 7.33459 18.2368 37.2995 7.0071 18.1758 37.3332 7.06681 18.1784 37.322 6.79336 18.1969 37.2658 6.27327 18.4957 37.2434 6.03524 18.9834 37.2209 6.09505 19.5228 37.2434 6.19861 19.711 37.2097 6.23451 19.7588 37.1985 6.43416 19.9465 37.2209 6.62231 20.0501 37.2097 6.88776 20.1183 37.1985 7.1617 20.1099 37.1872 7.42246 20.0255 37.1535 7.47535 19.9977 37.1423 7.69244 19.8304 37.176 7.64941 19.8719 37.1311 7.92744 18.8672 37.1199 7.81178 18.6187 37.0974 7.40085 18.2642 37.0862 7.13809 18.1863 37.0525 7.07873 18.1793 37.0412 6.80508 18.1945 37.0637 6.60034 18.2593 37.03 6.54646 18.2852 37.0525 6.36789 18.4045 37.0075 6.15342 18.6594 36.9963 6.05009 18.9133 37.0075 6.05307 19.3983 36.9626 6.19179 19.7012 36.9514 6.37709 19.9031 36.9402 6.6113 20.0454 36.9626 6.81682 20.1078 36.9514 7.09064 20.1196 36.9289 6.87588 20.1169 36.9177 7.14991 20.1119 36.9289 7.59453 19.918 36.9065 7.91244 19.4782 36.8503 7.93084 18.8787 36.8391 7.81824 18.6288 36.8728 7.84865 18.6802 36.8615 7.68404 18.4611 36.8503 7.46491 18.2965 36.8391 7.2086 18.1994 36.8166 7.41169 18.2693 36.8054 7.14991 18.1881 36.8279 6.9354 18.1776 36.7717 6.37709 18.3969 36.7492 6.07007 18.8444 36.7156 6.15342 19.6406 36.738 6.28135 19.8131 36.7043 6.32336 19.8556 36.7268 6.49428 19.9856 36.6931 6.54646 20.0148 36.6819 6.80508 20.1055 36.6931 7.28937 20.0788 36.6706 7.07873 20.1207 36.6594 7.88581 19.5448 36.6145 7.96675 19.2217 36.592 7.85435 18.6907 36.5808 7.69244 18.4696 36.5696 7.47535 18.3023 36.5471 6.94734 18.1769 36.5359 6.67821 18.2287 36.5583 6.48406 18.3206 36.5134 6.23451 18.5412 36.5471 6.27327 18.4957 36.5022 6.09505 18.7772 36.5359 6.11961 18.7227 36.4909 6.02683 19.0426 36.4685 6.11961 19.5773 36.4909 6.23451 19.7588 36.4797 6.43416 19.9465 36.446 6.48406 19.9794 36.4348 6.7353 20.089 36.4011 7.52643 19.9666 36.4348 7.47535 19.9977 36.4123 7.85435 19.6093 36.3899 7.73285 19.7864 36.3674 7.95885 19.293 36.3562 7.96053 19.0189 36.3449 7.88581 18.7552 36.3337 7.74061 18.5227 36.3562 7.58506 18.3747 36.3225 7.53641 18.3399 36.3449 7.34577 18.241 36.3337 7.07873 18.1793 36.3113 7.28937 18.2212 36.3 7.01905 18.176 36.3225 6.80508 18.1945 36.3113 6.54646 18.2852 36.2776 6.49428 18.3144 36.2663 6.28135 18.4869 36.3 6.32336 18.4444 36.2888 6.15342 18.6594 36.2776 6.05009 18.9133 36.2326 6.02558 19.2455 36.2551 6.07007 19.4556 36.2439 6.19179 19.7012 36.2214 6.6113 20.0454 36.2102 6.87588 20.1169 36.1765 6.9354 20.1224 36.1653 7.2086 20.1006 36.1877 7.41169 20.0307 36.1428 7.68404 19.8389 36.1203 7.94572 19.3635 36.1316 7.93084 18.8787 36.0979 7.91244 18.8218 36.1091 7.6405 18.4202 36.0642 7.3569 18.2454 36.0866 7.14991 18.1881 36.053 6.37709 18.3969 36.0305 6.55711 18.2798 36.0193 6.33207 18.4362 36.0193 6.02155 19.1141 36.008 6.05009 19.3867 35.9968 6.15342 19.6406 35.9519 6.36789 19.8955 35.9856 6.32336 19.8556 35.9407 6.60034 20.0407 35.9631 6.80508 20.1055 35.9294 6.86403 20.1154 35.9182 7.13809 20.1137 35.9407 7.34577 20.059 35.907 7.40085 20.0358 35.8957 7.6315 19.8877 35.8733 7.92744 19.4328 35.862 7.96932 19.162 35.8957 7.96675 19.2217 35.8733 7.85435 18.6907 35.862 7.69244 18.4696 35.8396 7.82458 18.6389 35.8283 7.64941 18.4281 35.8171 7.42246 18.2745 35.8059 7.1617 18.1901 35.7722 6.38637 18.3894 35.7834 6.09505 18.7772 35.7722 6.02683 19.0426 35.7273 6.04726 19.3751 35.761 6.03524 19.3166 35.7497 6.11961 19.5773 35.7385 6.27327 19.8043 35.7048 6.31475 19.8473 35.6936 6.53588 20.0092 35.7273 6.48406 19.9794 35.6824 6.79336 20.1031 35.6711 7.06681 20.1216 35.6599 7.33459 20.0632 35.6936 7.27795 20.0823 35.6711 7.73285 19.7864 35.6487 7.5755 19.9325 35.6599 7.8809 19.5557 35.6374 7.96053 19.0189 35.6262 7.88581 18.7552 35.615 7.74061 18.5227 35.57 7.48572 18.3083 35.5813 7.01905 18.176 35.5476 6.95928 18.1764 35.5139 6.24204 18.5319 35.5027 6.0997 18.7662 35.5364 6.12492 18.712 35.5251 6.03735 18.9717 35.5139 6.02558 19.2455 35.4914 6.02822 19.0307 35.469 6.11443 19.5665 35.5027 6.09055 19.5118 35.4577 6.2653 19.7954 35.4802 6.42443 19.9396 35.4353 6.72379 20.0857 35.424 6.99514 20.1243 35.4128 7.26649 20.0857 35.4353 7.46491 20.0035 35.4128 7.84865 19.6198 35.4016 7.94572 19.3635 35.3567 7.96207 19.0307 35.3454 7.89059 18.7662 35.3342 7.74825 18.5319 35.323 7.54631 18.3466 35.3454 7.3569 18.2454 35.3117 7.30075 18.2249 35.3117 6.55711 18.2798 35.2781 6.50457 18.3083 35.3005 6.33207 18.4362 35.2668 6.28955 18.4782 35.2893 6.1595 18.6491 35.2781 6.05307 18.9017 35.2444 6.03961 18.9599 35.2331 6.02449 19.2336 35.2219 6.08617 19.5006 35.2444 6.18508 19.6913 35.1994 6.41478 19.9325 35.1882 6.6557 20.0632 35.1994 7.13809 20.1137 35.1545 7.4544 20.0092 35.1433 7.67554 19.8473 35.177 7.6315 19.8877 35.1657 7.81178 19.6813 35.1545 7.92744 19.4328 35.1208 7.94303 19.3751 35.1433 7.96932 19.162 35.1096 7.96822 19.1022 35.0871 7.79168 18.589 35.0984 7.42246 18.2745 35.0647 6.62231 18.2499 35.0422 6.19861 18.589 35.0085 6.16571 18.6389 35.031 6.07388 18.8331 35.0085 6.04726 19.3751 34.9973 6.14746 19.6302 34.9524 6.35879 19.8877 34.9524 7.06681 20.1216 34.9187 7.12626 20.1154 34.9299 7.5755 19.9325 34.8625 7.9691 19.1739 34.8513 7.93722 18.9017 34.8738 7.85993 18.7013 34.8401 7.83079 18.6491 34.8625 7.70074 18.4782 34.8176 7.43318 18.2798 34.8401 7.23187 18.2049 34.8064 7.17347 18.1922 34.8288 6.95928 18.1764 34.7951 6.89965 18.1804 34.7839 6.63339 18.2454 34.7727 6.39575 18.382 34.7615 6.20555 18.5793 34.7502 6.07784 18.8218 34.7727 6.02822 19.0307 34.7278 6.04457 19.3635 34.7615 6.03326 19.3048 34.7502 6.11443 19.5665 34.7165 6.14163 19.6198 34.7053 6.30624 19.8389 34.7278 6.47392 19.9731 34.7165 6.72379 20.0857 34.6828 6.78168 20.1006 34.6716 7.05488 20.1224 34.6828 7.51636 19.9731 34.6604 7.32336 20.0673 34.6716 7.72499 19.7954 34.6491 7.56586 19.9396 34.6379 7.76319 19.7494 34.6491 7.95702 19.3048 34.6042 7.95293 18.9717 34.6267 7.89059 18.7662 34.593 7.86537 18.712 34.5818 7.70893 18.4869 34.5593 7.24345 18.2079 34.5818 7.031 18.1764 34.5481 6.97123 18.176 34.5705 6.75842 18.2049 34.5593 6.50457 18.3083 34.5368 6.13036 18.7013 34.5256 6.03961 18.9599 34.5144 6.02449 19.2336 34.4919 6.02976 19.0189 34.4807 6.03144 19.293 34.4695 6.10939 19.5557 34.4919 6.2198 19.7399 34.4582 6.25743 19.7864 34.4807 6.41478 19.9325 34.447 6.46386 19.9666 34.4582 6.92347 20.1216 34.4133 7.25499 20.089 34.4245 7.67554 19.8473 34.4021 7.50622 19.9794 34.3908 7.71701 19.8043 34.3796 7.87068 19.5773 34.4021 7.94303 19.3751 34.3684 7.95505 19.3166 34.3908 7.96822 19.1022 34.3459 7.89523 18.7772 34.3684 7.79168 18.589 34.3347 7.75578 18.5412 34.3235 6.82858 18.1901 34.3122 6.56782 18.2745 34.2673 6.29784 18.4696 34.2561 6.13593 18.6907 34.2785 6.05618 18.8902 34.2449 6.04202 18.9482 34.2673 6.02097 19.162 34.2224 6.08194 19.4894 34.2112 6.21262 19.7304 34.2336 6.35879 19.8877 34.1999 6.40522 19.9253 34.1887 6.64452 20.059 34.2112 6.85219 20.1137 34.1775 6.91155 20.1207 34.1999 7.12626 20.1154 34.1438 7.66693 19.8556 34.1325 7.83687 19.6406 34.1101 7.96873 19.1141 34.1438 7.9691 19.1739 34.1101 7.65822 18.4362 34.0764 6.89965 18.1804 34.0652 6.63339 18.2454 34.0539 6.39575 18.382 34.0427 6.20555 18.5793 34.009 6.17204 18.6288 34.0315 6.07784 18.8218 33.9865 6.02089 19.15 34.009 6.04457 19.3635 33.9641 6.17204 19.6712 33.9865 6.30624 19.8389 33.9529 6.34978 19.8798 33.9753 6.52538 20.0035 33.9416 6.5786 20.0307 33.9529 7.05488 20.1224 33.9416 7.32336 20.0673 33.9192 7.1144 20.1169 33.9304 7.56586 19.9396 33.8855 7.7985 19.7012 33.9192 7.76319 19.7494 33.8742 7.92022 19.4556 33.8967 7.9647 19.2455 33.8855 7.95293 18.9717 33.8518 7.9402 18.9133 33.8742 7.86537 18.712 33.8293 7.66693 18.4444 33.8518 7.49601 18.3144 33.8406 7.24345 18.2079 33.7956 6.91155 18.1793 33.8293 6.97123 18.176 33.8181 6.70091 18.2212 33.7844 6.64452 18.241 33.8069 6.45388 18.3399 33.7956 6.24968 18.5227 33.7732 6.40522 18.3747 33.7619 6.21262 18.5696 33.7732 6.02976 19.0189 33.7395 6.02353 19.0783 33.7282 6.04202 19.3518 33.717 6.13593 19.6093 33.7395 6.25743 19.7864 33.7282 6.46386 19.9666 33.7058 6.29784 19.8304 33.6946 6.51494 19.9977 33.7058 6.98319 20.1242 33.6946 7.25499 20.089 33.6609 7.31208 20.0713 33.6721 7.04295 20.1231 33.6721 7.71701 19.8043 33.6384 7.75578 19.7588 33.6272 7.89523 19.5228 33.6609 7.87068 19.5773 33.6272 7.89523 18.7772 33.6159 7.75578 18.5412 33.5823 7.71701 18.4957 33.6047 7.55612 18.3535 33.571 7.50622 18.3206 33.5935 7.31208 18.2287 33.5823 7.04295 18.1769 33.571 6.77003 18.2021 33.5261 6.46386 18.3334 33.5486 6.29784 18.4696 33.5149 6.25743 18.5136 33.5373 6.13593 18.6907 33.5036 6.10939 18.7443 33.4924 6.03144 19.007 33.5261 6.04202 18.9482 33.5036 6.08194 19.4894 33.4363 6.70091 20.0788 33.4587 6.91155 20.1207 33.425 6.97123 20.124 33.4138 7.24345 20.0921 33.4363 7.44382 20.0148 33.425 7.66693 19.8556 33.3913 7.70893 19.8131 33.4138 7.83687 19.6406 33.3689 7.95293 19.3283 33.4026 7.9402 19.3867 33.3913 7.96873 19.1141 33.3576 7.9647 19.0545 33.3352 7.76319 18.5506 33.3576 7.6132 18.3969 33.324 7.56586 18.3604 33.3127 7.32336 18.2327 33.3015 7.05488 18.1776 33.324 6.84038 18.1881 33.2678 6.30624 18.4611 33.2566 6.14163 18.6802 33.2903 6.17204 18.6288 33.279 6.05944 18.8787 33.2453 6.04457 18.9365 33.2341 6.02273 19.2097 33.2566 6.05944 19.4213 33.2229 6.07784 19.4782 33.2453 6.17204 19.6712 33.2229 6.5786 20.0307 33.178 6.89965 20.1196 33.2116 6.84038 20.1119 33.2004 7.1144 20.1169 33.1667 7.7985 19.7012 33.1218 7.93722 19.3983 33.1106 7.9691 19.1261 33.1218 7.83687 18.6594 33.0881 7.18521 18.1945 33.0769 6.91155 18.1793 33.0432 6.85219 18.1863 33.032 6.58944 18.2642 33.0544 6.40522 18.3747 33.0432 6.21262 18.5696 32.9983 6.06284 18.8672 33.0207 6.02353 19.0783 32.987 6.02097 19.138 32.9758 6.05618 19.4098 32.9983 6.13593 19.6093 32.9646 6.16571 19.6611 32.9533 6.34088 19.8719 32.9421 6.56782 20.0255 32.9758 6.51494 19.9977 32.9646 6.77003 20.0979 32.9421 7.31208 20.0713 32.9309 7.55612 19.9465 32.9084 7.36797 20.0501 32.8972 7.60391 19.9106 32.9197 7.75578 19.7588 32.886 7.79168 19.711 32.9084 7.89523 19.5228 32.8747 7.9164 19.4669 32.8972 7.96346 19.2574 32.8635 7.96822 19.1978 32.8523 7.94303 18.9249 32.886 7.95505 18.9834 32.8186 7.4544 18.2908 32.8074 7.19692 18.1969 32.7961 6.92347 18.1784 32.8074 6.46386 18.3334 32.7624 6.2198 18.5601 32.7961 6.25743 18.5136 32.7512 6.08617 18.7994 32.7737 6.03144 19.007 32.74 6.24968 19.7773 32.7063 6.28955 19.8218 32.7175 6.70091 20.0788 32.695 6.50457 19.9917 32.6614 7.30075 20.0751 32.6838 7.49601 19.9856 32.6389 7.74825 19.7681 32.6277 7.89059 19.5338 32.6164 7.96207 19.2693 32.6052 7.95702 18.9952 32.6389 7.9647 19.0545 32.5827 7.72499 18.5046 32.6164 7.76319 18.5506 32.5827 7.05488 18.1776 32.5266 6.47392 18.3269 32.5154 6.2653 18.5046 32.5266 6.04457 18.9365 32.5154 6.02273 19.2097 32.5041 6.07784 19.4782 32.4817 6.02822 19.2693 32.4929 6.20555 19.7207 32.4592 6.24204 19.7681 32.448 6.44398 19.9534 32.4367 7.43318 20.0202 32.4031 7.93722 19.3983 32.3918 7.9691 19.1261 32.3694 7.95067 19.3401 32.3581 7.9658 19.0664 32.3694 7.8052 18.6087 32.3244 7.5755 18.3675 32.3469 7.38995 18.2593 32.2907 6.79336 18.1969 32.2795 6.53588 18.2908 32.2683 6.31475 18.4527 32.2571 6.14746 18.6698 32.2346 6.02207 19.1978 32.2683 6.02097 19.138 32.2009 6.38637 19.9106 32.1897 6.62231 20.0501 32.2121 6.82858 20.1099 32.1784 6.88776 20.1183 32.2009 7.10253 20.1183 32.1448 7.64941 19.8719 32.1335 7.94303 18.9249 32.1223 7.84283 18.6698 32.0998 7.4544 18.2908 32.0774 6.92347 18.1784 32.0549 7.13809 18.1863 32.0549 6.41478 18.3675 32.0212 6.36789 18.4045 32.01 6.18508 18.6087 32.0324 6.08617 18.7994 32.0212 6.02449 19.0664 31.9763 6.05307 19.3983 31.9875 6.28955 19.8218 31.9651 6.1595 19.6509 31.9538 6.33207 19.8638 31.9651 6.75842 20.0951 31.9314 6.81682 20.1078 31.9538 7.031 20.1236 31.9426 7.30075 20.0751 31.8977 7.59453 19.918 31.8865 7.78473 19.7207 31.8752 7.91244 19.4782 31.864 7.96756 19.2097 31.8977 7.96207 19.2693 31.8865 7.95702 18.9952 31.8752 7.87585 18.7335 31.864 7.72499 18.5046 37.7968 7.41977 19.8855 37.8303 6.99514 19.8743 37.7968 6.57052 19.8855 37.7968 6.25967 19.5746 37.8303 6.27089 19.15 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6.44398 28.4534 32.3581 6.64693 28.4037 32.4367 6.68954 28.5751 32.3244 7.3291 28.4101 32.3132 7.5276 28.287 32.3918 7.70074 28.3218 32.302 7.68395 28.1135 32.2907 7.7858 27.9033 32.3806 7.85993 28.0987 32.3469 7.90411 27.2994 32.2571 7.70867 27.2255 32.2458 7.56221 27.0436 32.3244 7.5755 26.8675 32.2346 7.37087 26.9096 32.2009 6.68939 26.8781 32.2795 6.53588 26.7908 32.1897 6.4865 26.9938 32.1784 6.32386 27.1614 32.2683 6.31475 26.9527 32.2571 6.14746 27.1698 32.156 6.16663 27.5964 32.2234 6.07388 27.9669 32.1335 6.26648 28.0479 32.2121 6.19861 28.211 32.2009 6.38637 28.4106 32.1111 6.59242 28.376 32.1897 6.62231 28.5501 32.1784 6.88776 28.6183 32.1672 7.1617 28.6099 32.0774 7.27228 28.4326 32.156 7.42246 28.5255 32.1448 7.64941 28.3719 32.0549 7.64799 28.1629 32.1335 7.82458 28.1611 32.1111 7.96932 27.638 32.0324 7.82112 27.7341 32.0998 7.92744 27.3672 32.01 7.73796 27.2791 32.0774 7.6315 26.9123 31.9988 7.60528 27.0869 32.0437 6.86403 26.6846 32.0324 6.60034 26.7593 31.9314 6.36162 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28.4142 33.1106 6.60136 28.3809 33.0769 7.28186 28.4292 33.0095 7.54715 28.2702 32.9983 7.69804 28.0919 32.987 7.7933 27.8786 33.0432 7.76877 27.9513 33.0207 7.80997 27.4907 33.0095 7.73336 27.2701 32.9983 7.59833 27.0795 32.9533 7.69512 27.2035 32.9421 7.54307 27.0262 32.9533 6.7373 26.8608 32.9084 6.89081 26.8263 32.8747 6.30899 27.1826 32.841 6.19044 27.8544 32.886 6.24344 28.0025 32.8747 6.37137 28.1979 32.8186 6.42463 28.2532 32.8635 6.54866 28.35 32.8523 6.76129 28.4466 32.7961 6.83584 28.4648 32.8298 7.22376 28.4482 32.7737 7.29649 28.4236 32.8074 7.6153 28.202 32.7624 7.50003 28.3091 32.7512 7.66363 28.1424 32.7961 7.74451 28.0074 32.74 7.77431 27.9367 32.7849 7.81441 27.7846 32.7175 7.80682 27.4754 32.7512 7.63866 27.1254 32.695 7.58747 27.0682 32.6726 7.18433 26.8416 32.7287 7.25816 26.8625 32.6501 6.72248 26.8658 32.6277 6.34524 27.1333 32.6838 6.39572 27.0755 32.6164 6.22705 27.3348 32.6726 6.25944 27.2652 32.6614 6.18138 27.4854 32.6501 6.16773 27.7185 32.594 6.17759 27.7946 32.5827 6.25022 28.0166 32.6389 6.21955 27.9463 32.5715 6.3818 28.2096 32.5603 6.56193 28.3583 32.549 6.77633 28.4509 32.5715 7.38411 28.3835 32.5266 7.23876 28.4437 32.5827 7.16443 28.4628 32.4929 7.75111 27.9933 32.5266 7.82452 27.612 32.5154 7.78112 27.3825 32.4592 7.75306 27.3111 32.5041 7.67551 27.1742 32.4929 7.51606 27.0035 32.4817 7.31538 26.884 32.4143 7.01279 26.8199 32.4031 6.78091 26.8479 32.448 6.63343 26.9027 32.3918 6.56597 26.9393 32.4367 6.4396 27.033 32.3694 6.25232 27.2791 32.4031 6.16493 27.6575 32.3357 6.22527 27.9608 32.3244 6.3423 28.1629 32.3132 6.511 28.3245 32.302 6.71801 28.4326 32.3469 6.87062 28.4709 32.3357 7.10418 28.4731 32.2571 7.58414 28.2351 32.2458 7.72381 28.0479 32.2795 7.82507 27.6731 32.2234 7.82366 27.5964 32.2683 7.79867 27.441 32.2121 7.77594 27.3677 32.2009 7.66642 27.1614 32.1897 7.50379 26.9938 32.1784 7.3009 26.8781 32.2234 7.14979 26.8343 32.1672 7.07381 26.8235 32.156 6.8405 26.8343 32.2121 6.91648 26.8235 32.1223 6.28162 27.2255 32.1111 6.19162 27.441 32.1672 6.21435 27.3677 32.1448 6.18447 27.8292 32.0774 6.30633 28.1135 32.0661 6.46269 28.287 32.1223 6.40614 28.2351 32.0998 6.81058 28.4595 32.0886 7.04333 28.4788 32.0324 7.11966 28.4709 32.0661 7.47929 28.3245 32.0437 7.76502 27.9608 31.9763 7.82536 27.6575 32.0212 7.81186 27.5007 31.9875 7.42431 26.9393 31.9426 7.55068 27.033 31.9314 7.35685 26.9027 31.9763 7.20938 26.8479 31.9651 6.97749 26.8199 31.9089 6.90092 26.8251 31.9538 6.747 26.8577 31.9426 6.53615 26.9582 31.9201 6.23723 27.3111 31.9089 6.17282 27.5356 31.8528 6.16576 27.612 31.8865 6.23918 27.9933 31.8415 6.18799 27.8445 31.8303 6.2741 28.0616 31.8415 6.98223 28.4802 37.5691 6.72379 26.7143 37.5803 6.55012 26.8217 37.5803 6.23172 27.1638 37.5354 6.11443 27.2335 37.5803 6.14888 27.3844 37.5241 6.03326 27.4952 37.5803 6.12722 27.6187 37.5129 6.02822 27.7693 37.5017 6.0997 28.0338 37.5803 6.16956 27.8505 37.5691 6.41727 28.2461 37.5578 6.60617 28.3835 37.4792 6.44398 28.4534 37.4568 6.95928 28.6236 37.5354 7.05894 28.4778 37.5241 7.28697 28.4273 37.4231 7.70074 28.3218 37.5129 7.49191 28.3152 37.4118 7.85993 28.0987 37.4905 7.77074 27.9463 37.4006 7.95067 27.8401 37.3894 7.9658 27.5664 37.4568 7.73085 27.2652 37.3669 7.77049 27.0601 37.3445 7.33459 26.7368 37.3332 7.06681 26.6784 37.4231 7.19423 26.844 37.4006 6.73212 26.8625 37.3108 6.53588 26.7908 37.2995 6.31475 26.9527 37.2883 6.14746 27.1698 37.3669 6.23098 27.3254 37.2771 6.04726 27.4249 37.3332 6.24578 28.0074 37.2434 6.19861 28.211 37.3108 6.55327 28.3529 37.2995 6.76652 28.4482 37.2546 7.61892 28.1979 37.176 7.64941 28.3719 37.1648 7.82458 28.1611 37.1535 7.9341 27.9098 37.1311 7.92744 27.3672 37.2209 7.81881 27.5457 37.2097 7.75716 27.3204 37.1872 7.46259 26.9638 37.0749 6.86403 26.6846 37.1423 6.57473 26.9341 37.0525 6.36789 26.9045 37.1311 6.39196 27.0795 37.1199 6.25693 27.2701 37.0412 6.18508 27.1087 37.03 6.06638 27.3558 37.1086 6.18032 27.4907 37.0188 6.02119 27.6261 37.0075 6.05307 27.8983 36.9963 6.1595 28.1509 36.9739 6.55711 28.5202 36.9626 6.81682 28.6078 37.0525 6.70843 28.4292 37.0412 6.93678 28.4782 37.03 7.16976 28.4617 36.9402 7.3569 28.5546 36.9289 7.59453 28.418 37.0075 7.57692 28.2423 36.9963 7.71887 28.0569 36.8952 7.96756 27.7097 36.9851 7.80355 27.8392 36.9739 7.82425 27.6065 36.884 7.94572 27.4365 36.9626 7.77934 27.3773 36.9514 7.67237 27.1697 36.8615 7.68404 26.9611 36.9402 7.5118 27.0001 36.8391 7.2086 26.6994 36.9177 7.08395 26.8245 36.8952 6.62853 26.9051 36.8054 6.42443 26.8604 36.8728 6.28688 27.2168 36.8615 6.19425 27.4312 36.7829 6.09055 27.2882 36.8503 6.16499 27.6629 36.7605 6.03735 27.8283 36.7492 6.12492 28.088 36.8391 6.20144 27.8936 36.8279 6.3007 28.105 36.8166 6.45491 28.2804 36.7268 6.49428 28.4856 36.7829 7.10958 28.4723 36.6931 7.28937 28.5788 36.7717 7.33408 28.4079 36.6706 7.74061 28.2773 36.7492 7.68698 28.109 36.6594 7.88581 28.0448 36.738 7.78744 27.8981 36.6369 7.95885 27.507 36.6257 7.8809 27.2443 36.7156 7.79728 27.4358 36.6145 7.73285 27.0136 36.6931 7.55821 27.0399 36.592 7.27795 26.7177 36.6594 6.91105 26.824 36.5696 6.7353 26.711 36.5583 6.48406 26.8206 36.6482 6.68433 26.8801 36.5471 6.27327 26.9957 36.6257 6.32067 27.1659 36.5359 6.11961 27.2227 36.592 6.18567 27.8346 36.4909 6.23451 28.2588 36.5808 6.2691 28.0527 36.5696 6.41 28.239 36.4797 6.43416 28.4465 36.5583 6.5972 28.3787 36.4685 6.67821 28.5713 36.446 7.22025 28.5979 36.4348 7.47535 28.4977 36.4236 7.69244 28.3304 36.5022 7.65134 28.1586 36.4123 7.85435 28.1093 36.4909 7.76704 27.9558 36.4011 7.94827 27.8518 36.3899 7.96675 27.5783 36.4797 7.82166 27.7287 36.4685 7.81086 27.4954 36.3674 7.77767 27.0696 36.4348 7.41964 26.9365 36.4236 7.20411 26.8465 36.3225 6.80508 26.6945 36.3113 6.54646 26.7852 36.3899 6.53162 26.9612 36.3786 6.35811 27.1175 36.2888 6.15342 27.1594 36.3674 6.23502 27.316 36.2439 6.19179 28.2012 36.3 6.75674 28.4453 36.199 7.14991 28.6119 36.2888 6.98768 28.4802 36.2776 7.21921 28.4494 36.1877 7.41169 28.5307 36.2663 7.433 28.3554 36.1765 7.6405 28.3798 36.2551 7.61214 28.2055 36.1653 7.81824 28.1712 36.154 7.93084 27.9213 36.2326 7.81363 27.7893 36.2102 7.76115 27.3298 36.1091 7.6405 26.9202 36.1877 7.47098 26.9696 36.0866 7.14991 26.6881 36.154 6.80066 26.8429 36.1316 6.39901 27.0721 36.0305 6.07007 27.3444 36.1203 6.26165 27.261 36.1091 6.18233 27.4807 36.0193 6.02155 27.6141 36.0866 6.21787 27.9418 35.9968 6.15342 28.1406 35.9856 6.32336 28.3556 36.0754 6.32991 28.1468 36.0642 6.49459 28.3124 35.9743 6.54646 28.5148 35.9631 6.80508 28.6055 35.9519 7.07873 28.6207 36.0417 6.92663 28.4774 36.0193 7.37992 28.3857 35.9294 7.58506 28.4253 36.008 7.5696 28.2494 35.9182 7.77767 28.2304 35.9968 7.71383 28.0657 35.8845 7.94827 27.4482 35.9519 7.67821 27.1781 35.8508 7.47535 26.8023 35.9294 7.31975 26.8858 35.8396 7.22025 26.7021 35.8283 6.94734 26.6769 35.8957 6.6377 26.9006 35.8845 6.44313 27.0298 35.8733 6.29225 27.2081 35.862 6.19699 27.4214 35.7722 6.02683 27.5426 35.8396 6.19851 27.8839 35.7497 6.11961 28.0773 35.8171 6.44722 28.2738 35.8059 6.64263 28.4017 35.7947 6.86594 28.4701 35.7834 7.09948 28.4737 35.7048 7.0071 28.6242 35.7722 7.32476 28.412 35.761 7.52395 28.2901 35.7497 7.6813 28.1174 35.6711 7.73285 28.2864 35.7385 7.78434 27.9078 35.6599 7.8809 28.0557 35.6487 7.95885 27.793 35.7048 7.71108 27.2296 35.6262 7.88581 27.2552 35.615 7.74061 27.0227 35.6824 7.37508 26.9118 35.5925 7.28937 26.7212 35.6711 7.15444 26.8352 35.5476 6.28135 26.9869 35.6262 6.32666 27.1576 35.5364 6.12492 27.212 35.5251 6.03735 27.4717 35.6037 6.16695 27.5916 35.5139 6.02558 27.7455 35.5925 6.18346 27.8246 35.5027 6.09055 28.0118 35.4914 6.2271 28.2494 35.4802 6.42443 28.4396 35.4577 6.9354 28.6224 35.5251 7.26781 28.4342 35.424 7.68404 28.3389 35.5139 7.47543 28.3272 35.4128 7.84865 28.1198 35.4016 7.94572 27.8635 35.4802 7.82063 27.7388 35.469 7.8127 27.5054 35.3904 7.96756 27.5903 35.4577 7.74007 27.2834 35.4465 7.60848 27.0904 35.424 7.21395 26.8491 35.323 6.81682 26.6922 35.3117 6.55711 26.7798 35.3005 6.33207 26.9362 35.2781 6.05307 27.4017 35.3679 6.23918 27.3067 35.3342 6.23723 27.9889 35.323 6.36162 28.1866 35.2331 6.36789 28.3955 35.3005 6.747 28.4423 35.2893 6.97749 28.4801 35.1882 7.40085 28.5358 35.2668 7.42431 28.3607 35.177 7.6315 28.3877 35.1657 7.81178 28.1813 35.2444 7.73796 28.0209 35.1545 7.92744 27.9328 35.2331 7.81186 27.7993 35.1433 7.96932 27.662 35.2107 7.76502 27.3392 35.1208 7.82458 27.1389 35.1994 7.64799 27.1371 35.1882 7.47929 26.9755 35.177 7.27228 26.8674 35.0871 7.1617 26.6901 35.1657 7.04333 26.8211 35.1545 6.81058 26.8405 35.1321 6.40614 27.0649 35.1208 6.26648 27.2521 35.031 6.07388 27.3331 35.1096 6.18447 27.4708 35.0984 6.16663 27.7036 35.0085 6.04726 27.8751 34.9973 6.14746 28.1302 35.0759 6.32386 28.1386 34.9748 6.53588 28.5092 35.0534 6.68939 28.4219 35.0422 6.91648 28.4765 34.9524 7.06681 28.6216 35.0198 7.37087 28.3904 35.0085 7.56221 28.2564 34.9299 7.5755 28.4325 34.9187 7.77049 28.2399 34.8962 7.9658 27.7336 34.9748 7.82507 27.6269 34.8738 7.85993 27.2013 34.9636 7.7858 27.3967 34.8625 7.70074 26.9782 34.9411 7.5276 27.013 34.8513 7.48572 26.8083 34.8176 6.68954 26.7249 34.9074 6.87062 26.8291 34.8962 6.64693 26.8963 34.7951 6.24204 27.0319 34.8738 6.29772 27.1995 34.7727 6.02822 27.5307 34.8401 6.1957 27.8741 34.739 6.2653 28.2954 34.7278 6.47392 28.4731 34.7951 6.85589 28.4685 34.6941 7.26649 28.5857 34.7615 7.51606 28.2965 34.7502 7.67551 28.1258 34.739 7.78112 27.9175 34.6491 7.95702 27.8048 34.6379 7.96207 27.5307 34.6267 7.89059 27.2662 34.7053 7.71619 27.2384 34.6042 7.54631 26.8466 34.6828 7.38411 26.9165 34.6716 7.16443 26.8372 34.5705 6.75842 26.7049 34.6379 6.49838 26.9848 34.6267 6.33275 27.1494 34.5256 6.03961 27.4599 34.6155 6.21955 27.3537 34.6042 6.16773 27.5815 34.593 6.18138 27.8146 34.5144 6.02449 27.7336 34.4919 6.2198 28.2399 34.4695 6.6557 28.5632 34.5481 6.79605 28.456 34.4582 6.92347 28.6216 34.5256 7.25816 28.4375 34.4358 7.4544 28.5092 34.5144 7.46709 28.3331 34.5032 7.63866 28.1746 34.4919 7.75931 27.9746 34.4695 7.81441 27.5154 34.4582 7.74451 27.2926 34.3684 7.79168 27.089 34.3572 7.60391 26.8894 34.4358 7.43702 26.9471 34.3347 7.10253 26.6817 34.3235 6.82858 26.6901 34.3122 6.56782 26.7745 34.4021 6.76129 26.8534 34.301 6.34088 26.9281 34.3796 6.37137 27.1021 34.2898 6.16571 27.1389 34.2785 6.05618 27.3902 34.3684 6.24344 27.2975 34.2673 6.02097 27.662 34.2561 6.06284 27.9328 34.2449 6.1785 28.1813 34.2336 6.35879 28.3877 34.3122 6.52769 28.3362 34.301 6.7373 28.4392 34.1999 7.12626 28.6154 34.2785 7.19952 28.4547 34.2673 7.41556 28.3659 34.1438 7.9691 27.6739 34.2112 7.76877 27.3487 34.1101 7.65822 26.9362 34.1887 7.48753 26.9815 34.0876 7.17347 26.6922 34.1662 7.0535 26.8218 34.0652 6.63339 26.7454 34.0427 6.20555 27.0793 34.1325 6.41337 27.0577 34.1213 6.27141 27.2431 34.0315 6.07784 27.3218 34.0202 6.02273 27.5903 34.1101 6.18673 27.4608 34.0989 6.16603 27.6935 34.0876 6.21094 27.9227 33.9978 6.14163 28.1198 33.9865 6.30624 28.3389 33.9753 6.52538 28.5035 34.0652 6.47848 28.2999 33.9641 6.78168 28.6006 34.0539 6.67994 28.4181 34.0427 6.90634 28.4755 33.9529 7.05488 28.6224 34.0315 7.13977 28.4676 33.9416 7.32336 28.5673 33.9304 7.56586 28.4396 34.009 7.55472 28.2633 33.9192 7.76319 28.2494 33.9978 7.70341 28.0832 33.9079 7.89974 28.0118 33.8967 7.9647 27.7455 33.8855 7.95293 27.4717 33.9641 7.78885 27.4064 33.9529 7.68959 27.195 33.9304 7.3384 26.894 33.8406 7.24345 26.7079 33.8181 6.70091 26.7212 33.8069 6.45388 26.8399 33.7956 6.24968 27.0227 33.8742 6.3033 27.191 33.7844 6.10447 27.2552 33.7732 6.02976 27.5189 33.8406 6.19301 27.8642 33.7619 6.03144 27.793 33.7507 6.10939 28.0557 33.7395 6.25743 28.2864 33.8293 6.28442 28.0792 33.8181 6.43207 28.2601 33.8069 6.62429 28.3928 33.717 6.71233 28.5823 33.7058 6.98319 28.6242 33.6946 7.25499 28.589 33.7732 7.30596 28.4199 33.7619 7.50809 28.3028 33.6721 7.71701 28.3043 33.7395 7.77777 27.9271 33.7282 7.82399 27.6982 33.6384 7.96346 27.5426 33.717 7.80462 27.4654 33.7058 7.72118 27.2473 33.6047 7.55612 26.8535 33.6946 7.58029 27.061 33.6833 7.39309 26.9213 33.5598 6.51494 26.8023 33.6384 6.50658 26.9787 33.5373 6.13593 27.1907 33.5261 6.04202 27.4482 33.5935 6.17942 27.8046 33.4924 6.21262 28.2304 33.4812 6.40522 28.4253 33.5598 6.57065 28.3635 33.5486 6.78618 28.4535 33.4699 6.64452 28.559 33.5261 7.24848 28.4407 33.5149 7.45867 28.3388 33.4138 7.83687 28.1406 33.4026 7.9402 27.8867 33.3801 7.92022 27.3444 33.3576 7.6132 26.8969 33.3464 7.37899 26.7546 33.3352 7.1144 26.6831 33.3127 6.5786 26.7693 33.3913 6.55728 26.9446 33.3015 6.34978 26.9202 33.2903 6.17204 27.1288 33.279 6.05944 27.3787 33.3576 6.17665 27.5107 33.2678 6.02089 27.65 33.3352 6.22914 27.9702 33.2453 6.17204 28.1712 33.324 6.34864 28.1709 33.2116 6.84038 28.6119 33.2903 6.95713 28.4794 33.1892 7.37899 28.5454 33.178 7.6132 28.4031 33.2566 7.59128 28.2279 33.2453 7.72864 28.039 33.1555 7.92022 27.9556 33.1443 7.96873 27.6859 33.133 7.9402 27.4133 33.2116 7.77241 27.3582 33.1218 7.83687 27.1594 33.2004 7.66038 27.1532 33.1106 7.66693 26.9444 33.0993 7.44382 26.7852 33.178 7.2914 26.8744 33.0769 6.91155 26.6793 33.0657 6.64452 26.741 33.1443 6.61036 26.9143 33.0432 6.21262 27.0696 33.0095 6.04202 27.8518 33.0881 6.20766 27.913 32.9983 6.13593 28.1093 33.0769 6.31207 28.1219 32.987 6.29784 28.3304 32.9533 7.04295 28.6231 33.0432 6.89622 28.4743 33.032 7.12973 28.4693 32.9421 7.31208 28.5713 33.0207 7.35258 28.3994 32.9309 7.55612 28.4465 32.9197 7.75578 28.2588 32.9084 7.89523 28.0228 32.9758 7.82539 27.6473 32.9646 7.79178 27.4161 32.8635 7.71701 26.9957 32.841 7.25499 26.711 32.9309 7.34765 26.8983 32.9197 7.12434 26.8299 32.8298 6.98319 26.6758 32.8186 6.71233 26.7177 32.8972 6.66553 26.888 32.8074 6.46386 26.8334 32.7961 6.25743 27.0136 32.886 6.46633 27.0099 32.7849 6.10939 27.2443 32.8635 6.20595 27.3922 32.8523 6.16536 27.6222 32.8298 6.27921 28.0704 32.8074 6.6152 28.3882 32.7175 6.70091 28.5788 32.7063 6.97123 28.624 32.7849 7.06909 28.4769 32.695 7.24345 28.5921 32.6726 7.70893 28.3131 32.6614 7.86537 28.088 32.6501 7.95293 27.8283 32.7287 7.82334 27.7084 32.6389 7.9647 27.5545 32.7063 7.72607 27.2562 32.6164 7.76319 27.0506 32.6838 7.402 26.9263 32.594 7.32336 26.7327 32.6614 6.95168 26.8209 32.5715 6.78168 26.6994 32.6389 6.51485 26.9728 32.6052 6.16966 27.5612 32.5266 6.04457 27.4365 32.4817 6.39575 28.418 32.4704 6.63339 28.5546 32.448 7.17347 28.6078 32.5378 7.00806 28.4802 32.4367 7.43318 28.5202 32.4255 7.65822 28.3638 32.5154 7.45018 28.3444 32.5041 7.62559 28.1902 32.4143 7.83079 28.1509 32.4031 7.93722 27.8983 32.4817 7.8168 27.7691 32.3918 7.9691 27.6261 32.3806 7.9239 27.3558 32.4704 7.81747 27.5356 32.448 7.62866 27.1134 32.4367 7.45414 26.9582 32.4255 7.24328 26.8577 32.3244 6.85219 26.6863 32.3132 6.58944 26.7642 32.2907 6.1785 27.1187 32.3806 6.385 27.0869 32.2795 6.06284 27.3672 32.3581 6.17843 27.5007 32.2683 6.02097 27.638 32.3469 6.16916 27.7341 32.2458 6.16571 28.1611 32.2346 6.34088 28.3719 32.2234 6.56782 28.5255 32.2121 6.82858 28.6099 32.2907 6.94695 28.4788 32.2009 7.10253 28.6183 32.2795 7.17971 28.4595 32.2683 7.39786 28.376 32.1672 7.79168 28.211 32.156 7.9164 27.9669 32.2346 7.80581 27.8292 32.1335 7.94303 27.4249 32.1223 7.84283 27.1698 32.1111 7.67554 26.9527 32.0998 7.4544 26.7908 32.1448 6.61942 26.9096 32.1335 6.42808 27.0436 32.0437 6.2198 27.0601 32.0324 6.08617 27.2994 32.0212 6.02449 27.5664 32.0998 6.16521 27.6731 32.0886 6.20449 27.9033 31.9988 6.13036 28.0987 31.9875 6.28955 28.3218 32.0549 6.66119 28.4101 31.9651 6.75842 28.5951 32.0437 6.88611 28.4731 32.0212 7.34336 28.4037 32.01 7.5395 28.2769 31.9988 7.69256 28.1005 31.9875 7.79043 27.8884 31.9089 7.89059 28.0338 31.9651 7.79459 27.4259 31.8865 7.95702 27.4952 31.8752 7.87585 27.2335 31.9538 7.70055 27.2121 31.8528 7.51636 26.8269 31.8303 6.99514 26.6758 31.9201 7.1344 26.8315 31.8977 6.6749 26.884 31.8865 6.47423 27.0035 31.8752 6.31478 27.1742 31.864 6.20917 27.3825 31.8303 6.14874 27.3851 31.8303 6.12726 27.6195 37.5578 7.2086 26.6994 37.5803 7.2473 26.7089 37.5691 7.46491 26.7965 37.5578 6.47392 26.8269 37.5241 6.42443 26.8604 37.5466 6.2653 27.0046 37.5017 6.09055 27.2882 37.468 6.12492 28.088 37.4905 6.24204 28.2681 37.468 6.68954 28.5751 37.4455 7.23187 28.5951 37.4231 7.01905 28.624 37.4343 6.74684 28.5921 37.4118 7.28937 28.5788 37.4343 7.48572 28.4917 37.4006 7.53641 28.4601 37.3669 7.96053 27.7811 37.3782 7.90411 27.2994 37.3445 7.8809 27.2443 37.3557 7.5755 26.8675 37.322 7.52643 26.8334 37.322 6.79336 26.6969 37.2883 6.7353 26.711 37.2658 6.27327 26.9957 37.2546 6.11961 27.2227 37.2658 6.02207 27.6978 37.2322 6.02683 27.7574 37.2546 6.07388 27.9669 37.2322 6.38637 28.4106 37.1872 6.67821 28.5713 37.2209 6.62231 28.5501 37.2097 6.88776 28.6183 37.1985 7.1617 28.6099 37.176 6.94734 28.6231 37.1872 7.42246 28.5255 37.1648 7.22025 28.5979 37.1423 7.69244 28.3304 37.1199 7.94827 27.8518 37.1423 7.96932 27.638 37.0974 7.90835 27.3106 37.1199 7.81178 27.1187 37.0862 7.77767 27.0696 37.1086 7.6315 26.9123 37.0974 7.40085 26.7642 37.0525 7.07873 26.6793 37.0862 7.13809 26.6863 37.0637 6.60034 26.7593 37.03 6.54646 26.7852 37.0075 6.15342 27.1594 36.9851 6.02155 27.6859 36.9739 6.07007 27.9556 36.9626 6.19179 28.2012 36.9851 6.33207 28.3638 36.9514 6.37709 28.4031 36.9177 7.14991 28.6119 36.9514 7.09064 28.6196 36.8952 7.6405 28.3798 36.9177 7.78473 28.2207 36.884 7.81824 28.1712 36.9065 7.91244 27.9782 36.8728 7.93084 27.9213 36.8728 7.84865 27.1802 36.8391 7.81824 27.1288 36.8503 7.46491 26.7965 36.8166 7.41169 26.7693 36.8279 6.9354 26.6776 36.8166 6.66693 26.7327 36.7942 6.87588 26.6831 36.7942 6.2271 27.0506 36.7492 6.07007 27.3444 36.7717 6.02558 27.5545 36.738 6.02155 27.6141 36.7268 6.05009 27.8867 36.7156 6.15342 28.1406 36.738 6.28135 28.3131 36.7156 6.74684 28.5921 36.7043 7.01905 28.624 36.6819 6.80508 28.6055 36.6819 7.53641 28.4601 36.6482 7.58506 28.4253 36.6369 7.77767 28.2304 36.6482 7.96053 27.7811 36.6032 7.94827 27.4482 36.6032 7.52643 26.8334 36.5696 7.47535 26.8023 36.5808 7.0071 26.6758 36.5471 6.94734 26.6769 36.5359 6.67821 26.7287 36.5246 6.43416 26.8535 36.5246 6.03524 27.4834 36.5134 6.02683 27.7574 36.5022 6.09505 28.0228 36.4685 6.11961 28.0773 36.4573 6.27327 28.3043 36.4573 6.94734 28.6231 36.4348 6.7353 28.589 36.4123 7.27795 28.5823 36.4011 7.52643 28.4666 36.3674 7.95885 27.793 36.3562 7.96053 27.5189 36.3786 7.90835 27.3106 36.3449 7.88581 27.2552 36.3337 7.74061 27.0227 36.3562 7.58506 26.8747 36.3225 7.53641 26.8399 36.3449 7.34577 26.741 36.3 7.01905 26.676 36.3337 7.07873 26.6793 36.2888 6.74684 26.7079 36.3 6.32336 26.9444 36.2776 6.49428 26.8144 36.2551 6.12492 27.212 36.2776 6.05009 27.4133 36.2439 6.03735 27.4717 36.2663 6.02155 27.6859 36.2551 6.07007 27.9556 36.2102 6.2271 28.2494 36.2326 6.37709 28.4031 36.2214 6.6113 28.5454 36.1877 6.66693 28.5673 36.2102 6.87588 28.6169 36.1765 6.9354 28.6224 36.154 7.46491 28.5035 36.1203 7.94572 27.8635 36.1428 7.96939 27.65 36.1091 7.96756 27.5903 36.1316 7.93084 27.3787 36.0979 7.91244 27.3218 36.1203 7.81824 27.1288 36.0754 7.59453 26.882 36.0979 7.41169 26.7693 36.053 7.09064 26.6804 36.0754 6.87588 26.6831 36.0642 6.6113 26.7546 36.0417 6.81682 26.6922 36.0305 6.55711 26.7798 36.053 6.37709 26.8969 36.0417 6.19179 27.0988 36.008 6.1595 27.1491 35.9968 6.05307 27.4017 36.008 6.05009 27.8867 35.9631 6.18508 28.1913 35.9407 6.60034 28.5407 35.907 7.40085 28.5358 35.9407 7.34577 28.559 35.8957 7.6315 28.3877 35.8733 7.92744 27.9328 35.907 7.90835 27.9894 35.8957 7.96675 27.7217 35.8508 7.9341 27.3902 35.8733 7.85435 27.1907 35.862 7.69244 26.9696 35.8171 7.42246 26.7745 35.7947 6.88776 26.6817 35.7834 6.62231 26.7499 35.8171 6.67821 26.7287 35.8059 6.43416 26.8535 35.7947 6.23451 27.0412 35.7834 6.09505 27.2772 35.7497 6.07388 27.3331 35.7385 6.02207 27.6022 35.761 6.03524 27.8166 35.7385 6.27327 28.3043 35.7048 6.31475 28.3473 35.7273 6.48406 28.4794 35.6936 6.53588 28.5092 35.716 6.7353 28.589 35.6711 7.06681 28.6216 35.6936 7.27795 28.5823 35.6487 7.5755 28.4325 35.6824 7.52643 28.4666 35.6374 7.96053 27.5189 35.5925 7.85993 27.2013 35.57 7.48572 26.8083 35.6037 7.53641 26.8399 35.5588 7.23187 26.7049 35.5813 7.01905 26.676 35.5476 6.95928 26.6764 35.5364 6.68954 26.7249 35.57 6.74684 26.7079 35.5588 6.49428 26.8144 35.5139 6.24204 27.0319 35.5027 6.0997 27.2662 35.4914 6.02822 27.5307 35.4802 6.03326 27.8048 35.469 6.11443 28.0665 35.469 6.66693 28.5673 35.4465 6.47392 28.4731 35.4353 6.72379 28.5857 35.424 6.99514 28.6243 35.4465 7.2086 28.6006 35.4353 7.46491 28.5035 35.3904 7.72499 28.2954 35.3679 7.95702 27.8048 35.3454 7.89059 27.2662 35.3791 7.91244 27.3218 35.3679 7.78473 27.0793 35.3342 7.74825 27.0319 35.3567 7.59453 26.882 35.3454 7.3569 26.7454 35.3117 7.30075 26.7249 35.3342 7.09064 26.6804 35.3005 7.031 26.6764 35.2668 6.28955 26.9782 35.2893 6.1595 27.1491 35.2556 6.13036 27.2013 35.2668 6.02119 27.6739 35.2219 6.08617 28.0006 35.2556 6.06638 27.9442 35.2444 6.18508 28.1913 35.2107 6.2198 28.2399 35.2219 6.60034 28.5407 35.2107 6.86403 28.6154 35.1994 7.13809 28.6137 35.1321 7.84283 28.1302 35.1321 7.9341 27.3902 35.1096 7.64941 26.9281 35.0984 7.42246 26.7745 35.0647 7.36797 26.7499 35.0759 6.88776 26.6817 35.0534 7.10253 26.6817 35.0647 6.62231 26.7499 35.0534 6.38637 26.8894 35.0198 6.34088 26.9281 35.0422 6.19861 27.089 35.0085 6.16571 27.1389 35.0198 6.02207 27.6022 34.9861 6.31475 28.3473 34.9411 6.58944 28.5358 34.9636 6.79336 28.6031 34.9187 7.12626 28.6154 34.9411 7.33459 28.5632 34.9074 7.90411 28.0006 34.885 7.95067 27.4599 34.8513 7.93722 27.4017 34.8401 7.83079 27.1491 34.8176 7.43318 26.7798 34.8401 7.23187 26.7049 34.8288 6.95928 26.6764 34.7951 6.89965 26.6804 34.8064 6.44398 26.8466 34.7839 6.63339 26.7454 34.7727 6.39575 26.882 34.7615 6.20555 27.0793 34.7839 6.0997 27.2662 34.7278 6.04457 27.8635 34.7615 6.03326 27.8048 34.7502 6.11443 28.0665 34.7053 6.30624 28.3389 34.7165 6.72379 28.5857 34.7053 6.99514 28.6243 34.6828 6.78168 28.6006 34.6716 7.05488 28.6224 34.6491 7.56586 28.4396 34.6828 7.51636 28.4731 34.6716 7.72499 28.2954 34.6379 7.76319 28.2494 34.6604 7.87585 28.0665 34.6267 7.89974 28.0118 34.593 7.86537 27.212 34.6155 7.74825 27.0319 34.5705 7.49601 26.8144 34.593 7.30075 26.7249 34.5818 7.031 26.6764 34.5368 6.70091 26.7212 34.5593 6.50457 26.8083 34.5481 6.28955 26.9782 34.5368 6.13036 27.2013 34.5032 6.10447 27.2552 34.5032 6.08617 28.0006 34.4807 6.03144 27.793 34.4582 6.25743 28.2864 34.4807 6.41478 28.4325 34.4358 6.71233 28.5823 34.447 7.19692 28.6031 34.4133 7.25499 28.589 34.4245 7.67554 28.3473 34.4133 7.84283 28.1302 34.3796 7.87068 28.0773 34.4021 7.94303 27.8751 34.3684 7.95505 27.8166 34.3908 7.96822 27.6022 34.3572 7.96346 27.5426 34.3796 7.9164 27.3331 34.3459 7.36797 26.7499 34.2785 6.51494 26.8023 34.2673 6.29784 26.9696 34.2561 6.13593 27.1907 34.2449 6.04202 27.4482 34.2224 6.58944 28.5358 34.1999 6.40522 28.4253 34.2112 6.85219 28.6137 34.1887 6.64452 28.559 34.1887 7.38995 28.5407 34.1775 7.6224 28.3955 34.1438 7.66693 28.3556 34.1325 7.83687 28.1406 34.1662 7.8052 28.1913 34.1213 7.9402 27.8867 34.155 7.9239 27.9442 34.1101 7.96873 27.6141 34.1325 7.93722 27.4017 34.1213 7.83079 27.1491 34.0876 7.7985 27.0988 34.0764 7.6132 26.8969 34.0652 7.37899 26.7546 34.0989 7.43318 26.7798 34.0764 6.89965 26.6804 34.0202 6.34978 26.9202 34.0539 6.39575 26.882 34.009 6.17204 27.1288 33.9865 6.02089 27.65 34.009 6.04457 27.8635 33.9192 7.1144 28.6169 33.8855 7.7985 28.2012 33.863 7.96873 27.6859 33.8742 7.86537 27.212 33.8518 7.9402 27.4133 33.8406 7.83687 27.1594 33.863 7.70893 26.9869 33.8293 7.66693 26.9444 33.8518 7.49601 26.8144 33.8069 7.18521 26.6945 33.8293 6.97123 26.676 33.7844 6.64452 26.741 33.7732 6.40522 26.8747 33.7507 6.08194 27.3106 33.7395 6.02353 27.5783 33.7058 6.29784 28.3304 33.7282 6.46386 28.4666 33.6721 7.04295 28.6231 33.6833 7.50622 28.4794 33.6384 7.75578 28.2588 33.6609 7.87068 28.0773 33.6496 7.95505 27.8166 33.6047 7.95505 27.4834 33.6272 7.89523 27.2772 33.6159 7.75578 27.0412 33.5598 7.25499 26.711 33.5935 7.31208 26.7287 33.5823 7.04295 26.6769 33.5486 6.98319 26.6758 33.5373 6.71233 26.7177 33.571 6.77003 26.7021 33.5486 6.29784 26.9696 33.5149 6.25743 27.0136 33.5149 6.02353 27.7217 33.4924 6.03144 27.507 33.5036 6.08194 27.9894 33.4587 6.91155 28.6207 33.4475 7.18521 28.6055 33.4138 7.24345 28.5921 33.4363 7.44382 28.5148 33.4026 7.49601 28.4856 33.3913 7.70893 28.3131 33.425 7.66693 28.3556 33.3689 7.95293 27.8283 33.3576 7.9647 27.5545 33.3913 7.96873 27.6141 33.3464 7.89974 27.2882 33.3689 7.7985 27.0988 33.324 7.56586 26.8604 33.3015 7.05488 26.6776 33.324 6.84038 26.6881 33.2903 6.78168 26.6994 33.279 6.52538 26.7965 33.2678 6.30624 26.9611 33.2453 6.04457 27.4365 33.2566 6.05944 27.9213 33.2229 6.07784 27.9782 33.2341 6.34978 28.3798 33.2004 6.39575 28.418 33.2229 6.5786 28.5307 33.178 6.89965 28.6196 33.2004 7.1144 28.6169 33.1667 7.17347 28.6078 33.1667 7.7985 28.2012 33.1218 7.93722 27.8983 33.0993 7.9239 27.3558 33.0769 7.6224 26.9045 33.0881 7.18521 26.6945 33.0657 7.38995 26.7593 33.0544 7.12626 26.6846 33.0544 6.40522 26.8747 33.0207 6.35879 26.9123 33.032 6.08194 27.3106 32.9983 6.06284 27.3672 33.0207 6.02353 27.5783 32.987 6.02097 27.638 32.9646 6.16571 28.1611 32.9758 6.51494 28.4977 32.9421 6.56782 28.5255 32.9646 6.77003 28.5979 32.9309 6.82858 28.6099 32.9084 7.36797 28.5501 32.886 7.79168 28.211 32.8747 7.9164 27.9669 32.8972 7.96346 27.7574 32.886 7.95505 27.4834 32.8523 7.94303 27.4249 32.8747 7.87068 27.2227 32.8298 7.67554 26.9527 32.8523 7.50622 26.8206 32.8186 7.4544 26.7908 32.7849 6.6557 26.7368 32.7737 6.41478 26.8675 32.7737 6.03144 27.507 32.7624 6.02976 27.7811 32.7287 6.03961 27.8401 32.7175 6.13036 28.0987 32.7512 6.10447 28.0448 32.74 6.24968 28.2773 32.7063 6.28955 28.3218 32.7287 6.45388 28.4601 32.6838 6.75842 28.5951 32.6614 7.30075 28.5751 32.6726 7.031 28.6236 32.6838 7.49601 28.4856 32.6501 7.54631 28.4534 32.6389 7.74825 28.2681 32.594 7.87585 27.2335 32.6277 7.89974 27.2882 32.5827 7.72499 27.0046 32.6052 7.56586 26.8604 32.5603 7.26649 26.7143 32.5827 7.05488 26.6776 32.549 6.99514 26.6758 32.5378 6.72379 26.7143 32.5603 6.52538 26.7965 32.549 6.30624 26.9611 32.5266 6.47392 26.8269 32.5378 6.14163 27.1802 32.5154 6.2653 27.0046 32.5041 6.11443 27.2335 32.5154 6.02273 27.7097 32.5041 6.07784 27.9782 32.4817 6.02822 27.7693 32.4929 6.20555 28.2207 32.4704 6.0997 28.0338 32.4592 6.24204 28.2681 32.4592 6.89965 28.6196 32.4255 6.95928 28.6236 32.4143 7.23187 28.5951 32.4031 7.48572 28.4917 32.3694 7.95067 27.8401 32.3581 7.9658 27.5664 32.3357 7.77049 27.0601 32.3694 7.8052 27.1087 32.3581 7.6224 26.9045 32.3469 7.38995 26.7593 32.3132 7.33459 26.7368 32.3357 7.12626 26.6846 32.302 7.06681 26.6784 32.2907 6.79336 26.6969 32.302 6.35879 26.9123 32.2458 6.04726 27.4249 32.2346 6.02207 27.6978 32.2571 6.05618 27.9098 32.1897 7.36797 28.5501 32.1784 7.60391 28.4106 32.1448 7.96822 27.6978 32.1223 7.9341 27.9098 32.0886 7.81178 27.1187 32.0886 7.19692 26.6969 32.0661 7.40085 26.7642 32.0774 6.92347 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53.5457 73.25 32.4184 50.8828 73.25 34.7776 50.2211 73.067 36.4291 57 73.067 46.25 55.265 73.067 46.0393 57 73.25 46.433 55.2212 73.25 46.217 52.1924 73.067 44.4267 52.071 73.25 44.5637 51.0334 73.067 43.1185 50.05 73.25 41.6358 49.8029 73.067 39.8739 64.2821 73.5 40.7949 64.2821 73.5 37.2051 63.6409 73.5 35.5146 62.6138 74.25 34.0266 61.2605 74.25 32.8276 57.904 73.5 31.5547 56.096 73.5 31.5547 56.096 74.25 31.5547 54.3405 74.25 31.9874 51.3862 74.25 34.0266 50.3591 74.25 35.5146 49.7179 73.5 37.2051 49.5 74.25 39 49.7179 74.25 40.7949 50.3591 74.25 42.4854 52.7395 73.5 45.1724 54.3405 73.5 46.0126 56.096 74.25 46.4453 57.904 74.25 46.4453 57.904 73.5 46.4453 61.2605 74.25 45.1724 62.6138 74.25 43.9734 63.6409 74.25 42.4854 63.6409 73.5 42.4854 64.3788 74.5 39.896 64.5 74.25 39 64.2821 74.25 40.7949 63.1172 74.5 43.2224 59.6595 74.25 46.0126 58.7788 74.5 46.217 57 74.5 46.433 54.3405 74.25 46.0126 53.5457 74.5 45.5816 52.7395 74.25 45.1724 51.3862 74.25 43.9734 50.8828 74.5 43.2224 49.6212 74.5 39.896 49.7179 74.25 37.2051 50.05 74.5 36.3642 50.8828 74.5 34.7776 52.7395 74.25 32.8276 55.2212 74.5 31.783 58.7788 74.5 31.783 57.904 74.25 31.5547 60.4543 74.5 32.4184 59.6595 74.25 31.9874 61.929 74.5 33.4363 63.6409 74.25 35.5146 63.95 74.5 36.3642 64.2821 74.25 37.2051 64.3788 74.5 38.104 63.7801 74.75 37.2592 63.1341 74.75 35.6277 60.7508 74.75 33.0897 59.1631 74.75 32.3426 57 74.683 31.75 57.4395 74.75 32.0138 55.6883 74.75 32.124 54.0195 74.75 32.6662 51.3369 74.75 34.8855 50.4916 74.75 36.4231 51.0334 74.683 34.8815 50.2211 74.683 36.4291 49.6212 74.5 38.104 63.7801 74.75 40.7408 62.9666 74.683 43.1185 63.1341 74.75 42.3723 62.1028 74.75 43.7918 60.7508 74.75 44.9103 57.4395 74.75 45.9862 55.265 74.683 46.0393 55.6883 74.75 45.876 54.0195 74.75 45.3338 52.538 74.75 44.3936 52.1924 74.683 44.4267 50.2211 74.683 41.5709 50.4916 74.75 41.5769 57 74.5 31.567 58.735 74.683 31.9607 60.3692 74.683 32.5804 61.8076 74.683 33.5733 63.1172 74.5 34.7776 62.9666 74.683 34.8815 63.7789 74.683 36.4291 64.1971 74.683 38.1261 64.1971 74.683 39.8739 63.95 74.5 41.6358 63.7789 74.683 41.5709 61.929 74.5 44.5637 61.8076 74.683 44.4267 60.4543 74.5 45.5816 60.3692 74.683 45.4196 58.735 74.683 46.0393 55.2212 74.5 46.217 57 74.683 46.25 53.6308 74.683 45.4196 52.071 74.5 44.5637 50.05 74.5 41.6358 51.0334 74.683 43.1185 49.8029 74.683 39.8739 55.265 74.683 31.9607 53.5457 74.5 32.4184 53.6308 74.683 32.5804 52.1924 74.683 33.5733 52.071 74.5 33.4363 49.8029 74.683 38.1261 50.0552 74.75 38.1227 52.5 74.75 39 50.0552 74.75 39.8773 52.7202 74.75 40.3906 51.3369 74.75 43.1145 53.3594 74.75 36.355 52.538 74.75 33.6064 54.355 74.75 35.3594 57 74.75 34.5 62.1028 74.75 34.2082 64 74.75 39 61.5 74.75 39 61.2798 74.75 40.3906 60.6406 74.75 41.645 59.645 74.75 42.6406 59.1631 74.75 45.6574 55.6094 74.75 43.2798 62.7775 88.5 37.3812 61.6543 88 35.2135 58.2207 88.5 33.1255 56.5905 88.5 33.014 55.7793 88 33.1255 53.5399 88.5 34.0982 51.8735 88 35.8825 52.3457 88.5 35.2135 51.2225 88 37.3812 51.0559 88.5 38.183 51.0559 88.5 39.817 51.4967 88.5 41.3904 52.3457 88.5 42.7865 52.9047 88 43.385 59.0093 88 44.6536 61.0953 88.5 43.385 62.5033 79 41.3904 61.6543 79 42.7865 57.4095 79 44.986 55.7793 79 44.8745 56.5905 78.5 44.986 53.5399 78.5 43.9018 52.9047 79 43.385 52.3457 78.5 42.7865 51.8735 79 42.1175 51.4967 78.5 41.3904 51.2225 79 40.6188 51.0559 78.5 39.817 51.0559 78.5 38.183 51.2225 79 37.3812 51.4967 78.5 36.6096 51.8735 79 35.8825 52.3457 78.5 35.2135 54.2396 79 33.6727 54.9907 78.5 33.3464 56.5905 78.5 33.014 58.2207 78.5 33.1255 59.0093 79 33.3464 60.4601 79 34.0982 61.6543 79 35.2135 62.7775 78.5 40.6188 63 78.5 39 62.9192 78.25 38.5951 62.7775 78.5 37.3812 61.8471 78.25 35.5785 62.1265 78.5 35.8825 61.0953 78.5 34.615 59.7604 78.5 33.6727 53.5399 78.5 34.0982 53.2557 78.25 34.3977 51.4096 78.25 37.0132 52.6639 78.25 43.0496 53.9173 78.25 44.0693 54.9907 78.5 44.6536 58.2207 78.5 44.8745 58.6007 78.25 44.713 59.7604 78.5 44.3273 61.0953 78.5 43.385 62.1265 78.5 42.1175 62.2678 78.25 41.7296 61.6269 78 41.9735 61.2023 78.067 42.9247 59.9876 78.067 43.9129 57.7827 78 44.444 56.2173 78 44.444 57 78.067 44.75 55.4487 78.067 44.5368 54.7152 78 44.003 54.0124 78.067 43.9129 52.7977 78.067 42.9247 51.7228 78 40.5495 51.8947 78.067 41.6454 51.3703 78.067 40.1699 51.2634 78.067 38.6076 51.5 78 39 51.7228 78 37.4505 51.582 78.067 37.0744 52.3731 78 36.0265 53.3712 78.067 34.5397 54.7152 78 33.997 56.2173 78 33.556 56.217 78.067 33.3036 57.783 78.067 33.3036 56.1921 78.25 33.1222 57.8079 78.25 33.1222 61.6269 78 36.0265 61.6976 78.067 35.6841 59.2908 78.067 33.726 58.5513 78.067 44.5368 60.0827 78.25 44.0693 61.3361 78.25 43.0496 62.1053 78.067 41.6454 62.8089 78.25 40.2071 62.6297 78.067 40.1699 62.7366 78.067 38.6076 62.5904 78.25 37.0132 62.418 78.067 37.0744 60.7443 78.25 34.3977 60.6288 78.067 34.5397 59.3637 78.25 33.5582 57 78.25 44.933 55.3993 78.25 44.713 51.7322 78.25 41.7296 51.1911 78.25 40.2071 51.0808 78.25 38.5951 52.3024 78.067 35.6841 52.1529 78.25 35.5785 54.7092 78.067 33.726 54.6363 78.25 33.5582 52.3731 78 41.9735 52.7202 78 40.3906 53.3983 78 43.1566 54.355 78 42.6406 58.3906 78 43.2798 59.2848 78 44.003 59.645 78 42.6406 60.6017 78 43.1566 62.2772 78 40.5495 62.5 78 39 62.2772 78 37.4505 61.2798 78 37.6094 60.6017 78 34.8434 59.2848 78 33.997 57 78 34.5 57.7827 78 33.556 55.6094 78 34.7202 53.3983 78 34.8434 54.355 78 35.3594 53.3594 78 36.355 52.7202 78 37.6094 52.5 78 39 62.8089 88.75 37.7929 63 88.5 39 62.7775 88.5 40.6188 62.5904 88.75 40.9868 61.8471 88.75 42.4215 62.1265 88.5 42.1175 59.7604 88.5 44.3273 60.7443 88.75 43.6023 58.2207 88.5 44.8745 56.5905 88.5 44.986 57.8079 88.75 44.8778 54.9907 88.5 44.6536 53.5399 88.5 43.9018 51.1911 88.75 37.7929 51.4967 88.5 36.6096 52.6639 88.75 34.9504 53.9173 88.75 33.9307 54.9907 88.5 33.3464 55.3993 88.75 33.287 57 88.75 33.067 59.7604 88.5 33.6727 60.0827 88.75 33.9307 61.3361 88.75 34.9504 61.0953 88.5 34.615 62.1265 88.5 35.8825 62.2678 88.75 36.2704 62.2772 89 40.5495 62.5 89 39 62.6297 88.933 37.8301 62.1053 88.933 36.3546 61.6269 89 36.0265 60.6017 89 34.8434 59.2848 89 33.997 57 88.933 33.25 55.4487 88.933 33.4632 53.3983 89 34.8434 52.7977 88.933 35.0753 52.3731 89 36.0265 51.8947 88.933 36.3546 51.7228 89 37.4505 51.3703 88.933 37.8301 51.5 89 39 51.2634 88.933 39.3924 52.3024 88.933 42.3159 54.7092 88.933 44.274 61.6269 89 41.9735 62.418 88.933 40.9256 60.6017 89 43.1566 59.2848 89 44.003 56.2173 89 44.444 58.6007 88.75 33.287 58.5513 88.933 33.4632 59.9876 88.933 34.0871 61.2023 88.933 35.0753 62.7366 88.933 39.3924 62.9192 88.75 39.4049 61.6976 88.933 42.3159 60.6288 88.933 43.4603 59.3637 88.75 44.4418 59.2908 88.933 44.274 57.783 88.933 44.6964 54.0124 88.933 34.0871 51.7322 88.75 36.2704 51.0808 88.75 39.4049 51.582 88.933 40.9256 51.4096 88.75 40.9868 53.3712 88.933 43.4603 52.1529 88.75 42.4215 53.2557 88.75 43.6023 54.6363 88.75 44.4418 56.217 88.933 44.6964 56.1921 88.75 44.8778 52.5 89 39 54.355 89 35.3594 54.7152 89 33.997 56.2173 89 33.556 57.7827 89 33.556 58.3906 89 34.7202 59.645 89 35.3594 60.6406 89 36.355 62.2772 89 37.4505 61.5 89 39 61.2798 89 40.3906 60.6406 89 41.645 59.645 89 42.6406 57.7827 89 44.444 54.7152 89 44.003 53.3983 89 43.1566 52.3731 89 41.9735 51.7228 89 40.5495 64 87.5 39 63.9448 87 39.8773 63.7801 87.5 37.2592 63.5084 87 36.4231 62.6631 87 34.8855 62.1028 87.5 34.2082 59.1631 87.5 32.3426 59.9805 87 32.6662 56.5605 87 32.0138 52.538 87.5 33.6064 50.8659 87 35.6277 50.4916 87.5 36.4231 50.0552 87.5 38.1227 50.0552 87.5 39.8773 50.8659 87 42.3723 51.3369 87.5 43.1145 55.6883 87.5 45.876 56.5605 87 45.9862 57.4395 87.5 45.9862 60.7508 87.5 44.9103 62.1028 87.5 43.7918 61.462 87 44.3936 62.6631 87 43.1145 63.5084 87 41.5769 64 79.5 39 63.5084 80 41.5769 62.1028 79.5 43.7918 62.6631 80 43.1145 61.462 80 44.3936 56.5605 80 45.9862 55.6883 79.5 45.876 54.8369 80 45.6574 54.0195 79.5 45.3338 52.538 79.5 44.3936 51.8972 80 43.7918 50.0552 79.5 39.8773 50 80 39 50.4916 79.5 36.4231 51.8972 80 34.2082 54.0195 79.5 32.6662 53.2492 80 33.0897 55.6883 79.5 32.124 57.4395 79.5 32.0138 58.3117 80 32.124 59.1631 79.5 32.3426 59.9805 80 32.6662 61.462 80 33.6064 62.6631 80 34.8855 63.1341 79.5 35.6277 63.7801 79.5 37.2592 63.5084 80 36.4231 63.9448 80 38.1227 63.7801 79.5 40.7408 63.9193 79.25 39.4353 63.8102 79.25 37.7009 62.1028 79.5 34.2082 62.342 79.25 34.5807 59.5522 79.25 32.5538 60.7508 79.5 33.0897 56.1311 79.25 32.1217 54.4478 79.25 32.5538 52.538 79.5 33.6064 51.3369 79.5 34.8855 50.1898 79.25 37.7009 50.0552 79.5 38.1227 50.4916 79.5 41.5769 50.4063 79.25 41.1424 51.3369 79.5 43.1145 55.2758 79.25 45.7152 58.7242 79.25 45.7152 57.4395 79.5 45.9862 59.1631 79.5 45.6574 60.7508 79.5 44.9103 62.8537 79.25 42.7149 63.1341 79.5 42.3723 63.7367 79.067 39.4238 63.2785 79 40.6823 62.6292 79 42.25 62.6992 79.067 42.6168 61.5962 79 43.5962 61.6207 79.067 43.9205 60.25 79 44.6292 58.6823 79 45.2785 60.2518 79.067 44.9151 57 79 45.5 55.3213 79.067 45.5379 57 79.067 45.75 57 79.25 45.933 62.6292 79 35.75 63.1076 79.067 36.126 62.201 79.067 34.6974 61.5962 79 34.4038 60.25 79 33.3708 59.4848 79.067 32.724 58.6823 79 32.7215 57 79 32.5 56.154 79.067 32.3032 54.5152 79.067 32.724 53.75 79 33.3708 53.0324 79.067 33.5391 52.4038 79 34.4038 51.3708 79 35.75 50.3696 79.067 37.7352 50.7215 79 37.3177 50.2633 79.067 39.4238 50.5 79 39 50.5804 79.067 41.0859 51.3708 79 42.25 53.75 79 44.6292 55.3177 79 45.2785 58.6787 79.067 45.5379 60.34 79.25 45.0754 61.746 79.25 44.0539 63.5937 79.25 41.1424 63.4196 79.067 41.0859 63.6304 79.067 37.7352 63.2732 79.25 36.0481 61.0751 79.25 33.3911 60.9676 79.067 33.5391 57.8689 79.25 32.1217 57.846 79.067 32.3032 52.9249 79.25 33.3911 51.658 79.25 34.5807 51.799 79.067 34.6974 50.7268 79.25 36.0481 50.8924 79.067 36.126 50.0807 79.25 39.4353 51.1463 79.25 42.7149 52.254 79.25 44.0539 51.3008 79.067 42.6168 53.66 79.25 45.0754 52.3793 79.067 43.9205 53.7482 79.067 44.9151 50.7215 79 40.6823 51 79 39 52.4038 79 43.5962 54.2396 79 44.3273 59.0093 79 44.6536 60.4601 79 43.9018 62.9441 79 39.817 63.5 79 39 62.9441 79 38.183 63.2785 79 37.3177 62.5033 79 36.6096 57.4095 79 33.014 55.7793 79 33.1255 55.3177 79 32.7215 52.9047 79 34.615 63.8102 87.75 40.2991 63.7801 87.5 40.7408 63.2732 87.75 41.9519 63.1341 87.5 42.3723 61.0751 87.75 44.6089 59.1631 87.5 45.6574 54.0195 87.5 45.3338 52.538 87.5 44.3936 50.4916 87.5 41.5769 50.7268 87.75 41.9519 50.0807 87.75 38.5647 51.1463 87.75 35.2851 51.3369 87.5 34.8855 54.0195 87.5 32.6662 55.6883 87.5 32.124 57.4395 87.5 32.0138 60.7508 87.5 33.0897 63.1341 87.5 35.6277 62.8537 87.75 35.2851 63.5937 87.75 36.8576 63.6304 87.933 40.2648 62.6992 87.933 35.3832 61.6207 87.933 34.0795 60.2518 87.933 33.0849 58.6787 87.933 32.4621 58.6823 88 32.7215 57 88 32.5 57 87.933 32.25 55.3213 87.933 32.4621 57 87.75 32.067 55.2758 87.75 32.2848 61.5962 88 43.5962 60.25 88 44.6292 59.4848 87.933 45.276 58.6823 88 45.2785 57.846 87.933 45.6968 53.75 88 44.6292 54.5152 87.933 45.276 53.0324 87.933 44.4609 51.799 87.933 43.3026 51.3708 88 42.25 50.7215 88 40.6823 50.3696 87.933 40.2648 50.2633 87.933 38.5762 50.5 88 39 50.5804 87.933 36.9141 50.7215 88 37.3177 51.3708 88 35.75 52.4038 88 34.4038 53.75 88 33.3708 55.3177 88 32.7215 58.7242 87.75 32.2848 60.34 87.75 32.9246 61.746 87.75 33.9461 63.4196 87.933 36.9141 63.9193 87.75 38.5647 63.7367 87.933 38.5762 63.1076 87.933 41.874 62.342 87.75 43.4193 62.201 87.933 43.3026 60.9676 87.933 44.4609 59.5522 87.75 45.4462 57.8689 87.75 45.8783 56.1311 87.75 45.8783 56.154 87.933 45.6968 54.4478 87.75 45.4462 52.9249 87.75 44.6089 51.658 87.75 43.4193 50.8924 87.933 41.874 50.1898 87.75 40.2991 50.4063 87.75 36.8576 51.3008 87.933 35.3832 52.254 87.75 33.9461 52.3793 87.933 34.0795 53.66 87.75 32.9246 53.7482 87.933 33.0849 51 88 39 52.9047 88 34.615 54.2396 88 33.6727 57.4095 88 33.014 59.0093 88 33.3464 60.25 88 33.3708 61.5962 88 34.4038 60.4601 88 34.0982 62.6292 88 35.75 63.2785 88 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+ + + + + + + + + + + + + + + + + + + diff --git a/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.config b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.config new file mode 100644 index 00000000..545997a6 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.config @@ -0,0 +1,14 @@ + + + GST Gimbal + 1.0 + model.sdf + + anonymous + anonymous + + GST gimbal to stream frame on UDP port. + 3D mesh: http://www.thingiverse.com/thing:397579 + by: http://www.thingiverse.com/Motorpixiegimbals/about + + diff --git a/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.sdf b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.sdf new file mode 100644 index 00000000..e23f3361 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/model/gst_gimbal/model.sdf @@ -0,0 +1,203 @@ + + + + 0 0 0.18 0 0 0 + + + + 0.2 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + + + + 0.001 0.001 0.001 + model://gst_gimbal/meshes/base_main.dae + + + + + + + + + + + 0.001 0.001 0.001 + model://gst_gimbal/meshes/base_arm.dae + + + + + + + + + 0.01 0.075 -0.025 0 0 0 + + + 0.1 0.05 0.15 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + + + + + + + 0.01 + + 0.00001 + 0 + 0 + 0.00001 + 0 + 0.00001 + + + + 0 0 -0.005 0 0 0 + + + 0.001 0.001 0.001 + model://gst_gimbal/meshes/tilt.dae + + + + + + + + + 0 0 -0.005 0 0 0 + + + 0.001 0.001 0.001 + model://gst_gimbal/meshes/tilt.dae + + + + + + 0 0 0.02 0 0 0 + + + 0.025 + 0.050 + + + + + + + + + + 0 0 0.02 0 0 0 + + + 0.025 + 0.050 + + + + + + 0 0 0 -1.57 -1.57 0 + + 2.0 + + R8G8B8 + 640 + 360 + + + 0.05 + 15000 + + + 1 + 10 + true + + + 127.0.0.1 + 5600 + + + typhoon_h480 + 1 + 3840 + 2160 + 8.0 + udp://127.0.0.1:5600 + 1 + 100 + 14530 + + + + + + + + base_link + tilt_link + + + + 1 + + + + + 1 0 0 + + 0.5 + + 1 + + -0.1 + 3.14159265 + 10 + -1 + + + 0 0 0.02 0 0 0 + + + + tilt_joint + + + diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.cpp b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.cpp new file mode 100644 index 00000000..3acd3b76 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.cpp @@ -0,0 +1,784 @@ +/* + * Copyright (C) 2016 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "gazebo_camera_manager_plugin.h" + +#include +#include +#include +#include +#include +#include + +#include + +using namespace std; +using namespace gazebo; +using namespace cv; + +// #define DEBUG_MESSAGE_IO + +GZ_REGISTER_SENSOR_PLUGIN(CameraManagerPlugin) + +static void* start_thread(void* param) { + CameraManagerPlugin* plugin = (CameraManagerPlugin*)param; + plugin->cameraThread(); + return nullptr; +} + +CameraManagerPlugin::CameraManagerPlugin() + : SensorPlugin() +{ +} + +CameraManagerPlugin::~CameraManagerPlugin() +{ + _parentSensor.reset(); + _camera.reset(); +} + +void CameraManagerPlugin::Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf) +{ + if (!sensor) + gzerr << "Invalid sensor pointer.\n"; + + _parentSensor = +#if GAZEBO_MAJOR_VERSION >= 7 + std::dynamic_pointer_cast(sensor); +#else + boost::dynamic_pointer_cast(sensor); +#endif + + if (!_parentSensor) + { + gzerr << "CameraManagerPlugin requires a CameraSensor.\n"; + } + +#if GAZEBO_MAJOR_VERSION >= 7 + _camera = _parentSensor->Camera(); +#else + _camera = _parentSensor->GetCamera(); +#endif + + if (!_parentSensor) + { + gzerr << "CameraManagerPlugin not attached to a camera sensor\n"; + return; + } + _scene = _camera->GetScene(); +#if GAZEBO_MAJOR_VERSION >= 8 + _lastImageTime = _scene->SimTime(); +#else + _lastImageTime = _scene->GetSimTime(); +#endif + +#if GAZEBO_MAJOR_VERSION >= 7 + _width = _camera->ImageWidth(); + _height = _camera->ImageHeight(); + _depth = _camera->ImageDepth(); + _format = _camera->ImageFormat(); +#else + _width = _camera->GetImageWidth(); + _height = _camera->GetImageHeight(); + _depth = _camera->GetImageDepth(); + _format = _camera->GetImageFormat(); +#endif + + if (sdf->HasElement("robotNamespace")) { + _namespace = sdf->GetElement("robotNamespace")->Get(); + } else { + gzwarn << "[gazebo_geotagging_images_camera_plugin] Please specify a robotNamespace.\n"; + } + + _destWidth = _width; + if (sdf->HasElement("width")) { + _destWidth = sdf->GetElement("width")->Get(); + } + _destHeight = _height; + if (sdf->HasElement("height")) { + _destHeight = sdf->GetElement("height")->Get(); + } + if (sdf->HasElement("maximum_zoom")) { + _maxZoom = sdf->GetElement("maximum_zoom")->Get(); + } + + if (sdf->HasElement("video_uri")) { + _videoURI = sdf->GetElement("video_uri")->Get(); + } + if (sdf->HasElement("system_id")) { + _systemID = sdf->GetElement("system_id")->Get(); + } + if (sdf->HasElement("cam_component_id")) { + _componentID = sdf->GetElement("cam_component_id")->Get(); + } + if (sdf->HasElement("mavlink_cam_udp_port")) { + _mavlinkCamPort = sdf->GetElement("mavlink_cam_udp_port")->Get(); + } + + //check if exiftool exists + if (system("exiftool -ver &>/dev/null") != 0) { + gzerr << "exiftool not found. geotagging_images plugin will be disabled" << endl; + gzerr << "On Ubuntu, use 'sudo apt-get install libimage-exiftool-perl' to install" << endl; + return; + } + + _node_handle = transport::NodePtr(new transport::Node()); + _node_handle->Init(); + + _parentSensor->SetActive(true); + + // Get the root model name + const string scopedName = _parentSensor->ParentName(); + vector names_splitted; + boost::split(names_splitted, scopedName, boost::is_any_of("::")); + names_splitted.erase(std::remove_if(begin(names_splitted), end(names_splitted), + [](const string& name) + { return name.size() == 0; }), end(names_splitted)); + std::string rootModelName = names_splitted.front(); // The first element is the name of the root model + + // the second to the last name is the model name + const std::string parentSensorModelName = names_splitted.rbegin()[1]; + + _newFrameConnection = _camera->ConnectNewImageFrame( + boost::bind(&CameraManagerPlugin::OnNewFrame, this, _1)); + + _gpsSub = _node_handle->Subscribe("~/" + rootModelName + "/link/gps", &CameraManagerPlugin::OnNewGpsPosition, this); + + _storageDir = "frames"; + boost::filesystem::remove_all(_storageDir); //clear existing images + boost::filesystem::create_directory(_storageDir); + + if (_init_udp(sdf)) { + // Start UDP thread + pthread_t threadId; + pthread_create(&threadId, NULL, start_thread, this); + } +} + +void CameraManagerPlugin::OnNewGpsPosition(GpsPtr& gps_msg) { + _lastGpsPosition.X() = gps_msg->latitude_deg(); + _lastGpsPosition.Y() = gps_msg->longitude_deg(); + _lastGpsPosition.Z() = gps_msg->altitude(); + //gzdbg << "got gps pos: "<<_lastGpsPosition.X() <<", "<= 8 + common::Time currentTime = _scene->SimTime(); +#else + common::Time currentTime = _scene->GetSimTime(); +#endif + double elapsed = currentTime.Double() - _lastImageTime.Double(); + if (_captureMode == CAPTURE_ELAPSED && (elapsed < _captureInterval)) { + return; + } + + _lastImageTime = currentTime; + +#if GAZEBO_MAJOR_VERSION >= 7 + image = _camera->ImageData(0); +#else + image = _camera->GetImageData(0); +#endif + + Mat frame = Mat(_height, _width, CV_8UC3); + Mat frameBGR = Mat(_height, _width, CV_8UC3); + frame.data = (uchar*)image; //frame has not the right color format yet -> convert + cvtColor(frame, frameBGR, COLOR_RGB2BGR); + + char file_name[256]; + snprintf(file_name, sizeof(file_name), "%s/DSC%05i.jpg", _storageDir.c_str(), _imageCounter); + + if (_destWidth != _width || _destHeight != _height) { + Mat frameResized; + cv::Size size(_destWidth, _destHeight); + cv::resize(frameBGR, frameResized, size); + imwrite(file_name, frameResized); + } else { + imwrite(file_name, frameBGR); + } + + char gps_tag_command[1024]; + double lat = _lastGpsPosition.X(); + char north_south = 'N', east_west = 'E'; + double lon = _lastGpsPosition.Y(); + if (lat < 0.) { + lat = -lat; + north_south = 'S'; + } + if (lon < 0.) { + lon = -lon; + east_west = 'W'; + } + snprintf(gps_tag_command, sizeof(gps_tag_command), + "exiftool -gpslatituderef=%c -gpslongituderef=%c -gpsaltituderef=above -gpslatitude=%.9lf -gpslongitude=%.9lf" +// " -gpsdatetime=now -gpsmapdatum=WGS-84" + " -datetimeoriginal=now -gpsdop=0.8" + " -gpsmeasuremode=3-d -gpssatellites=13 -gpsaltitude=%.3lf -overwrite_original %s &>/dev/null", + north_south, east_west, lat, lon, _lastGpsPosition.Z(), file_name); + + if (system(gps_tag_command) < 0) { + gzerr << "gps tag command failed" << endl; + return; + } + + gzmsg << "Took picture: " << file_name << endl; + + // Send indication to GCS + mavlink_message_t msg; + mavlink_msg_camera_image_captured_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + currentTime.Double() * 1e3, // time boot ms + currentTime.Double() * 1e6, // time UTC + 1, // camera ID + lat * 1e7, + lon * 1e7, + _lastGpsPosition.Z(), + 0, // relative alt + 0, // q[4] + _imageCounter, + 1, // result + 0 // file_url + ); + + // Send to GCS port directly + _send_mavlink_message(&msg); + ++_imageCounter; + _captureMutex.lock(); + if (_captureMode == CAPTURE_SINGLE) { + _captureMode = CAPTURE_DISABLED; + } else { + // _captureCount == 0 is infinite + if (_captureCount && --_captureCount < 1) { + _captureCount = 0; + _captureMode = CAPTURE_DISABLED; + } + } + if (_captureMode == CAPTURE_DISABLED) { + gzdbg << "Done with image capture\n"; + } + _captureMutex.unlock(); + // Send Capture Status + _send_capture_status(); +} + +void CameraManagerPlugin::_handle_message(mavlink_message_t *msg, struct sockaddr* srcaddr) +{ +#if defined(DEBUG_MESSAGE_IO) + sockaddr_in* foo = (sockaddr_in*)srcaddr; + if (msg->sysid == 255) { + gzdbg << "Message " << std::to_string(msg->msgid).c_str() << + " " << std::to_string(msg->sysid).c_str() << " " << std::to_string(msg->compid).c_str() << + " from: " << inet_ntoa(foo->sin_addr) << ":" << std::to_string(ntohs(foo->sin_port)).c_str() << endl; + } +#endif + switch (msg->msgid) { + case MAVLINK_MSG_ID_COMMAND_LONG: + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(msg, &cmd); + mavlink_command_long_t digicam_ctrl_cmd; + if (cmd.target_component == _componentID) { + switch (cmd.command) { + case MAV_CMD_IMAGE_START_CAPTURE: + _handle_take_photo(msg, srcaddr); + break; + case MAV_CMD_IMAGE_STOP_CAPTURE: + _handle_stop_take_photo(msg, srcaddr); + break; + case MAV_CMD_REQUEST_CAMERA_INFORMATION: + _handle_camera_info(msg, srcaddr); + break; + case MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS: + _handle_request_camera_capture_status(msg, srcaddr); + break; + case MAV_CMD_REQUEST_STORAGE_INFORMATION: + _handle_storage_info(msg, srcaddr); + break; + case MAV_CMD_REQUEST_CAMERA_SETTINGS: + _handle_request_camera_settings(msg, srcaddr); + break; + case MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION: + _handle_request_video_stream_information(msg, srcaddr); + break; + case MAV_CMD_REQUEST_VIDEO_STREAM_STATUS: + _handle_request_video_stream_status(msg, srcaddr); + break; + case MAV_CMD_SET_CAMERA_MODE: + _handle_set_camera_mode(msg, srcaddr); + break; + case MAV_CMD_SET_CAMERA_ZOOM: + //Control the Zoom of the camera + _handle_camera_zoom(msg, srcaddr); + break; + case MAV_CMD_RESET_CAMERA_SETTINGS: + // Just ACK and ignore + _send_cmd_ack(msg->sysid, msg->compid, MAV_CMD_RESET_CAMERA_SETTINGS, MAV_RESULT_ACCEPTED, srcaddr); + break; + case MAV_CMD_STORAGE_FORMAT: + // Just ACK and ignore + _send_cmd_ack(msg->sysid, msg->compid, MAV_CMD_STORAGE_FORMAT, MAV_RESULT_ACCEPTED, srcaddr); + break; + case MAV_CMD_VIDEO_START_STREAMING: + // Just ACK and ignore + _send_cmd_ack(msg->sysid, msg->compid, MAV_CMD_VIDEO_START_STREAMING, MAV_RESULT_ACCEPTED, srcaddr); + break; + case MAV_CMD_VIDEO_STOP_STREAMING: + // Just ACK and ignore + _send_cmd_ack(msg->sysid, msg->compid, MAV_CMD_VIDEO_STOP_STREAMING, MAV_RESULT_ACCEPTED, srcaddr); + break; + } + } + break; + } +} + +void CameraManagerPlugin::_send_mavlink_message(const mavlink_message_t *message, struct sockaddr* srcaddr) +{ + struct sockaddr* target = srcaddr ? srcaddr : (struct sockaddr *)&_gcsaddr; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + int packetlen = mavlink_msg_to_send_buffer(buffer, message); + ssize_t len = sendto(_fd, buffer, packetlen, 0, target, sizeof(_gcsaddr)); + if (len <= 0) { + gzerr << "Failed sending mavlink message" << endl; +#if defined(DEBUG_MESSAGE_IO) + } else { + sockaddr_in* foo = (sockaddr_in*)target; + gzdbg << "Message " << std::to_string(message->msgid).c_str() << + " " << std::to_string(message->sysid).c_str() << " " << std::to_string(message->compid).c_str() << + " to: " << inet_ntoa(foo->sin_addr) << ":" << std::to_string(ntohs(foo->sin_port)).c_str() << endl; +#endif + } +} + +void CameraManagerPlugin::_send_cmd_ack(uint8_t target_sysid, uint8_t target_compid, uint16_t cmd, unsigned char result, struct sockaddr* srcaddr) +{ + mavlink_message_t msg; + mavlink_msg_command_ack_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + cmd, + result, + 100, + 0, + target_sysid, + target_compid); + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_send_heartbeat() +{ + mavlink_message_t msg; + mavlink_msg_heartbeat_pack_chan(_systemID, _componentID, MAVLINK_COMM_1, &msg, MAV_TYPE_GENERIC, MAV_AUTOPILOT_GENERIC, 0, 0, 0); + // Send to GCS port directly + _send_mavlink_message(&msg); + // Gazebo log output is using buffered IO for some reason + fflush(stdout); + fflush(stderr); +} + +void CameraManagerPlugin::cameraThread() { + mavlink_status_t status; + mavlink_message_t msg; + unsigned char buffer[16 * 1024]; + while (true) { + ::poll(&_fds[0], (sizeof(_fds[0]) / sizeof(_fds[0])), 1000); + if (_fds[0].revents & POLLIN) { + struct sockaddr srcaddr; + socklen_t addrlen = sizeof(srcaddr); + int len = recvfrom(_fd, buffer, sizeof(buffer), 0, (struct sockaddr *)&srcaddr, &addrlen); + if (len > 0) { + for (unsigned i = 0; i < len; ++i) + { + if (mavlink_parse_char(MAVLINK_COMM_1, buffer[i], &msg, &status)) + { + // have a message, handle it + _handle_message(&msg, &srcaddr); + memset(&status, 0, sizeof(status)); + memset(&msg, 0, sizeof(msg)); + } + } + } + } + // Heartbeat +#if GAZEBO_MAJOR_VERSION >= 8 + common::Time current_time = _scene->SimTime(); +#else + common::Time current_time = _scene->GetSimTime(); +#endif + double elapsed = (current_time - _last_heartbeat).Double(); + if (elapsed > 1.0) { + _last_heartbeat = current_time; + _send_heartbeat(); + } + + //Move camera zoom incase of continuous zoom + // _zoom_cmd is set by MAV_CMD_SET_CAMERA_ZOOM + if (_zoom_cmd!=0) { + _zoom = std::max(std::min(float(_zoom + 0.05 * _zoom_cmd), _maxZoom), 1.0f); + _camera->SetHFOV(_hfov / _zoom); + } + + } +} + +bool CameraManagerPlugin::_init_udp(sdf::ElementPtr sdf) { + //-- Target + uint32_t mavlink_addr = htonl(INADDR_LOOPBACK); + /* TODO: We need to find if the system is setup for broadcast + and add the proper socket options and broadcast address + if that's the case. It's hardcoded to loopback for now. + + if (sdf->HasElement("mavlink_telem_addr")) { + std::string mavlink_addr = sdf->GetElement("mavlink_telem_addr")->Get(); + if (mavlink_addr != "INADDR_ANY") { + mavlink_addr_ = inet_addr(mavlink_addr.c_str()); + if (mavlink_addr_ == INADDR_NONE) { + fprintf(stderr, "invalid mavlink_addr \"%s\"\n", mavlink_addr.c_str()); + return; + } + } + } + + */ + //Create socket + if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) { + gzerr << "Create camera plugin UDP socket failed" << endl; + return false; + } + memset((char *)&_myaddr, 0, sizeof(_myaddr)); + _myaddr.sin_family = AF_INET; + _myaddr.sin_addr.s_addr = htonl(INADDR_ANY); + // Choose the default cam port + _myaddr.sin_port = htons(_mavlinkCamPort); + if (::bind(_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) { + gzerr << "Bind failed for camera UDP plugin" << endl; + return false; + } + _gcsaddr.sin_family = AF_INET; + _gcsaddr.sin_addr.s_addr = mavlink_addr; + _gcsaddr.sin_port = htons(14550); + _fds[0].fd = _fd; + _fds[0].events = POLLIN; + mavlink_status_t* chan_state = mavlink_get_channel_status(MAVLINK_COMM_1); + chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1); + gzmsg << "[Camera manager plugin]: Camera on udp port " + std::to_string(_mavlinkCamPort) + "\n"; + return true; +} + +void CameraManagerPlugin::_handle_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + + gzdbg << "Handle Start Capture" << endl; + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + std::lock_guard guard(_captureMutex); + //-- We we busy? + if (_captureMode != CAPTURE_DISABLED) { + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_TEMPORARILY_REJECTED, srcaddr); + return; + } + //-- Single capture? + if (cmd.param3 == 1) { + _captureMode = CAPTURE_SINGLE; + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); + //-- Time lapse? + } else if (cmd.param3 >= 0 && cmd.param2 > 0.0) { + gzdbg << "Start time lapse of " << (int)cmd.param3 << " shots every " << cmd.param2 << " seconds.\n"; + _captureInterval = cmd.param2; + _captureCount = cmd.param3; + _captureMode = CAPTURE_ELAPSED; + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); + } else { + gzerr << "Bad Start Capture argments: " << cmd.param2 << " " << cmd.param3 << endl; + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_UNSUPPORTED, srcaddr); + } +} + +void CameraManagerPlugin::_handle_stop_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + + gzdbg << "Handle Stop Capture" << endl; + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + std::lock_guard guard(_captureMutex); + _captureMode = CAPTURE_DISABLED; + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_IMAGE_STOP_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); +} + +void CameraManagerPlugin::_handle_request_camera_capture_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + // Should we execute the command + if (cmd.param1 != 1) + { + gzwarn << "Camera capture status request ignored" << endl; + return; + } + // ACK command received and accepted + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_RESULT_ACCEPTED, srcaddr); + //-- Specs call for recording time in ms. get_recording_time returns seconds. + _send_capture_status(srcaddr); +} + +void CameraManagerPlugin::_handle_camera_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Send camera info" << endl; + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_CAMERA_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr); + static const char vendor[MAVLINK_MSG_CAMERA_INFORMATION_FIELD_VENDOR_NAME_LEN] = "PX4.io"; + static const char model[MAVLINK_MSG_CAMERA_INFORMATION_FIELD_MODEL_NAME_LEN] = "Gazebo"; + static const char uri[MAVLINK_MSG_CAMERA_INFORMATION_FIELD_CAM_DEFINITION_URI_LEN] = {}; + uint32_t camera_capabilities = CAMERA_CAP_FLAGS_CAPTURE_IMAGE | CAMERA_CAP_FLAGS_CAPTURE_VIDEO | + CAMERA_CAP_FLAGS_HAS_MODES | CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM | + CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM; + + mavlink_message_t msg; + mavlink_msg_camera_information_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + 0, // time_boot_ms + (const uint8_t *)vendor, // const uint8_t * vendor_name + (const uint8_t *)model, // const uint8_t * model_name + 0x01, // uint32_t firmware_version + 50.0f, // float focal_lenth + 35.0f, // float sensor_size_h + 24.0f, // float sensor_size_v + _width, // resolution_h + _height, // resolution_v + 0, // lens_id + camera_capabilities, // CAP_FLAGS + 0, // Camera Definition Version + uri // URI + ); + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_handle_request_camera_settings(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Send camera settings" << endl; + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + //-- Should we execute the command + if ((int)cmd.param1 != 1) + { + gzwarn << "Request ignored" << endl; + return; + } + // ACK command received and accepted + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_RESULT_ACCEPTED, srcaddr); + mavlink_message_t msg; + mavlink_msg_camera_settings_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + 0, // time_boot_ms + _mode, // Camera Mode + 1.0E2 * (_zoom - 1.0)/ (_maxZoom - 1.0), // Zoom level + NAN); // Focus level + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_handle_request_video_stream_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Send videostream status" << endl; + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + int sid = static_cast(cmd.param1); + //-- Should we execute the command + if ((int)cmd.param1 != 1) + { + gzwarn << "Request ignored" << endl; + return; + } + // ACK command received and accepted + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_VIDEO_STREAM_STATUS, MAV_RESULT_ACCEPTED, srcaddr); + mavlink_message_t msg; + mavlink_msg_video_stream_status_pack_chan( + _systemID, + _componentID, // Component ID + MAVLINK_COMM_1, + &msg, + static_cast(sid), // Stream ID + VIDEO_STREAM_STATUS_FLAGS_RUNNING, // Flags (It's always running) + 30, // Frame rate + _width, // Horizontal resolution + _height, // Vertical resolution + 2048, // Bit rate (made up) + 0, // Rotation (none) + 90 // FOV (made up) + ); + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_handle_request_video_stream_information(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Send videostream information" << endl; + char name[MAVLINK_MSG_VIDEO_STREAM_INFORMATION_FIELD_NAME_LEN] = {}; + snprintf(name, MAVLINK_MSG_VIDEO_STREAM_INFORMATION_FIELD_NAME_LEN, "Visual Spectrum"); + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + //-- Should we execute the command + if ((int)cmd.param1 != 1) + { + gzwarn << "Request ignored" << endl; + return; + } + + // ACK command received and accepted + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr); + + mavlink_message_t msg; + mavlink_msg_video_stream_information_pack_chan( + _systemID, + _componentID, // Component ID + MAVLINK_COMM_1, + &msg, + 1, // Stream ID + 1, // Stream count + VIDEO_STREAM_TYPE_RTPUDP, // Stream type + VIDEO_STREAM_STATUS_FLAGS_RUNNING, // Flags (It's always running) + 30, // Frame rate + _width, // Horizontal resolution + _height, // Vertical resolution + 2048, // Bit rate + 0, // Rotation (none) + 90, // FOV (made up) + name, + _videoURI.c_str() + ); + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_handle_set_camera_mode(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_SET_CAMERA_MODE, MAV_RESULT_ACCEPTED, srcaddr); + if (_mode == CAMERA_MODE_VIDEO) { + _mode = CAMERA_MODE_IMAGE; + } else { + _mode = CAMERA_MODE_VIDEO; + } + +} + +void CameraManagerPlugin::_handle_camera_zoom(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + _send_cmd_ack(pMsg->sysid, pMsg->compid, + MAV_CMD_SET_CAMERA_ZOOM, MAV_RESULT_ACCEPTED, srcaddr); + + if (cmd.param1 == ZOOM_TYPE_CONTINUOUS) { + _zoom = std::max(std::min(float(_zoom + 0.1 * cmd.param2), _maxZoom), 1.0f); + _zoom_cmd = cmd.param2; + } else { + _zoom = std::max(std::min(float(_zoom + 0.1 * cmd.param2), _maxZoom), 1.0f); + _camera->SetHFOV(_hfov / _zoom); + } +} + +void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr) +{ + _captureMutex.lock(); + int status = _captureMode == CAPTURE_DISABLED ? 0 : (_captureMode == CAPTURE_SINGLE ? 1 : 3); + float interval = CAPTURE_ELAPSED ? (float)_captureInterval : 0.0f; + _captureMutex.unlock(); + gzdbg << "Send capture status" << endl; + float available_mib = 0.0f; + boost::filesystem::space_info si = boost::filesystem::space("."); + available_mib = (float)((double)si.available / (1024.0 * 1024.0)); + +#if GAZEBO_MAJOR_VERSION >= 9 + common::Time current_time = _scene->SimTime(); +#else + common::Time current_time = _scene->GetSimTime(); +#endif + + mavlink_message_t msg; + mavlink_msg_camera_capture_status_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + current_time.Double() * 1e3, + status, // image status + 0, // video status (Idle) + interval, // image interval + 0, // recording time in ms + available_mib, // available storage capacity + _imageCounter); // total number of images + _send_mavlink_message(&msg, srcaddr); +} + +void CameraManagerPlugin::_handle_storage_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Send storage info" << endl; + float total_mib = 0.0f; + float available_mib = 0.0f; + boost::filesystem::space_info si = boost::filesystem::space("."); + const std::string storage_name = "SITL Camera Storage"; + available_mib = (float)((double)si.available / (1024.0 * 1024.0)); + total_mib = (float)((double)si.capacity / (1024.0 * 1024.0)); + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_REQUEST_STORAGE_INFORMATION, MAV_RESULT_ACCEPTED, srcaddr); + uint8_t storage_usage = STORAGE_USAGE_FLAG_SET | STORAGE_USAGE_FLAG_PHOTO | STORAGE_USAGE_FLAG_VIDEO | STORAGE_USAGE_FLAG_LOGS; + mavlink_message_t msg; + mavlink_msg_storage_information_pack_chan( + _systemID, + _componentID, + MAVLINK_COMM_1, + &msg, + 0, // time_boot_ms + 1, // storage_id, + 1, // storage_count, + 2, // status: (formatted) + total_mib, + total_mib - available_mib, // used_capacity, + available_mib, + NAN, // read_speed, + NAN, // write_speed + STORAGE_TYPE_OTHER, // storage type + storage_name.c_str(), // storage name + storage_usage // storage usage + ); + _send_mavlink_message(&msg, srcaddr); +} diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.h b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.h new file mode 100644 index 00000000..ae113783 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_camera_manager_plugin.h @@ -0,0 +1,122 @@ +/* + * Copyright (C) 2016 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gazebo +{ + +typedef const boost::shared_ptr GpsPtr; + +/** + * @class CameraManagerPlugin + * Gazebo plugin that saves geotagged camera images to disk. + */ +class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin +{ +public: + CameraManagerPlugin(); + + virtual ~CameraManagerPlugin(); + virtual void Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf); + + void OnNewFrame(const unsigned char *image); + void OnNewGpsPosition(GpsPtr& gps_msg); + void cameraThread(); + +private: + void _handle_message(mavlink_message_t *msg, struct sockaddr* srcaddr); + void _send_mavlink_message(const mavlink_message_t *message, struct sockaddr* srcaddr = NULL); + void _handle_camera_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_request_camera_capture_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_storage_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_stop_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_request_camera_settings(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_request_video_stream_information(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_request_video_stream_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_set_camera_mode(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_camera_zoom(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _send_capture_status(struct sockaddr* srcaddr = NULL); + void _send_cmd_ack(uint8_t target_sysid, uint8_t target_compid, uint16_t cmd, unsigned char result, struct sockaddr* srcaddr); + void _send_heartbeat(); + bool _init_udp(sdf::ElementPtr sdf); + +private: + + int _imageCounter{0}; + uint8_t _mode{CAMERA_MODE_VIDEO}; + uint32_t _width{0}; + uint32_t _height{0}; + uint32_t _depth{0}; + uint32_t _destWidth{0}; ///< output size + uint32_t _destHeight{0}; + float _maxZoom{8.0}; + float _zoom{1.0}; + int _captureCount{0}; + double _captureInterval{0.0}; + int _fd{-1}; + int _zoom_cmd{0}; + + enum { + CAPTURE_DISABLED, + CAPTURE_SINGLE, + CAPTURE_ELAPSED + }; + + int _captureMode{CAPTURE_DISABLED}; + + common::Time _lastImageTime{}; + common::Time _last_time{}; + common::Time _last_heartbeat{}; + sensors::CameraSensorPtr _parentSensor{nullptr}; + rendering::CameraPtr _camera{nullptr}; + rendering::ScenePtr _scene{nullptr}; + event::ConnectionPtr _newFrameConnection{nullptr}; + std::string _storageDir; + ignition::math::Vector3d _lastGpsPosition; + ignition::math::Angle _hfov{1.57}; ///< Horizontal fov + transport::NodePtr _node_handle{nullptr};; + std::string _namespace; + transport::SubscriberPtr _gpsSub{nullptr};; + std::string _format; + struct sockaddr_in _myaddr; ///< The locally bound address + struct sockaddr_in _gcsaddr; ///< GCS target + struct pollfd _fds[1]; + std::mutex _captureMutex; + std::string _videoURI{"udp://127.0.0.1:5600"}; + int _systemID{1}; + int _componentID{MAV_COMP_ID_CAMERA}; + int _mavlinkCamPort{14530}; +}; + +} /* namespace gazebo */ diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.cpp b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.cpp new file mode 100644 index 00000000..82c11a4e --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.cpp @@ -0,0 +1,344 @@ +/* + * Copyright (C) 2012-2016 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#ifdef _WIN32 + // Ensure that Winsock2.h is included before Windows.h, which can get + // pulled in by anybody (e.g., Boost). +#include +#endif + +#include "gazebo/sensors/DepthCameraSensor.hh" +#include "gazebo_gst_camera_plugin.h" +#include + +#include +#include +#include +#include +#include +#include "Int32.pb.h" + +#include + +using namespace std; +using namespace gazebo; +using namespace cv; + +GZ_REGISTER_SENSOR_PLUGIN(GstCameraPlugin) + + +static void* start_thread(void* param) { + GstCameraPlugin* plugin = (GstCameraPlugin*)param; + plugin->startGstThread(); + return nullptr; +} + +///////////////////////////////////////////////// +void GstCameraPlugin::startGstThread() { + gst_init(nullptr, nullptr); + + this->gst_loop = g_main_loop_new(nullptr, FALSE); + if (!this->gst_loop) { + gzerr << "Create loop failed. \n"; + return; + } + + GstElement* pipeline = gst_pipeline_new(nullptr); + if (!pipeline) { + gzerr << "ERR: Create pipeline failed. \n"; + return; + } + + GstElement* source = gst_element_factory_make("appsrc", nullptr); + GstElement* queue = gst_element_factory_make("queue", nullptr); + GstElement* converter = gst_element_factory_make("videoconvert", nullptr); + + GstElement* encoder; + if (useCuda) { + encoder = gst_element_factory_make("nvh264enc", nullptr); + g_object_set(G_OBJECT(encoder), "bitrate", 800, "preset", 1, nullptr); + } else { + encoder = gst_element_factory_make("x264enc", nullptr); + g_object_set(G_OBJECT(encoder), "bitrate", 800, "speed-preset", 6, "tune", 4, "key-int-max", 10, nullptr); + } + + GstElement* payloader; + GstElement* sink; + + if (useRtmp) { + payloader = gst_element_factory_make("flvmux", nullptr); + sink = gst_element_factory_make("rtmpsink", nullptr); + g_object_set(G_OBJECT(sink), "location", this->rtmpLocation.c_str(), nullptr); + } else { + payloader = gst_element_factory_make("rtph264pay", nullptr); + sink = gst_element_factory_make("udpsink", nullptr); + g_object_set(G_OBJECT(sink), "host", this->udpHost.c_str(), "port", this->udpPort, nullptr); + } + + if (!source || !queue || !converter || !encoder || !payloader || !sink) { + gzerr << "ERR: Create elements failed. \n"; + return; + } + + // gzerr <<"width"<< this->width<<"\n"; + // gzerr <<"height"<< this->height<<"\n"; + // gzerr <<"rate"<< this->rate<<"\n"; + + // Configure source element + g_object_set(G_OBJECT(source), "caps", + gst_caps_new_simple ("video/x-raw", + "format", G_TYPE_STRING, "I420", + "width", G_TYPE_INT, this->width, + "height", G_TYPE_INT, this->height, + "framerate", GST_TYPE_FRACTION, (unsigned int)this->rate, 1, nullptr), + "is-live", TRUE, + "do-timestamp", TRUE, + "stream-type", GST_APP_STREAM_TYPE_STREAM, + "format", GST_FORMAT_TIME, nullptr); + + // Connect all elements to pipeline + gst_bin_add_many(GST_BIN(pipeline), source, queue, converter, encoder, payloader, sink, nullptr); + + // Link all elements + if (gst_element_link_many(source, queue, converter, encoder, payloader, sink, nullptr) != TRUE) { + gzerr << "ERR: Link all the elements failed. \n"; + return; + } + + this->source = source; + gst_object_ref(this->source); + + // Start + gst_element_set_state(pipeline, GST_STATE_PLAYING); + g_main_loop_run(this->gst_loop); + + // Clean up + gst_element_set_state(pipeline, GST_STATE_NULL); + gst_object_unref(GST_OBJECT(pipeline)); + gst_object_unref(this->source); + g_main_loop_unref(this->gst_loop); + this->gst_loop = nullptr; + this->source = nullptr; +} + +///////////////////////////////////////////////// +void GstCameraPlugin::stopGstThread() +{ + if(this->gst_loop) { + g_main_loop_quit(this->gst_loop); + } +} + +///////////////////////////////////////////////// +GstCameraPlugin::GstCameraPlugin() +: SensorPlugin(), width(0), height(0), depth(0), gst_loop(nullptr), source(nullptr), mIsActive(false) +{ +} + +///////////////////////////////////////////////// +GstCameraPlugin::~GstCameraPlugin() +{ + this->parentSensor.reset(); + this->camera.reset(); + if (this->gst_loop) { + g_main_loop_quit(this->gst_loop); + } +} + +///////////////////////////////////////////////// +void GstCameraPlugin::Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf) +{ + if (!sensor) + gzerr << "Invalid sensor pointer.\n"; + + this->parentSensor = +#if GAZEBO_MAJOR_VERSION >= 7 + std::dynamic_pointer_cast(sensor); +#else + boost::dynamic_pointer_cast(sensor); +#endif + + if (!this->parentSensor) + { + gzerr << "GstCameraPlugin requires a CameraSensor.\n"; +#if GAZEBO_MAJOR_VERSION >= 7 + if (std::dynamic_pointer_cast(sensor)) +#else + if (boost::dynamic_pointer_cast(sensor)) +#endif + gzmsg << "It is a depth camera sensor\n"; + } + +#if GAZEBO_MAJOR_VERSION >= 7 + this->camera = this->parentSensor->Camera(); +#else + this->camera = this->parentSensor->GetCamera(); +#endif + + if (!this->parentSensor) + { + gzerr << "GstCameraPlugin not attached to a camera sensor\n"; + return; + } + +#if GAZEBO_MAJOR_VERSION >= 7 + this->width = this->camera->ImageWidth(); + this->height = this->camera->ImageHeight(); + this->depth = this->camera->ImageDepth(); + this->format = this->camera->ImageFormat(); + this->rate = this->camera->RenderRate(); +#else + this->width = this->camera->GetImageWidth(); + this->height = this->camera->GetImageHeight(); + this->depth = this->camera->GetImageDepth(); + this->format = this->camera->GetImageFormat(); + this->rate = this->camera->GetRenderRate(); +#endif + + if (!isfinite(this->rate)) { + this->rate = 60.0; + } + + if (sdf->HasElement("robotNamespace")) + namespace_ = sdf->GetElement("robotNamespace")->Get(); + else + gzwarn << "[gazebo_gst_camera_plugin] Please specify a robotNamespace.\n"; + + this->udpHost = "127.0.0.1"; + if (sdf->HasElement("udpHost")) { + this->udpHost = sdf->GetElement("udpHost")->Get(); + } + + this->udpPort = 5600; + if (sdf->HasElement("udpPort")) { + this->udpPort = sdf->GetElement("udpPort")->Get(); + } + + if (sdf->HasElement("rtmpLocation")) { + this->rtmpLocation = sdf->GetElement("rtmpLocation")->Get(); + this->useRtmp = true; + } else { + this->useRtmp = false; + } + + // Use CUDA for video encoding + if (sdf->HasElement("useCuda")) { + this->useCuda = sdf->GetElement("useCuda")->Get(); + } else { + this->useCuda = false; + } + + node_handle_ = transport::NodePtr(new transport::Node()); + node_handle_->Init(namespace_); + + // Listen to Gazebo topic + mVideoSub = node_handle_->Subscribe(mTopicName, &GstCameraPlugin::cbVideoStream, this); + + // And start by default + startStreaming(); + +} + +///////////////////////////////////////////////// +void GstCameraPlugin::cbVideoStream(const boost::shared_ptr &_msg) +{ + gzwarn << "Video Streaming callback: " << _msg->data() << "\n"; + int enable = _msg->data(); + if(enable) + startStreaming(); + else + stopStreaming(); +} + +///////////////////////////////////////////////// +void GstCameraPlugin::startStreaming() +{ + if(!mIsActive) { + this->newFrameConnection = this->camera->ConnectNewImageFrame( + boost::bind(&GstCameraPlugin::OnNewFrame, this, _1, this->width, this->height, this->depth, this->format)); + + this->parentSensor->SetActive(true); + + /* start the gstreamer event loop */ + pthread_create(&mThreadId, NULL, start_thread, this); + mIsActive = true; + } + +} + +///////////////////////////////////////////////// +void GstCameraPlugin::stopStreaming() +{ + if(mIsActive) { + stopGstThread(); + + pthread_join(mThreadId, NULL); + + this->parentSensor->SetActive(false); + + this->newFrameConnection->~Connection(); + mIsActive = false; + } + +} + +///////////////////////////////////////////////// +void GstCameraPlugin::OnNewFrame(const unsigned char * image, + unsigned int width, + unsigned int height, + unsigned int depth, + const std::string &format) +{ + +#if GAZEBO_MAJOR_VERSION >= 7 + image = this->camera->ImageData(0); +#else + image = this->camera->GetImageData(0); +#endif + + // Alloc buffer + const guint size = width * height * 1.5; + GstBuffer* buffer = gst_buffer_new_allocate(NULL, size, NULL); + + if (!buffer) { + gzerr << "gst_buffer_new_allocate failed" << endl; + return; + } + + GstMapInfo map; + + if (!gst_buffer_map(buffer, &map, GST_MAP_WRITE)) { + gzerr << "gst_buffer_map failed" << endl; + return; + } + + // Color Conversion from RGB to YUV + Mat frame = Mat(height, width, CV_8UC3); + Mat frameYUV = Mat(height, width, CV_8UC3); + frame.data = (uchar*)image; + + cvtColor(frame, frameYUV, COLOR_RGB2YUV_I420); + memcpy(map.data, frameYUV.data, size); + gst_buffer_unmap(buffer, &map); + + GstFlowReturn ret = gst_app_src_push_buffer(GST_APP_SRC(this->source), buffer); + + if (ret != GST_FLOW_OK) { + /* something wrong, stop pushing */ + gzerr << "gst_app_src_push_buffer failed" << endl; + g_main_loop_quit(this->gst_loop); + } +} diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.h b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.h new file mode 100644 index 00000000..907863e6 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/plugins/gazebo_gst_camera_plugin.h @@ -0,0 +1,92 @@ +/* + * Copyright (C) 2012-2016 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ +#pragma once + +#include +#include + +#include "gazebo/common/Plugin.hh" +#include "gazebo/sensors/CameraSensor.hh" +#include "gazebo/gazebo.hh" +#include "gazebo/common/common.hh" +#include "gazebo/rendering/Camera.hh" +#include "gazebo/util/system.hh" +#include "gazebo/transport/transport.hh" +#include "gazebo/msgs/msgs.hh" + +#include + +namespace gazebo +{ +/** + * @class GstCameraPlugin + * A Gazebo plugin that can be attached to a camera and then streams the video data using gstreamer. + * It streams to a configurable UDP IP and UDP Port, defaults are respectively 127.0.0.1 and 5600. + * + * Connect to the stream via command line with: + * gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \ + * ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink fps-update-interval=1000 sync=false + */ +class GAZEBO_VISIBLE GstCameraPlugin : public SensorPlugin +{ + public: GstCameraPlugin(); + + public: virtual ~GstCameraPlugin(); + + public: virtual void Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf); + + public: virtual void OnNewFrame(const unsigned char *image, + unsigned int width, unsigned int height, + unsigned int depth, const std::string &format); + + public: void startGstThread(); + public: void stopGstThread(); + public: void gstCallback(GstElement *appsrc); + + public: void cbVideoStream(const boost::shared_ptr &_msg); + private: void startStreaming(); + private: void stopStreaming(); + + protected: unsigned int width, height, depth; + float rate; + protected: std::string format; + + protected: + std::string udpHost; + int udpPort; + bool useRtmp; + std::string rtmpLocation; + bool useCuda; + + protected: sensors::CameraSensorPtr parentSensor; + protected: rendering::CameraPtr camera; + + private: event::ConnectionPtr newFrameConnection; + + private: transport::NodePtr node_handle_; + private: std::string namespace_; + + private: transport::SubscriberPtr mVideoSub; + private: pthread_t mThreadId; + private: const std::string mTopicName = "~/video_stream"; + private: bool mIsActive; + + GMainLoop *gst_loop; + GstElement *source; +}; + +} /* namespace gazebo */ diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_camera_manager_plugin.so b/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_camera_manager_plugin.so new file mode 100644 index 00000000..6faf48b0 Binary files /dev/null and b/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_camera_manager_plugin.so differ diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_gst_camera_plugin.so b/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_gst_camera_plugin.so new file mode 100644 index 00000000..447c2f82 Binary files /dev/null and b/Common/Ubuntu/ap_camera_non_gps/plugins/libgazebo_gst_camera_plugin.so differ diff --git a/Common/Ubuntu/ap_camera_non_gps/plugins/libsensor_msgs.so b/Common/Ubuntu/ap_camera_non_gps/plugins/libsensor_msgs.so new file mode 100644 index 00000000..56c43843 Binary files /dev/null and b/Common/Ubuntu/ap_camera_non_gps/plugins/libsensor_msgs.so differ diff --git a/Common/Ubuntu/ap_camera_non_gps/requirements.txt b/Common/Ubuntu/ap_camera_non_gps/requirements.txt new file mode 100644 index 00000000..1f371f55 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/requirements.txt @@ -0,0 +1,5 @@ +numpy==1.24.1 +opencv-python==4.7.0.68 +opencv-contrib-python==4.7.0.68 +matplotlib==3.6.2 +pyexiv2==2.8.1 diff --git a/Common/Ubuntu/ap_camera_non_gps/set_origin.py b/Common/Ubuntu/ap_camera_non_gps/set_origin.py new file mode 100644 index 00000000..201b4818 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/set_origin.py @@ -0,0 +1,113 @@ +#!/usr/bin/env python + +## +# +# Send SET_GPS_GLOBAL_ORIGIN and SET_HOME_POSITION messages +# +## + +import rospy +from pymavlink.dialects.v10 import ardupilotmega as MAV_APM +from mavros.mavlink import convert_to_rosmsg +from mavros_msgs.msg import Mavlink + +# Global position of the origin +lat = 425633500 # Terni +lon = 126432900 # Terni +alt = 163000 + +class fifo(object): + """ A simple buffer """ + def __init__(self): + self.buf = [] + def write(self, data): + self.buf += data + return len(data) + def read(self): + return self.buf.pop(0) + +def send_message(msg, mav, pub): + """ + Send a mavlink message + """ + msg.pack(mav) + rosmsg = convert_to_rosmsg(msg) + pub.publish(rosmsg) + + print("sent message %s" % msg) + +def set_global_origin(mav, pub): + """ + Send a mavlink SET_GPS_GLOBAL_ORIGIN message, which allows us + to use local position information without a GPS. + """ + target_system = mav.srcSystem + #target_system = 0 # 0 --> broadcast to everyone + lattitude = lat + longitude = lon + altitude = alt + + msg = MAV_APM.MAVLink_set_gps_global_origin_message( + target_system, + lattitude, + longitude, + altitude) + + send_message(msg, mav, pub) + +def set_home_position(mav, pub): + """ + Send a mavlink SET_HOME_POSITION message, which should allow + us to use local position information without a GPS + """ + target_system = mav.srcSystem + #target_system = 0 # broadcast to everyone + + lattitude = lat + longitude = lon + altitude = alt + + x = 0 + y = 0 + z = 0 + q = [1, 0, 0, 0] # w x y z + + approach_x = 0 + approach_y = 0 + approach_z = 1 + + msg = MAV_APM.MAVLink_set_home_position_message( + target_system, + lattitude, + longitude, + altitude, + x, + y, + z, + q, + approach_x, + approach_y, + approach_z) + + send_message(msg, mav, pub) + +if __name__=="__main__": + try: + rospy.init_node("origin_publisher") + mavlink_pub = rospy.Publisher("/mavlink/to", Mavlink, queue_size=20) + + # Set up mavlink instance + f = fifo() + mav = MAV_APM.MAVLink(f, srcSystem=1, srcComponent=1) + + # wait to initialize + while mavlink_pub.get_num_connections() <= 0: + pass + + for _ in range(2): + rospy.sleep(1) + set_global_origin(mav, mavlink_pub) + set_home_position(mav, mavlink_pub) + except rospy.ROSInterruptException: + pass + diff --git a/Common/Ubuntu/ap_camera_non_gps/test1.jpeg b/Common/Ubuntu/ap_camera_non_gps/test1.jpeg new file mode 100644 index 00000000..e36c9e7b Binary files /dev/null and b/Common/Ubuntu/ap_camera_non_gps/test1.jpeg differ diff --git a/Common/Ubuntu/ap_camera_non_gps/test2.jpeg b/Common/Ubuntu/ap_camera_non_gps/test2.jpeg new file mode 100644 index 00000000..d3692616 Binary files /dev/null and b/Common/Ubuntu/ap_camera_non_gps/test2.jpeg differ diff --git a/Common/Ubuntu/ap_camera_non_gps/video_capture_gazebo.py b/Common/Ubuntu/ap_camera_non_gps/video_capture_gazebo.py new file mode 100644 index 00000000..5b43a961 --- /dev/null +++ b/Common/Ubuntu/ap_camera_non_gps/video_capture_gazebo.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python + +import gi +import numpy as np +import cv2 as cv + +gi.require_version('Gst', '1.0') +from gi.repository import Gst + + +class Cam_stream(): + def __init__(self, port=5600): + + Gst.init(None) + self.frame = None + self.config = f'udpsrc port={port} ! application/x-rtp, payload=96 ! rtph264depay ! h264parse ! avdec_h264 ! decodebin ! videoconvert ! video/x-raw,format=(string)BGR ! videoconvert ! appsink emit-signals=true sync=false max-buffers=2 drop=true' + self.pipe = None + self.vid_out = None + self.check = 0 + self.n = 0 + self.main() + + def bridge(self,sample): + buf = sample.get_buffer() + caps = sample.get_caps() + array = np.ndarray((caps.get_structure(0).get_value('height'), caps.get_structure(0).get_value('width'), 3), buffer=buf.extract_dup(0, buf.get_size()), dtype=np.uint8) + return array + + def frame_available(self): + return type(self.frame) != type(None) + + def main(self): + self.pipe = Gst.parse_launch(self.config) + self.pipe.set_state(Gst.State.PLAYING) + self.vid_out = self.pipe.get_by_name('appsink0') + + self.vid_out.connect('new-sample', self.callback) + + def callback(self, sink): + sample = sink.emit('pull-sample') + mainframe = self.bridge(sample) + self.frame = mainframe + return Gst.FlowReturn.OK + + def setup(self): + while True: + if not self.frame_available(): + continue + + cv.imshow('frame', self.frame) + + if self.check == 1: + self.n += 1 + cv.imwrite(f"data{self.n}.jpeg", self.frame) + self.check = 0 + + if cv.waitKey(1) & 0xFF == ord('q'): + break + + +if __name__ == '__main__': + stream = Cam_stream() + + while True: + if not stream.frame_available(): + continue + + frame = stream.frame + cv.imshow('frame', frame) + + if self.check == 1: + self.n += 1 + cv.imwrite(f"data{self.n}.jpeg", self.frame) + self.check = 0 + + if cv.waitKey(1) & 0xFF == ord('q'): + break \ No newline at end of file