time dcm_x dcm_y dcm_des_x dcm_des_y dcm_des_dx dcm_des_dy zmp_x zmp_y zmp_des_x zmp_des_y com_x com_y com_z com_des_x com_des_y com_des_z com_des_dx com_des_dy com_des_dz lf_x lf_y lf_z lf_roll lf_pitch lf_yaw rf_x rf_y rf_z rf_roll rf_pitch rf_yaw lf_des_x lf_des_y lf_des_z lf_des_roll lf_des_pitch lf_des_yaw rf_des_x rf_des_y rf_des_z rf_des_roll rf_des_pitch rf_des_yaw LHipYawPitch RHipYawPitch LShoulderPitch LShoulderRoll LElbowYaw LElbowRoll RShoulderPitch RShoulderRoll RElbowYaw RElbowRoll LHipPitch LHipRoll LKneePitch LAnklePitch LAnkleRoll RHipPitch RHipRoll RKneePitch RAnklePitch RAnkleRoll LHipYawPitch_des RHipYawPitch_des LShoulderPitch_des LShoulderRoll_des LElbowYaw_des LElbowRoll_des RShoulderPitch_des RShoulderRoll_des RElbowYaw_des RElbowRoll_des LHipPitch_des LHipRoll_des LKneePitch_des LAnklePitch_des LAnkleRoll_des RHipPitch_des RHipRoll_des RKneePitch_des RAnklePitch_des RAnkleRoll_des frx fry frz mrx mry mrz flx fly flz mlx mly mlz POS_X POS_Y CONTROL_ORDER trash e0 u0 abs_CoM_x abs_CoM_y abs_CoM_z torsowLHipYawPitch torsowRHipYawPitch torsotauLHipYawPitch torsotauRHipYawPitch LLegwLHipPitch LLegwLHipRoll LLegwLKneePitch LLegwLAnklePitch LLegwLAnkleRoll trash LLegtauLHipPitch LLegtauLHipRoll LLegtauLKneePitch LLegtauLAnklePitch LLegtauLAnkleRoll trash RLegwRHipPitch RLegwRHipRoll RLegwRKneePitch RLegwRAnklePitch RLegwRAnkleRoll trash RLegtauRHipPitch RLegtauRHipRoll RLegtauRKneePitch RLegtauRAnklePitch RLegtauRAnkleRoll trash LArmwLShoulderPitch LArmwLShoulderRoll LArmwLElbowYaw LArmwLElbowRoll LArmtauLShoulderPitch LArmtauLShoulderRoll LArmtauLElbowYaw LArmtauLElbowRoll RArmwRShoulderPitch RArmwRShoulderRoll RArmwRElbowYaw RArmwRElbowRoll RArmtauRShoulderPitch RArmtauRShoulderRoll RArmtauRElbowYaw RArmtauRElbowRoll 0.013 0.0150577 0.00166503 -0.001 0 0 0 -0.00589337 0.00962177 0.0166635 0.00183153 -0.00238201 1.36824e-05 0.2519 -0.001 0 0.251827 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000351754 -0.0499713 3.52593e-05 1.10574e-05 -0.00106653 -7.29279e-05 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000890875 -0.000970588 1.46576 0.105369 -0.959734 -0.0929114 1.46579 -0.10537 0.959735 0.0929178 -0.512863 -8.51263e-05 0.542713 -0.134074 7.06898e-05 -0.512998 7.664e-05 0.543098 -0.134075 -7.37547e-05 2.38382e-05 -2.38381e-05 1.46551 0.106942 -0.9591 -0.0929455 1.46551 -0.106879 0.959098 0.0929581 -0.509671 -0.000194142 0.531998 -0.134204 0.000249057 -0.509533 -0.000194142 0.531793 -0.134104 0.000249057 0.944382 2.04389 33.1111 -0.353462 1.7781 -0.38902 -9.23728 -3.24891 43.2316 0.580908 -1.31656 -0.327393 0 0 0 0 -1.74828e-06 -2.12743e-06 0.0201669 -0.00762727 0.239193 1.53321 -11.196 0.888458 -1.95924 319.225 -0.00020137 -393.298 150.539 0.0519814 0 59.9866 0.134233 -28.1637 24 -0.184751 0 346.294 -0.0924485 -418.018 157.629 0.0313854 0 64.1972 -0.166215 -29.6785 24 0.23805 0 82.0383 -5.22096 -1.18394 -0.0398773 13.8097 -1.2475 -0.210581 0.719471 -82.0809 5.98822 -1.22853 -2.85336 -14.8892 0.909367 -0.209523 -0.351578 0.023 0.0173211 0.00416325 -0.001 0 0 0 -0.00911568 0.0072989 0.0191532 0.00457957 -0.0023147 5.21843e-05 0.251904 -0.001 0 0.251827 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000459082 -0.0499426 4.26456e-05 -4.52741e-05 -0.00117255 -0.000107233 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000898854 -0.00100257 1.46589 0.105869 -0.959748 -0.0930384 1.4659 -0.105869 0.959713 0.0930345 -0.512583 -0.000252697 0.543145 -0.134708 0.000291407 -0.512998 7.73413e-05 0.543098 -0.134075 -7.50013e-05 5.47164e-05 -5.47549e-05 1.46542 0.109147 -0.959133 -0.0929444 1.46542 -0.109002 0.959129 0.0929732 -0.50846 -0.000452533 0.53322 -0.134374 0.000581373 -0.508136 -0.000452592 0.53274 -0.13414 0.000581437 1.02427 2.12725 33.2237 -0.393196 1.78104 -0.389984 -8.72084 -3.02514 43.2737 0.446943 -1.0685 -0.329778 0 0 0 0 0.0598032 0.0727726 -0.016674 -0.00766454 0.220741 99.4492 -97.8323 18.0944 -17.442 -331.659 -8.44262 422.795 -172.686 8.08474 0 -63.6915 -0.137605 30 -24 -0.144921 0 -317.437 2.62983 395.545 -155.263 -2.46756 0 -58.398 0.154028 29.2529 -24 -0.130319 0 9.80625 8.10967 -76.5855 -1.07917 2.94936 0.543823 -13.1863 -1.45734 2.73721 -12.589 75.4172 -6.79989 -0.346368 3.06918 13.2722 -2.77175 0.034 0.016684 0.0037437 -0.001 0 0 0 -0.0157878 0.00403886 0.0184524 0.00411807 -0.00226265 9.52261e-05 0.251938 -0.001 0 0.251827 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000527846 -0.0499013 7.03313e-05 3.96329e-05 -0.00145171 -0.000148805 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.000938216 -0.00107142 1.46589 0.107765 -0.95976 -0.0930781 1.46596 -0.1078 0.959744 0.0930942 -0.511066 -0.000679311 0.542595 -0.135092 0.000619571 -0.512277 -0.000147315 0.54364 -0.134957 0.000139251 5.96494e-05 -5.97439e-05 1.46538 0.111279 -0.959164 -0.0929361 1.46538 -0.111121 0.959159 0.0929677 -0.507165 -0.000509661 0.534035 -0.134022 0.000654097 -0.506805 -0.0005098 0.533496 -0.133759 0.000654247 1.10657 2.25154 33.4522 -0.480232 1.79082 -0.392041 -7.76053 -2.57808 43.2942 0.294536 -0.561571 -0.309194 0 0 0 0 0.0608835 0.0724379 -0.0166669 -0.00765241 0.220743 102.391 -100.211 18.4724 -18.8366 -292.599 -5.03066 381.777 -156.182 5.94968 0 -50.4394 0.937653 30 -24 -0.136096 0 -311.335 3.69163 390.329 -154.41 -2.77806 0 -58.1131 0.328128 28.3417 -24 0.0587423 0 -3.90622 19.4515 -77.0559 6.81783 -0.695121 -1.62389 -13.4089 0.541433 10.1635 -17.0212 77.8356 0.209757 2.90934 0.0665092 13.4969 1.16952 0.044 0.011801 0.00302657 -0.001 0 0 0 -0.0168805 0.00184626 0.0130812 0.00332923 -0.00219001 0.000111927 0.251941 -0.001 0 0.251827 -0 -0 0 0 0.05 6.93889e-18 0 -0 0 0.000571383 -0.0499688 6.10889e-05 -1.71173e-05 -0.00151867 -0.000206879 0 0.05 0 0 -0 0 0 -0.05 0 0 -0 0 0.00081164 -0.00107511 1.4662 0.109822 -0.959779 -0.0930908 1.46605 -0.109785 0.959754 0.0930309 -0.510185 -0.000593617 0.544197 -0.136736 0.000712855 -0.511077 -0.000381165 0.543996 -0.135827 0.000503005 5.06549e-05 -5.07916e-05 1.46537 0.113251 -0.959192 -0.0929289 1.46537 -0.113116 0.959188 0.0929558 -0.506049 -0.000457155 0.534908 -0.133593 0.000585223 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0.839929 -0.282182 0.167127 -0.749066 -0.0841204 1.09584 -0.372536 0.187587 0.0672276 0.0161223 1.47955 0.116775 -0.959116 -0.0892214 1.47963 -0.110446 0.958902 0.0903533 -0.59741 -0.065497 0.823447 -0.282545 0.16777 -0.751663 -0.0889712 1.07034 -0.344778 0.189378 -0.725543 -1.2089 8.07666 0.0134601 -0.326085 0.13152 -2.40688 -10.6149 66.2662 0.223001 -0.866826 0.498153 2 0 0 0 9.20922 9.45363 1.48454 0.0180422 0.22204 88.2556 -51.5399 21.9821 -20.4844 374.526 -14.6366 -352.323 85.1254 4.07169 0 73.8027 6.12071 -30 24 -4.76607 0 -187.021 -35.6953 105.619 65.6931 22.9228 0 -4.17691 11.115 30 -24 -4.60603 0 -82.1889 2.60637 5.44902 18.9262 -11.0903 -2.58827 -0.149387 3.45752 83.1145 -4.96306 1.82253 21.9398 14.0452 -1.09855 -0.0513589 2.99601 40.517 1.53652 0.0505155 1.51119 0.0496611 0.00287443 -0.103354 1.52341 0.0640433 1.53859 0.067166 1.50455 0.0526953 0.25085 1.50826 0.0538177 0.251827 0.019531 -0.0274932 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.49529 -0.0277341 0.0239805 -0.000660523 -0.00491839 -0.262221 1.51324 0.070663 0 0 -0 -0.317959 1.49697 -0.0284004 0.0218755 0 -0 -0.259938 0.0637757 0.0153062 1.47864 0.11403 -0.959008 -0.0895879 1.4801 -0.109702 0.958871 0.0904711 -0.599293 -0.0639161 0.83381 -0.282218 0.167617 -0.753483 -0.0869524 1.08875 -0.359307 0.188692 0.0686279 0.0168109 1.47966 0.118823 -0.959155 -0.0890562 1.47974 -0.111624 0.958914 0.0903667 -0.592473 -0.067986 0.818463 -0.281583 0.16788 -0.747547 -0.0912036 1.05086 -0.32799 0.189279 -0.0782974 -1.13398 7.62773 0.00762678 -0.302745 0.140673 -2.60063 -11.1157 67.1279 0.498996 -0.470806 0.578424 2 0 0 0 9.22477 9.47707 1.4848 0.0180944 0.222007 24.7734 -0.227411 -0.398684 -0.767376 369.862 -17.3278 -375.407 103.854 5.93767 0 70.384 6.53494 -30 24 -5.47219 0 -237.225 -35.3625 -57.1872 210.759 22.8548 0 -82.942 11.9791 7.32875 24 -5.90256 0 -88.6034 4.3546 0.975801 19.6234 -11.1267 -3.2125 -0.409296 4.05125 81.5118 -5.9523 3.87647 24.1646 15.4397 -1.13612 0.464565 2.95872 40.527 1.54029 0.0500169 1.51122 0.0485947 0.00305949 -0.110008 1.5159 0.0706151 1.54271 0.0677906 1.50475 0.0526349 0.250869 1.50845 0.0535173 0.251827 0.0184614 -0.0325878 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.49661 -0.0280716 0.0236852 -0.000509186 -0.00605631 -0.260317 1.51324 0.070663 0 0 -0 -0.317959 1.4986 -0.0288911 0.0209459 0 -0 -0.258665 0.0657685 0.0159382 1.47827 0.115761 -0.959251 -0.0895467 1.4797 -0.110604 0.958729 0.0906551 -0.595413 -0.0663244 0.83089 -0.282158 0.168296 -0.751976 -0.0892602 1.08041 -0.351714 0.189485 0.0698436 0.0176286 1.47979 0.121224 -0.959199 -0.0888724 1.47986 -0.113019 0.958929 0.0903885 -0.586911 -0.0706492 0.811676 -0.279423 0.167466 -0.740458 -0.0933177 1.0257 -0.308654 0.188367 1.06981 -1.19225 6.05265 0.00888479 -0.217765 0.124537 -2.22 -11.7108 68.0925 0.636016 0.119568 0.677567 2 0 0 0 9.26068 9.52441 1.48509 0.0180797 0.222013 18.9715 3.88417 -0.941093 -1.01032 375.228 -17.5057 -421.702 138.547 1.78144 0 68.1548 5.0792 -30 24 -5.82047 0 -171.804 -27.4777 -151.625 235.92 11.5576 0 -84 8.38966 1.97887 24 -6.264 0 -77.0149 2.15809 15.0319 20.6494 -12.0949 -3.28458 0.752452 4.10021 81.7328 -6.62946 -0.565459 19.3676 13.1052 -0.517277 -1.90367 3.37273 40.537 1.53299 0.0501938 1.51125 0.0474596 0.00325646 -0.117091 1.50665 0.0776011 1.53464 0.0692339 1.505 0.0524892 0.250904 1.50863 0.0531654 0.251827 0.0174731 -0.0377959 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.4983 -0.0285154 0.0229931 -0.000188645 -0.00745011 -0.258115 1.51324 0.070663 0 0 -0 -0.317959 1.50018 -0.0293635 0.0197344 0 -0 -0.25744 0.067355 0.0172174 1.47823 0.117677 -0.959317 -0.089525 1.47962 -0.111859 0.958697 0.090724 -0.590832 -0.0685415 0.825407 -0.280965 0.168549 -0.7482 -0.091116 1.0615 -0.337566 0.189714 0.0708912 0.0185604 1.47991 0.124182 -0.959255 -0.0886465 1.47998 -0.114614 0.958943 0.0904402 -0.580486 -0.0738336 0.802617 -0.275885 0.167071 -0.729561 -0.095679 0.993559 -0.286325 0.187203 2.58811 -1.39041 3.76401 0.0160985 -0.0880428 0.0884707 -1.11545 -12.2953 68.6843 0.679009 0.760962 0.749764 2 0 0 0 9.28331 9.55428 1.4854 0.0180114 0.222013 16.9959 2.56403 -0.248753 -2.30628 329.672 -19.6897 -467.436 192.852 -2.87631 0 44.4904 4.28946 -30 16.0333 -5.58744 0 -58.8326 -21.1875 -314.091 300.375 -1.68761 0 -73.6221 5.22462 -5.02375 24 -6.00137 0 -77.4185 3.82291 16.7718 20.7461 -11.7959 -3.23841 2.19526 3.28483 80.5098 -6.87625 -5.83547 19.1587 13.0766 -0.291931 -2.20153 3.34069 40.547 1.5199 0.0506976 1.51128 0.0462513 0.00346611 -0.124629 1.50048 0.0844917 1.52021 0.0711171 1.50517 0.0522327 0.250985 1.5088 0.0527607 0.251827 0.0165617 -0.0431385 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50002 -0.0289454 0.0220454 0.000194076 -0.00845164 -0.256052 1.51324 0.070663 0 0 -0 -0.317959 1.50169 -0.0298152 0.0182462 0 -0 -0.256268 0.0687112 0.0186386 1.4783 0.119762 -0.959277 -0.0894528 1.47967 -0.113511 0.95873 0.0906797 -0.585203 -0.0710272 0.816174 -0.277542 0.168183 -0.742111 -0.0929251 1.03573 -0.319145 0.189045 0.0718204 0.0195489 1.47997 0.127805 -0.959324 -0.0883818 1.48004 -0.116417 0.958957 0.0905453 -0.572753 -0.0776332 0.790935 -0.27139 0.166857 -0.714213 -0.0983895 0.954043 -0.261512 0.185937 4.10381 -1.62091 1.62387 0.0241934 0.0302122 0.0648462 0.0945652 -12.4673 68.5146 0.7797 1.15154 0.75684 2 0 0 0 9.27321 9.54364 1.48574 0.0178999 0.221971 27.2547 -9.19527 0.16108 -3.20786 296.679 -23.944 -473.158 207.051 -2.60415 0 30.1811 6.0335 -30 2.03373 -5.6337 0 175.361 -23.5892 -643.306 420.663 -4.74038 0 -57.8096 6.11553 -30 24 -5.64362 0 -22.0093 7.53906 59.1057 8.0077 -3.69964 -3.75314 8.39173 0.926937 2.52874 4.87425 -65.901 3.99101 1.8551 1.01277 -10.223 1.15188 40.557 1.51314 0.050081 1.51132 0.0449654 0.00368926 -0.132652 1.49979 0.0900386 1.51274 0.0718534 1.50534 0.051886 0.251013 1.50896 0.0523018 0.251827 0.0157231 -0.0486373 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50182 -0.0294252 0.0206942 0.000421508 -0.00967589 -0.254103 1.51324 0.070663 0 0 -0 -0.317959 1.50312 -0.030244 0.0165344 0 -0 -0.255156 0.0704828 0.0195763 1.47899 0.122437 -0.958817 -0.0894424 1.47913 -0.115173 0.958261 0.0904947 -0.578755 -0.0744003 0.805625 -0.273845 0.167718 -0.731006 -0.0953282 1.00204 -0.297533 0.18783 0.072692 0.0205324 1.47996 0.132113 -0.959408 -0.0880759 1.48003 -0.118412 0.95897 0.0907093 -0.563642 -0.082075 0.776788 -0.266267 0.166885 -0.694485 -0.101528 0.9078 -0.234806 0.184674 5.56873 -1.76999 -0.0795989 0.029066 0.129594 0.052438 1.47954 -12.3191 67.7021 0.917135 1.38644 0.712955 2 0 0 0 9.25116 9.51876 1.4861 0.0177347 0.221861 14.5693 4.43949 -1.12608 -0.0402489 282.291 -27.5429 -481.004 220.378 0.787838 0 23.63 7.61859 -30 -6.36971 -6.20235 0 86.242 -26.2464 -485.551 339.989 -3.19515 0 -84 7.30074 30 24 -5.70265 0 -22.7904 11.7001 58.545 7.23522 -2.71261 -4.48126 8.55446 0.828119 -4.97561 5.51206 -69.3052 4.88916 2.06419 1.08777 -10.2518 0.817665 40.567 1.51151 0.0524591 1.51136 0.0435966 0.00392677 -0.141193 1.50109 0.0942282 1.51089 0.075975 1.50539 0.0515749 0.250967 1.50911 0.0517871 0.251827 0.0149535 -0.0543144 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50347 -0.0299498 0.018765 0.000474292 -0.0110175 -0.252515 1.51324 0.070663 0 0 -0 -0.317959 1.50446 -0.0306475 0.0146586 0 -0 -0.254109 0.0730542 0.0194283 1.47943 0.125944 -0.95881 -0.0890881 1.47953 -0.116981 0.958204 0.0904401 -0.570938 -0.078387 0.793456 -0.26938 0.167485 -0.709485 -0.098107 0.955408 -0.271587 0.186492 0.0735627 0.0214572 1.47991 0.137046 -0.959505 -0.0877228 1.47997 -0.120576 0.958984 0.0909195 -0.553426 -0.0870836 0.760784 -0.260742 0.166973 -0.671035 -0.105087 0.856235 -0.206759 0.183309 5.54517 -1.65875 -0.294569 0.0234815 0.132958 0.0597358 2.74529 -12.2355 66.5654 1.07246 1.67024 0.664882 2 0 0 0 9.24936 9.51912 1.48645 0.0175222 0.221659 2.93218 11.4333 -0.93363 0.212836 150.998 -31.7535 -287.675 132.264 3.97726 0 1.49974 9.55211 -12.6883 -24 -7.48457 0 89.3133 -32.0295 -482.324 339.306 -0.102259 0 -84 9.11898 30 24 -6.84089 0 -53.4275 18.1009 16.5831 10.3098 -3.30029 -4.43743 2.0759 0.537505 61.7432 -2.4489 -12.3637 13.1763 8.66836 0.407284 -2.91564 1.11169 40.577 1.51281 0.0490839 1.5114 0.0421397 0.00417958 -0.150283 1.48935 0.0975421 1.51228 0.0738649 1.50542 0.0513182 0.250962 1.50926 0.0512145 0.251827 0.0142493 -0.0601927 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50521 -0.0303672 0.0172884 0.000508706 -0.0117093 -0.251348 1.51324 0.070663 0 0 -0 -0.317959 1.50572 -0.0310235 0.0126784 0 -0 -0.253134 0.0748111 0.0196281 1.47937 0.130205 -0.959241 -0.0886451 1.48058 -0.119091 0.958846 0.0905793 -0.563246 -0.0829846 0.781604 -0.264668 0.167596 -0.694106 -0.101291 0.916783 -0.247176 0.185294 0.074485 0.0222781 1.47988 0.142642 -0.959616 -0.0872969 1.47993 -0.12292 0.958996 0.0911565 -0.542352 -0.0925595 0.743094 -0.25439 0.166937 -0.644433 -0.109046 0.800184 -0.177209 0.181756 4.20702 -1.44483 0.0700439 0.0138566 0.0703714 0.0816945 3.26446 -12.2398 65.1054 1.17504 1.95718 0.666543 2 0 0 0 9.29369 9.57554 1.48676 0.0172797 0.221368 38.7676 -31.927 0.797976 -2.71916 -26.6936 -33.5676 -56.6811 56.831 4.53302 0 -21.6612 11.5087 15.362 -24 -9.02755 0 514.121 -37.9864 -941.589 462.55 1.53146 0 -8.34941 10.5517 -30 24 -8.24666 0 21.3817 30.7847 -41.8629 -1.70009 6.69206 -4.00912 -4.44509 -1.08918 -10.8349 -2.95735 52.3676 -5.9786 -2.65775 0.126026 6.81135 -1.63153 40.587 1.4884 0.0490815 1.51144 0.040589 0.00444866 -0.159958 1.5006 0.0996927 1.48538 0.075568 1.50541 0.0510722 0.250933 1.5094 0.0505821 0.251827 0.0136073 -0.0662958 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50689 -0.0307322 0.0158404 0.000548943 -0.0119729 -0.250516 1.51324 0.070663 0 0 -0 -0.317959 1.50687 -0.0313696 0.0106536 0 -0 -0.252236 0.0761044 0.0199268 1.48 0.135197 -0.960128 -0.0884471 1.47976 -0.121272 0.959257 0.0906516 -0.555697 -0.0880541 0.770004 -0.259753 0.16782 -0.679057 -0.104805 0.878278 -0.222148 0.18409 0.0755698 0.0228952 1.47979 0.148889 -0.959743 -0.0868157 1.47982 -0.125369 0.959007 0.0914517 -0.5302 -0.0986608 0.724219 -0.248426 0.167084 -0.614858 -0.113598 0.741156 -0.147839 0.180331 4.17094 -1.49952 -0.633647 0.0120938 0.0873577 0.0806435 3.68265 -12.2356 64.1395 1.15798 2.23537 0.704076 2 0 0 0 9.33881 9.63161 1.48703 0.0170162 0.221049 72.9364 -53.4716 6.54703 -4.87581 -404.474 -35.8637 526.502 -209.475 3.80799 0 -53.2718 12.6808 30 -24 -9.66963 0 568.703 -44.7794 -974.038 454.428 1.31594 0 -6.57783 11.1305 -30 24 -9.63409 0 8.17234 32.6781 -34.1353 -2.34805 7.07792 -4.40107 -7.06507 -1.20186 -12.6019 -4.10757 49.5591 -2.86214 -0.578843 0.339 5.219 -1.46378 40.597 1.49235 0.0369163 1.51149 0.0389384 0.00473507 -0.170256 1.51653 0.100177 1.48968 0.0640019 1.50567 0.0506881 0.251094 1.50953 0.0498874 0.251827 0.0130247 -0.0726479 0 1.51324 0.070663 6.93889e-18 0 -0 -0.317959 1.50836 -0.0311114 0.0141024 0.000702343 -0.0115843 -0.250007 1.51324 0.070663 0 0 -0 -0.317959 1.50792 -0.0316837 0.0086436 0 -0 -0.251422 0.0757967 0.0213177 1.4798 0.140612 -0.960128 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