Claude (auto-RE)
0a84c1358e
Fitting rate against instantaneous speed produced a tidy "rate rises with speed" relationship, with speeds up to 4795 when the craft's maximum is 1200. It is entirely an artefact: 20 Hz polling is faster than the guest updates these fields, so a per-read delta is either exactly zero (no update yet) or a whole frame's worth divided by a fraction of a frame. 111 of 352 reads were zero on BOTH channels -- position and attitude update on the same frame, so the two are perfectly correlated, and dividing each by the short wall dt produced the correlation out of nothing. Fix: aggregate over windows spanning many frames (0.5 s). A sum of |delta| over such a window is right however the updates fall inside it. This does NOT affect the swept-total probes (roll_axis.py, rate_probe.py) -- they already summed over the whole dwell, immune for the same reason. Only per-sample instantaneous rates were ever wrong, so no earlier number moves. The windowed re-run is NOT yet claimed as a result. It gives plausible magnitudes but still shows rate rising with speed, against the definition's PitchPlus_Min 150 > _Max 70, and it has two disqualifiers: it ran on an instance where the craft was already tumbling from the previous sweep, so pinning reported "WEAK -- craft may not be level", and the sweep started mid-range rather than at maximum. A clean answer needs a fresh flight with pinning CONFIDENT and nothing before it. Since what is in doubt is precisely what _Min/_Max mean, a measurement through a doubtful instrument cannot settle it. Both datasets kept, the bad one labelled, because the aliased curve is a good example of what a manufactured correlation looks like.
354 lines
6.2 KiB
CSV
354 lines
6.2 KiB
CSV
t,speed_units_per_wall_s,rate_deg_per_wall_s
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0.05,0.0,0.0
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0.101,4682.4,0.0
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0.154,1865.9,8.21
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0.205,1915.4,22.53
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0.273,1722.2,32.72
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0.323,2309.7,64.27
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0.374,0.0,0.0
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0.426,0.0,0.0
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0.476,0.0,0.0
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0.526,3781.4,166.09
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0.576,1133.2,56.22
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0.626,2228.8,125.61
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0.676,735.8,46.29
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0.726,2161.2,150.9
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0.777,0.0,0.0
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0.827,0.0,0.0
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0.877,0.0,0.0
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0.927,4795.2,363.58
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0.978,1400.3,105.58
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1.028,2080.9,159.73
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1.078,688.0,53.58
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1.129,1018.2,79.65
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1.179,0.0,0.0
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1.229,0.0,0.0
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1.279,3169.4,272.63
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1.332,1891.3,159.33
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1.382,656.8,55.51
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1.432,1958.3,167.87
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1.485,311.4,26.7
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1.535,0.0,0.0
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1.585,0.0,0.0
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1.637,2189.9,217.26
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1.687,1470.3,152.38
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1.737,1832.8,178.53
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1.788,611.6,57.44
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1.838,311.7,29.03
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1.889,0.0,0.0
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1.939,0.0,0.0
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1.989,2568.6,290.03
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2.039,1303.4,156.28
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2.09,1571.3,188.96
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2.173,987.0,114.66
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2.223,1389.3,157.19
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2.274,0.0,0.0
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2.324,0.0,0.0
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2.374,0.0,0.0
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2.425,3014.5,437.25
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2.476,851.8,137.78
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2.526,1720.0,282.99
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2.576,855.8,142.04
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2.626,1272.7,213.71
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2.676,420.4,71.25
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2.726,0.0,0.0
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2.776,0.0,0.0
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2.827,2337.7,393.95
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2.879,605.4,103.05
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2.929,1229.4,216.06
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2.979,798.9,145.37
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3.029,1356.7,257.13
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3.081,183.1,35.66
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3.131,0.0,0.0
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3.181,0.0,0.0
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3.231,1858.0,372.22
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3.281,541.0,112.82
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3.332,1372.1,301.88
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3.382,335.4,76.89
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3.432,658.3,154.84
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3.482,162.0,38.8
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3.536,0.0,0.0
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3.586,0.0,0.0
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3.636,1591.8,390.72
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3.686,311.3,78.69
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3.736,1215.5,316.75
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3.786,602.4,159.01
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3.839,429.8,113.96
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3.889,0.0,0.0
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3.939,0.0,0.0
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3.989,0.0,0.0
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4.04,1835.6,469.81
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4.09,311.3,78.92
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4.14,1251.2,315.27
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4.19,317.9,78.47
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4.24,320.5,78.42
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4.29,0.0,0.0
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4.341,0.0,0.0
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4.391,1352.5,313.43
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4.441,850.5,192.03
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4.492,1033.9,227.09
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4.542,1073.0,227.87
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4.592,551.1,113.43
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4.642,0.0,0.0
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4.692,0.0,0.0
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4.743,1735.5,337.79
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4.793,779.7,147.59
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4.843,1186.4,220.17
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4.893,808.4,146.17
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4.943,1018.0,181.41
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4.993,204.4,36.08
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5.043,0.0,0.0
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5.093,0.0,0.0
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5.144,0.0,0.0
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5.194,3438.2,575.96
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5.244,853.2,142.26
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5.294,1685.8,285.28
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5.344,1250.1,215.19
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5.394,825.0,144.01
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5.445,202.2,35.56
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5.495,0.0,0.0
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5.545,0.0,0.0
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5.596,2042.5,361.76
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5.674,762.2,138.77
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5.725,1171.7,219.95
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5.775,384.3,73.55
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5.826,0.0,0.0
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5.877,0.0,0.0
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5.927,0.0,0.0
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5.977,1528.0,296.2
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6.028,1281.9,256.26
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6.078,365.6,75.03
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6.128,1073.3,226.52
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6.178,176.0,37.88
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6.231,0.0,0.0
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6.281,0.0,0.0
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6.332,1720.1,372.76
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6.382,518.3,114.37
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6.432,1009.5,230.82
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6.484,480.0,112.96
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6.534,807.9,194.56
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6.584,159.3,38.98
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6.675,0.0,0.0
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6.725,1449.1,352.93
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6.775,477.0,117.26
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6.826,927.2,232.38
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6.877,306.8,77.6
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6.927,928.5,236.59
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6.977,154.5,39.37
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7.027,0.0,0.0
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7.077,0.0,0.0
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7.131,1353.2,333.31
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7.181,963.9,234.69
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7.231,1304.5,311.86
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7.281,332.6,77.62
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7.331,506.1,116.36
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7.381,0.0,0.0
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7.432,0.0,0.0
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7.482,0.0,0.0
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7.534,2615.1,556.47
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7.584,1101.8,225.72
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7.634,1108.3,222.17
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7.686,929.5,182.14
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7.736,576.3,111.11
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7.786,0.0,0.0
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7.836,0.0,0.0
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7.886,0.0,0.0
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7.936,2840.4,515.81
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7.987,807.7,144.56
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8.037,1214.6,217.75
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8.087,809.7,145.24
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8.137,606.3,108.89
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8.187,0.0,0.0
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8.237,0.0,0.0
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8.288,0.0,0.0
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8.339,2628.6,463.46
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8.389,811.4,144.9
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8.439,1198.5,218.35
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8.489,392.4,72.53
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8.539,784.5,146.63
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8.59,0.0,0.0
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8.64,0.0,0.0
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8.69,0.0,0.0
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8.741,2111.3,400.11
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8.791,946.6,185.46
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8.841,1110.6,224.19
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8.891,364.4,75.15
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8.941,720.3,150.86
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8.991,0.0,0.0
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9.042,0.0,0.0
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9.092,1792.7,378.77
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9.142,529.6,113.67
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9.193,1022.7,226.47
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9.273,624.6,143.36
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9.325,644.6,151.82
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9.375,0.0,0.0
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9.425,0.0,0.0
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9.476,1289.1,307.07
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9.526,1122.5,273.41
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9.577,311.7,76.8
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9.627,789.7,196.14
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9.677,156.4,38.99
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9.727,0.0,0.0
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9.778,0.0,0.0
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9.828,2131.2,510.02
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9.878,653.9,155.64
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9.928,983.1,233.48
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9.978,330.0,77.72
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10.028,496.6,116.32
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10.079,0.0,0.0
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10.129,0.0,0.0
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10.179,0.0,0.0
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10.23,2470.2,540.62
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10.282,672.7,144.51
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10.333,1067.2,227.85
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10.383,1076.8,227.17
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10.433,724.0,150.8
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10.483,0.0,0.0
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10.533,0.0,0.0
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10.583,0.0,0.0
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10.633,2272.0,451.3
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10.683,759.7,148.67
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10.734,762.5,148.52
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10.784,756.3,146.57
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10.834,770.1,148.16
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10.885,0.0,0.0
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10.935,0.0,0.0
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10.985,0.0,0.0
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11.035,2168.6,406.08
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11.085,984.6,183.61
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11.136,1178.3,220.07
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11.186,590.5,110.24
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11.236,393.0,73.44
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11.286,0.0,0.0
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11.336,0.0,0.0
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11.386,2007.6,367.45
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11.436,597.4,109.35
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11.486,1180.4,219.81
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11.537,1160.8,220.86
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11.587,575.3,111.02
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11.639,368.0,71.56
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11.689,0.0,0.0
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11.739,0.0,0.0
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11.789,2275.4,445.88
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11.879,415.2,83.5
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11.929,1448.9,300.69
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11.979,356.5,75.48
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12.031,0.0,0.0
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12.081,0.0,0.0
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12.131,1612.8,341.73
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12.184,504.1,108.0
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12.234,1042.0,228.85
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12.284,683.1,153.38
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12.334,674.3,153.83
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12.386,0.0,0.0
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12.473,0.0,0.0
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12.524,1701.7,386.01
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12.574,672.1,154.19
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12.625,974.9,227.26
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12.675,330.4,77.54
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12.725,986.1,232.99
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12.775,163.8,38.73
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12.825,0.0,0.0
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12.878,0.0,0.0
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12.928,0.0,0.0
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12.978,2405.7,542.85
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13.029,1022.4,230.5
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13.079,681.6,153.81
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13.129,1354.2,305.37
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13.179,343.9,76.77
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13.229,692.5,153.38
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13.28,0.0,0.0
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13.33,0.0,0.0
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13.38,0.0,0.0
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13.43,2362.5,496.01
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13.483,693.6,143.63
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13.533,1466.7,300.97
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13.583,555.0,112.79
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13.633,184.3,37.4
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13.683,0.0,0.0
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13.735,0.0,0.0
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13.785,1917.4,375.17
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13.838,542.8,105.29
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13.888,1144.2,222.78
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13.938,1513.8,297.05
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13.988,568.4,111.69
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14.038,378.0,74.42
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14.088,0.0,0.0
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14.139,0.0,0.0
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14.189,1933.6,372.51
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14.239,955.5,184.91
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14.289,756.9,148.61
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14.374,662.1,132.25
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14.424,554.7,112.16
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14.474,0.0,0.0
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14.524,0.0,0.0
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14.577,1603.7,323.84
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14.627,1276.0,263.01
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14.677,542.3,113.23
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14.727,714.5,150.87
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14.777,354.7,75.59
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14.83,0.0,0.0
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14.88,0.0,0.0
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14.93,1795.9,379.83
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14.98,355.3,75.74
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15.031,1386.0,301.97
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15.083,330.9,73.04
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15.133,688.3,153.24
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15.183,170.9,38.24
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15.234,0.0,0.0
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15.284,0.0,0.0
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15.334,0.0,0.0
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15.384,2304.1,499.06
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15.435,1027.8,225.69
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15.485,1024.9,230.47
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15.536,1000.9,229.21
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15.586,664.6,153.64
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15.636,665.2,154.54
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15.687,0.0,0.0
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15.737,0.0,0.0
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15.788,0.0,0.0
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15.84,2131.8,478.6
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15.89,856.1,192.06
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15.941,1025.4,230.39
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15.991,342.4,76.74
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16.043,663.2,148.34
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16.093,0.0,0.0
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16.143,0.0,0.0
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16.193,0.0,0.0
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16.246,2555.4,545.64
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16.296,895.5,189.56
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16.373,694.2,146.49
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16.424,1443.5,302.27
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16.476,0.0,0.0
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16.526,0.0,0.0
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16.577,0.0,0.0
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16.627,2074.2,414.87
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16.677,751.3,149.12
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16.727,1123.6,223.97
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16.777,374.5,74.66
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16.827,1122.8,223.93
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16.88,0.0,0.0
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16.93,0.0,0.0
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16.98,0.0,0.0
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17.03,2296.0,447.62
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17.08,379.9,74.23
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17.13,1503.9,297.32
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17.18,563.4,111.98
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17.233,538.0,107.34
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17.283,0.0,0.0
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17.333,0.0,0.0
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17.383,1890.3,373.65
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17.433,1119.5,223.93
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17.485,361.3,72.88
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17.535,1651.2,337.72
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17.585,365.1,75.24
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17.635,547.2,113.12
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17.686,0.0,0.0
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17.736,0.0,0.0
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17.786,0.0,0.0
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17.839,2490.6,503.11
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17.892,1033.4,213.33
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17.942,1073.2,226.83
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17.995,670.1,143.94
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18.045,1223.2,266.8
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