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[AUTO COMMIT] update change indication

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bresch 2023-07-14 11:56:26 +00:00 committed by Mathieu Bresciani
parent 1128ada90a
commit f5fd369ce8
2 changed files with 73 additions and 73 deletions
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6
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
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@ -1,8 +1,8 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
10000,1,-0.0094,-0.01,-3.2e-06,0.00023,7.3e-05,-0.011,7.1e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4.9e-07,0.0025,0.0025,0.005,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
90000,1,-0.0096,-0.01,-0.02,-0.0004,0.0026,-0.026,-1.4e-05,0.00011,-0.0023,0,0,0,0,0,0,0.19,-4.7e-10,0.4,0,0,0,0,0,5.2e-07,0.0026,0.0026,0.0051,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
190000,1,-0.0096,-0.011,-0.02,0.0002,0.0039,-0.041,6e-06,0.00043,-0.0044,-3e-13,-2.3e-14,4.9e-15,0,0,-2e-11,0.19,-4.7e-10,0.4,0,0,0,0,0,5.8e-07,0.0027,0.0027,0.0052,25,25,10,1e+02,1e+02,1,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
290000,1,-0.0097,-0.011,-0.02,0.0012,0.0063,-0.053,5e-05,0.00036,-0.007,9.1e-12,9.1e-13,-2.1e-13,0,0,-4.8e-09,0.19,-4.7e-10,0.4,0,0,0,0,0,6.8e-07,0.0029,0.0029,0.0054,25,25,9.6,0.37,0.37,0.41,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
90000,1,-0.0096,-0.01,-0.02,-0.0004,0.0026,-0.026,-1.4e-05,0.00011,-0.0023,0,0,0,0,0,0,0.19,-9.3e-10,0.4,0,0,0,0,0,5.2e-07,0.0026,0.0026,0.0051,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
190000,1,-0.0096,-0.011,-0.02,0.0002,0.0039,-0.041,6e-06,0.00043,-0.0044,-3e-13,-2.3e-14,4.9e-15,0,0,-2e-11,0.19,-9.3e-10,0.4,0,0,0,0,0,5.8e-07,0.0027,0.0027,0.0052,25,25,10,1e+02,1e+02,1,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
290000,1,-0.0097,-0.011,-0.02,0.0012,0.0063,-0.053,5e-05,0.00036,-0.007,9.1e-12,9.1e-13,-2.1e-13,0,0,-4.8e-09,0.19,-9.3e-10,0.4,0,0,0,0,0,6.8e-07,0.0029,0.0029,0.0054,25,25,9.6,0.37,0.37,0.41,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
390000,1,-0.0089,-0.012,0.046,0.0026,0.0083,-0.059,0.00024,0.0011,-0.0094,-1.1e-10,2.8e-11,2.7e-12,0,0,-4.5e-08,0.17,0.0017,0.41,0,0,0,0,0,7e-07,0.0031,0.0031,0.0056,25,25,8.1,0.97,0.97,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
490000,0.87,-0.0023,-0.015,0.5,0.0023,0.0057,-0.06,0.0002,0.00051,-0.011,1.6e-08,-3.8e-09,-4.1e-10,0,0,-1.6e-07,0.14,0.0014,0.42,0,0,0,0,0,2.9e-06,0.0033,0.0033,0.0058,7.8,7.8,5.9,0.34,0.34,0.31,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
590000,0.76,0.00067,-0.015,0.65,0.00071,0.0084,-0.059,0.00037,0.0012,-0.012,1.6e-08,-3.5e-09,-3.8e-10,0,0,-3.4e-07,0.18,0.0018,0.43,0,0,0,0,0,1.9e-05,0.0036,0.0036,0.0061,7.9,7.9,4.2,0.67,0.67,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0

1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.0094 -0.01 -3.2e-06 0.00023 7.3e-05 -0.011 7.1e-06 2.2e-06 -0.00045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4.9e-07 0.0025 0.0025 0.005 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
3 90000 1 -0.0096 -0.01 -0.02 -0.0004 0.0026 -0.026 -1.4e-05 0.00011 -0.0023 0 0 0 0 0 0 0.19 -4.7e-10 -9.3e-10 0.4 0 0 0 0 0 5.2e-07 0.0026 0.0026 0.0051 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 1 -0.0096 -0.011 -0.02 0.0002 0.0039 -0.041 6e-06 0.00043 -0.0044 -3e-13 -2.3e-14 4.9e-15 0 0 -2e-11 0.19 -4.7e-10 -9.3e-10 0.4 0 0 0 0 0 5.8e-07 0.0027 0.0027 0.0052 25 25 10 1e+02 1e+02 1 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 1 -0.0097 -0.011 -0.02 0.0012 0.0063 -0.053 5e-05 0.00036 -0.007 9.1e-12 9.1e-13 -2.1e-13 0 0 -4.8e-09 0.19 -4.7e-10 -9.3e-10 0.4 0 0 0 0 0 6.8e-07 0.0029 0.0029 0.0054 25 25 9.6 0.37 0.37 0.41 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 1 -0.0089 -0.012 0.046 0.0026 0.0083 -0.059 0.00024 0.0011 -0.0094 -1.1e-10 2.8e-11 2.7e-12 0 0 -4.5e-08 0.17 0.0017 0.41 0 0 0 0 0 7e-07 0.0031 0.0031 0.0056 25 25 8.1 0.97 0.97 0.32 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
7 490000 0.87 -0.0023 -0.015 0.5 0.0023 0.0057 -0.06 0.0002 0.00051 -0.011 1.6e-08 -3.8e-09 -4.1e-10 0 0 -1.6e-07 0.14 0.0014 0.42 0 0 0 0 0 2.9e-06 0.0033 0.0033 0.0058 7.8 7.8 5.9 0.34 0.34 0.31 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
8 590000 0.76 0.00067 -0.015 0.65 0.00071 0.0084 -0.059 0.00037 0.0012 -0.012 1.6e-08 -3.5e-09 -3.8e-10 0 0 -3.4e-07 0.18 0.0018 0.43 0 0 0 0 0 1.9e-05 0.0036 0.0036 0.0061 7.9 7.9 4.2 0.67 0.67 0.32 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0

140
src/modules/ekf2/test/change_indication/iris_gps.csv
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@ -1,16 +1,16 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
10000,1,-0.011,-0.01,0.00023,0.00033,-0.00013,-0.01,1e-05,-3.8e-06,-0.00042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5.8e-07,0.0025,0.0025,0.005,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
90000,0.98,-0.0095,-0.012,0.18,-5.5e-05,-0.0032,-0.024,-3.6e-06,-0.00014,-0.0021,0,0,0,0,0,0,0.2,-1.4e-09,0.43,0,0,0,0,0,9e-07,0.0026,0.0026,0.0051,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
90000,0.98,-0.0095,-0.012,0.18,-5.5e-05,-0.0032,-0.024,-3.6e-06,-0.00014,-0.0021,0,0,0,0,0,0,0.2,-4.7e-10,0.43,0,0,0,0,0,9e-07,0.0026,0.0026,0.0051,25,25,10,1e+02,1e+02,1e+02,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
190000,0.98,-0.0092,-0.013,0.21,-0.0013,-0.0036,-0.037,-4.4e-05,-0.00046,-0.017,5.2e-12,-4.3e-12,-3e-14,0,0,-6.8e-10,0.2,0.011,0.43,0,0,0,0,0,2.9e-06,0.0027,0.0027,0.0052,25,25,10,1e+02,1e+02,1,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
290000,0.98,-0.0092,-0.013,0.21,-0.0016,-0.0053,-0.046,-0.00015,-0.00032,-0.018,4.4e-11,-5.5e-11,1e-13,0,0,-2.9e-08,0.2,0.011,0.43,0,0,0,0,0,7e-06,0.0029,0.0029,0.0054,25,25,9.6,0.37,0.37,0.41,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
390000,0.98,-0.0095,-0.013,0.19,-0.00033,-0.0065,-0.063,-0.00029,-0.00087,-0.013,-6.7e-11,-6.3e-11,-1.6e-12,0,0,8.8e-08,0.2,0.002,0.44,0,0,0,0,0,1.3e-05,0.0031,0.0031,0.0056,25,25,8.1,0.97,0.97,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
490000,0.98,-0.0095,-0.014,0.19,0.0016,-0.0061,-0.069,2.4e-05,-0.00049,-0.011,-1.2e-08,6.5e-09,4.2e-10,0,0,1.6e-07,0.2,0.002,0.44,0,0,0,0,0,2e-05,0.0034,0.0034,0.0058,7.8,7.8,5.9,0.34,0.34,0.31,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
590000,0.98,-0.0095,-0.014,0.19,0.0014,-0.0091,-0.12,0.00018,-0.0013,-0.03,-1.4e-08,6.7e-09,4.3e-10,0,0,6.4e-07,0.2,0.002,0.44,0,0,0,0,0,2.9e-05,0.0037,0.0037,0.0062,7.9,7.9,4.2,0.67,0.67,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
690000,0.98,-0.0096,-0.014,0.19,0.0032,-0.0083,-0.05,0.00021,-0.00076,-0.0089,-5.6e-08,1.3e-08,1.6e-09,0,0,-9.5e-07,0.2,0.002,0.44,0,0,0,0,0,4e-05,0.004,0.004,0.0065,2.7,2.7,2.8,0.26,0.26,0.29,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
590000,0.98,-0.0095,-0.014,0.19,0.0014,-0.0091,-0.12,0.00018,-0.0013,-0.029,-1.4e-08,6.7e-09,4.3e-10,0,0,6.4e-07,0.2,0.002,0.44,0,0,0,0,0,2.9e-05,0.0037,0.0037,0.0062,7.9,7.9,4.2,0.67,0.67,0.32,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
690000,0.98,-0.0096,-0.014,0.19,0.0032,-0.0083,-0.05,0.00021,-0.00076,-0.0088,-5.6e-08,1.3e-08,1.6e-09,0,0,-9.5e-07,0.2,0.002,0.44,0,0,0,0,0,4e-05,0.004,0.004,0.0065,2.7,2.7,2.8,0.26,0.26,0.29,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
790000,0.98,-0.0096,-0.014,0.19,0.0059,-0.009,-0.054,0.0006,-0.0016,-0.011,-5.5e-08,1.3e-08,1.6e-09,0,0,-1.3e-06,0.2,0.002,0.44,0,0,0,0,0,5.3e-05,0.0044,0.0044,0.0069,2.8,2.8,1.9,0.42,0.42,0.27,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
890000,0.98,-0.0096,-0.015,0.19,0.006,-0.0068,-0.093,0.00052,-0.00095,-0.031,-2.2e-07,1.6e-09,4.9e-09,0,0,-3.3e-07,0.2,0.002,0.44,0,0,0,0,0,6.7e-05,0.0048,0.0048,0.0074,1.3,1.3,1.3,0.2,0.2,0.25,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
990000,0.98,-0.0096,-0.015,0.19,0.0091,-0.0071,-0.12,0.0013,-0.0017,-0.046,-2.2e-07,1.2e-09,4.9e-09,0,0,1.3e-07,0.2,0.002,0.44,0,0,0,0,0,8.3e-05,0.0053,0.0053,0.0079,1.5,1.5,0.95,0.3,0.3,0.23,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1090000,0.98,-0.0096,-0.015,0.19,0.015,-0.0083,-0.13,0.0012,-0.0011,-0.063,-6.1e-07,-1.7e-07,9.8e-09,0,0,4.4e-07,0.2,0.002,0.44,0,0,0,0,0,0.0001,0.0057,0.0057,0.0084,0.92,0.92,0.69,0.17,0.17,0.2,9.8e-07,9.8e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1090000,0.98,-0.0096,-0.015,0.19,0.015,-0.0083,-0.13,0.0012,-0.0011,-0.062,-6.1e-07,-1.7e-07,9.8e-09,0,0,4.5e-07,0.2,0.002,0.44,0,0,0,0,0,0.0001,0.0057,0.0057,0.0084,0.92,0.92,0.69,0.17,0.17,0.2,9.8e-07,9.8e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1190000,0.98,-0.0096,-0.015,0.19,0.021,-0.011,-0.11,0.003,-0.0021,-0.047,-5.8e-07,-1.5e-07,9.8e-09,0,0,-4.8e-06,0.2,0.002,0.44,0,0,0,0,0,0.00012,0.0063,0.0063,0.009,1.1,1.1,0.54,0.24,0.24,0.19,9.8e-07,9.8e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1290000,0.98,-0.0093,-0.016,0.19,0.024,-0.0097,-0.11,0.0027,-0.0016,-0.048,-1.7e-06,-1e-06,1.5e-08,0,0,-7.5e-06,0.2,0.002,0.44,0,0,0,0,0,0.00014,0.0064,0.0064,0.0097,0.88,0.88,0.41,0.15,0.15,0.18,9.5e-07,9.5e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1390000,0.98,-0.0093,-0.016,0.19,0.033,-0.012,-0.097,0.0056,-0.0027,-0.038,-1.6e-06,-9.6e-07,1.5e-08,0,0,-1.4e-05,0.2,0.002,0.44,0,0,0,0,0,0.00016,0.0071,0.0071,0.01,1.1,1.1,0.33,0.21,0.21,0.16,9.5e-07,9.5e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
@ -18,7 +18,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
1590000,0.98,-0.0091,-0.016,0.19,0.037,-0.012,-0.13,0.0077,-0.003,-0.063,-3.9e-06,-3.4e-06,1.2e-08,0,0,-1.4e-05,0.2,0.002,0.44,0,0,0,0,0,0.00022,0.0074,0.0074,0.012,1.3,1.3,0.23,0.2,0.2,0.14,8.9e-07,8.9e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
1690000,0.98,-0.0088,-0.016,0.19,0.033,-0.0083,-0.13,0.0054,-0.0019,-0.068,-7.3e-06,-7.5e-06,-3.2e-09,0,0,-1.8e-05,0.2,0.002,0.44,0,0,0,0,0,0.00024,0.0064,0.0064,0.013,1,1,0.19,0.14,0.14,0.13,7.8e-07,7.8e-07,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
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@ -174,9 +174,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -185,21 +185,21 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -304,12 +304,12 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -327,7 +327,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -338,7 +338,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -346,6 +346,6 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.011 -0.01 0.00023 0.00033 -0.00013 -0.01 1e-05 -3.8e-06 -0.00042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5.8e-07 0.0025 0.0025 0.005 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
3 90000 0.98 -0.0095 -0.012 0.18 -5.5e-05 -0.0032 -0.024 -3.6e-06 -0.00014 -0.0021 0 0 0 0 0 0 0.2 -1.4e-09 -4.7e-10 0.43 0 0 0 0 0 9e-07 0.0026 0.0026 0.0051 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 0.98 -0.0092 -0.013 0.21 -0.0013 -0.0036 -0.037 -4.4e-05 -0.00046 -0.017 5.2e-12 -4.3e-12 -3e-14 0 0 -6.8e-10 0.2 0.011 0.43 0 0 0 0 0 2.9e-06 0.0027 0.0027 0.0052 25 25 10 1e+02 1e+02 1 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 0.98 -0.0092 -0.013 0.21 -0.0016 -0.0053 -0.046 -0.00015 -0.00032 -0.018 4.4e-11 -5.5e-11 1e-13 0 0 -2.9e-08 0.2 0.011 0.43 0 0 0 0 0 7e-06 0.0029 0.0029 0.0054 25 25 9.6 0.37 0.37 0.41 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 0.98 -0.0095 -0.013 0.19 -0.00033 -0.0065 -0.063 -0.00029 -0.00087 -0.013 -6.7e-11 -6.3e-11 -1.6e-12 0 0 8.8e-08 0.2 0.002 0.44 0 0 0 0 0 1.3e-05 0.0031 0.0031 0.0056 25 25 8.1 0.97 0.97 0.32 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
7 490000 0.98 -0.0095 -0.014 0.19 0.0016 -0.0061 -0.069 2.4e-05 -0.00049 -0.011 -1.2e-08 6.5e-09 4.2e-10 0 0 1.6e-07 0.2 0.002 0.44 0 0 0 0 0 2e-05 0.0034 0.0034 0.0058 7.8 7.8 5.9 0.34 0.34 0.31 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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11 890000 0.98 -0.0096 -0.015 0.19 0.006 -0.0068 -0.093 0.00052 -0.00095 -0.031 -2.2e-07 1.6e-09 4.9e-09 0 0 -3.3e-07 0.2 0.002 0.44 0 0 0 0 0 6.7e-05 0.0048 0.0048 0.0074 1.3 1.3 1.3 0.2 0.2 0.25 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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