{ "schema": "kinwit.timeline.v1", "case_id": "SIM-2026-0003", "scenario_id": "s01-large-offset", "engine": "kinwit-facts/0.1.0", "shared_clock": "ROBOT_ROS_TIME", "record_start_ns": "1793697240000000000", "record_end_ns": "1793697254000032021", "duration_ms": 14000.032, "clock_model": { "status": "CALIBRATED", "t_ref_ns": "1793697240119868109", "samples_used": 56, "samples": [ { "seq": 0, "t0_rel_ns": 0, "t3_rel_ns": 1909140, "offset_ns": -1812376179, "delay_ns": 1790140, "lower_ns": -1813332249, "upper_ns": -1811420109 }, { "seq": 1, "t0_rel_ns": 253175450, "t3_rel_ns": 255374813, "offset_ns": -1812744240, "delay_ns": 1919363, "lower_ns": -1813764922, "upper_ns": -1811723559 }, { "seq": 2, "t0_rel_ns": 504082500, "t3_rel_ns": 507617664, "offset_ns": -1811559691, "delay_ns": 3386164, "lower_ns": -1813313773, "upper_ns": -1809805609 }, { "seq": 3, "t0_rel_ns": 754572696, "t3_rel_ns": 758159541, "offset_ns": -1813593727, "delay_ns": 3331845, "lower_ns": -1815320650, "upper_ns": -1811866805 }, { "seq": 4, "t0_rel_ns": 1000933747, "t3_rel_ns": 1004078010, "offset_ns": -1812880987, "delay_ns": 2986263, "lower_ns": -1814435119, "upper_ns": -1811326856 }, { "seq": 5, "t0_rel_ns": 1250098359, "t3_rel_ns": 1254068902, "offset_ns": -1812799739, "delay_ns": 3830543, "lower_ns": -1814776011, "upper_ns": -1810823468 }, { "seq": 6, "t0_rel_ns": 1500561800, "t3_rel_ns": 1503088327, "offset_ns": -1812185672, "delay_ns": 2435527, "lower_ns": -1813464436, "upper_ns": -1810906909 }, { "seq": 7, "t0_rel_ns": 1745592255, "t3_rel_ns": 1747358031, "offset_ns": -1812327252, "delay_ns": 1605776, "lower_ns": -1813191140, "upper_ns": -1811463364 }, { "seq": 8, "t0_rel_ns": 2002205266, "t3_rel_ns": 2016270025, "offset_ns": -1806644254, "delay_ns": 13941759, "lower_ns": -1813676134, "upper_ns": -1799612375 }, { "seq": 9, "t0_rel_ns": 2247471192, "t3_rel_ns": 2251917084, "offset_ns": -1812631747, "delay_ns": 4324892, "lower_ns": -1814855193, "upper_ns": -1810408301 }, { "seq": 10, "t0_rel_ns": 2499749383, "t3_rel_ns": 2502829742, "offset_ns": -1813177171, "delay_ns": 2977359, "lower_ns": -1814726851, "upper_ns": -1811627492 }, { "seq": 11, "t0_rel_ns": 2749933698, "t3_rel_ns": 2752849362, "offset_ns": -1812438139, "delay_ns": 2804664, "lower_ns": -1813901471, "upper_ns": -1810974807 }, { "seq": 12, "t0_rel_ns": 2996902734, "t3_rel_ns": 3001730802, "offset_ns": -1811218377, "delay_ns": 4535068, "lower_ns": -1813546911, "upper_ns": -1808889843 }, { "seq": 13, "t0_rel_ns": 3254513573, "t3_rel_ns": 3257601765, "offset_ns": -1812450278, "delay_ns": 2907192, "lower_ns": -1813964874, "upper_ns": -1810935682 }, { "seq": 14, "t0_rel_ns": 3503125166, "t3_rel_ns": 3505410911, "offset_ns": -1812906147, "delay_ns": 2121745, "lower_ns": -1814028020, "upper_ns": -1811784275 }, { "seq": 15, "t0_rel_ns": 3750699301, "t3_rel_ns": 3753527878, "offset_ns": -1813140198, "delay_ns": 2673577, "lower_ns": -1814537987, "upper_ns": -1811742410 }, { "seq": 16, "t0_rel_ns": 4000570861, "t3_rel_ns": 4007234445, "offset_ns": -1813067262, "delay_ns": 6434584, "lower_ns": -1816345554, "upper_ns": -1809788970 }, { "seq": 17, "t0_rel_ns": 4248887920, "t3_rel_ns": 4266073281, "offset_ns": -1820422209, "delay_ns": 17106361, "lower_ns": -1829036390, "upper_ns": -1811808029 }, { "seq": 18, "t0_rel_ns": 4502915781, "t3_rel_ns": 4505709711, "offset_ns": -1813067355, "delay_ns": 2704930, "lower_ns": -1814480820, "upper_ns": -1811653890 }, { "seq": 19, "t0_rel_ns": 4754639089, "t3_rel_ns": 4757824527, "offset_ns": -1811986917, "delay_ns": 3087438, "lower_ns": -1813591636, "upper_ns": -1810382198 }, { "seq": 20, "t0_rel_ns": 5003392102, "t3_rel_ns": 5017807246, "offset_ns": -1817491783, "delay_ns": 14333144, "lower_ns": -1824719355, "upper_ns": -1810264211 }, { "seq": 21, "t0_rel_ns": 5245787033, "t3_rel_ns": 5248859520, "offset_ns": -1812990885, "delay_ns": 2789487, "lower_ns": -1814446629, "upper_ns": -1811535142 }, { "seq": 22, "t0_rel_ns": 5501958380, "t3_rel_ns": 5519508842, "offset_ns": -1820500220, "delay_ns": 17333462, "lower_ns": -1829227951, "upper_ns": -1811772489 }, { "seq": 23, "t0_rel_ns": 5750239219, "t3_rel_ns": 5755752582, "offset_ns": -1812165009, "delay_ns": 5461363, "lower_ns": -1814956691, "upper_ns": -1809373328 }, { "seq": 24, "t0_rel_ns": 6000751735, "t3_rel_ns": 6005976005, "offset_ns": -1813995479, "delay_ns": 5125270, "lower_ns": -1816619114, "upper_ns": -1811371844 }, { "seq": 25, "t0_rel_ns": 6247304385, "t3_rel_ns": 6248585531, "offset_ns": -1812480067, "delay_ns": 1103146, "lower_ns": -1813092640, "upper_ns": -1811867494 }, { "seq": 26, "t0_rel_ns": 6496789891, "t3_rel_ns": 6499275826, "offset_ns": -1812735467, "delay_ns": 2396935, "lower_ns": -1813994935, "upper_ns": -1811476000 }, { "seq": 27, "t0_rel_ns": 6748816638, "t3_rel_ns": 6752341542, "offset_ns": -1812928699, "delay_ns": 3233904, "lower_ns": -1814606651, "upper_ns": -1811250747 }, { "seq": 28, "t0_rel_ns": 6996369495, "t3_rel_ns": 7000897266, "offset_ns": -1812914989, "delay_ns": 4444771, "lower_ns": -1815198375, "upper_ns": -1810631604 }, { "seq": 29, "t0_rel_ns": 7253946834, "t3_rel_ns": 7255773698, "offset_ns": -1812662875, "delay_ns": 1617864, "lower_ns": -1813532807, "upper_ns": -1811792943 }, { "seq": 30, "t0_rel_ns": 7495502994, "t3_rel_ns": 7500110271, "offset_ns": -1812649241, "delay_ns": 4328277, "lower_ns": -1814874380, "upper_ns": -1810424103 }, { "seq": 31, "t0_rel_ns": 7754953291, "t3_rel_ns": 7759225482, "offset_ns": -1813373995, "delay_ns": 4023191, "lower_ns": -1815446591, "upper_ns": -1811301400 }, { "seq": 32, "t0_rel_ns": 8002595879, "t3_rel_ns": 8004334394, "offset_ns": -1812551745, "delay_ns": 1447515, "lower_ns": -1813336503, "upper_ns": -1811766988 }, { "seq": 33, "t0_rel_ns": 8254017650, "t3_rel_ns": 8256605344, "offset_ns": -1812697606, "delay_ns": 2443694, "lower_ns": -1813980453, "upper_ns": -1811414759 }, { "seq": 34, "t0_rel_ns": 8503852060, "t3_rel_ns": 8506753758, "offset_ns": -1812338518, "delay_ns": 2652698, "lower_ns": -1813725867, "upper_ns": -1810951169 }, { "seq": 35, "t0_rel_ns": 8748063241, "t3_rel_ns": 8749996771, "offset_ns": -1812373115, "delay_ns": 1667530, "lower_ns": -1813267880, "upper_ns": -1811478350 }, { "seq": 36, "t0_rel_ns": 9004413683, "t3_rel_ns": 9006140006, "offset_ns": -1812758453, "delay_ns": 1497323, "lower_ns": -1813568115, "upper_ns": -1811948792 }, { "seq": 37, "t0_rel_ns": 9249304943, "t3_rel_ns": 9259131556, "offset_ns": -1809344858, "delay_ns": 9685613, "lower_ns": -1814248665, "upper_ns": -1804441052 }, { "seq": 38, "t0_rel_ns": 9500054988, "t3_rel_ns": 9503581257, "offset_ns": -1812446231, "delay_ns": 3292269, "lower_ns": -1814153366, "upper_ns": -1810739097 }, { "seq": 39, "t0_rel_ns": 9745443382, "t3_rel_ns": 9748633282, "offset_ns": -1813060941, "delay_ns": 2954900, "lower_ns": -1814599391, "upper_ns": -1811522491 }, { "seq": 40, "t0_rel_ns": 10000482035, "t3_rel_ns": 10003842909, "offset_ns": -1811590081, "delay_ns": 3275874, "lower_ns": -1813289018, "upper_ns": -1809891144 }, { "seq": 41, "t0_rel_ns": 10253970637, "t3_rel_ns": 10259300910, "offset_ns": -1813379882, "delay_ns": 5066273, "lower_ns": -1815974019, "upper_ns": -1810785746 }, { "seq": 42, "t0_rel_ns": 10501295792, "t3_rel_ns": 10503636561, "offset_ns": -1813092785, "delay_ns": 2049769, "lower_ns": -1814178670, "upper_ns": -1812006901 }, { "seq": 43, "t0_rel_ns": 10746584603, "t3_rel_ns": 10755816600, "offset_ns": -1815554710, "delay_ns": 9015997, "lower_ns": -1820123709, "upper_ns": -1810985712 }, { "seq": 44, "t0_rel_ns": 11000762100, "t3_rel_ns": 11003822971, "offset_ns": -1813484144, "delay_ns": 2833871, "lower_ns": -1814962080, "upper_ns": -1812006209 }, { "seq": 45, "t0_rel_ns": 11248698682, "t3_rel_ns": 11251289818, "offset_ns": -1811970859, "delay_ns": 2388136, "lower_ns": -1813225927, "upper_ns": -1810715791 }, { "seq": 46, "t0_rel_ns": 11498108827, "t3_rel_ns": 11501410032, "offset_ns": -1813755538, "delay_ns": 3211205, "lower_ns": -1815422141, "upper_ns": -1812088936 }, { "seq": 47, "t0_rel_ns": 11752438731, "t3_rel_ns": 11756169400, "offset_ns": -1813633174, "delay_ns": 3458669, "lower_ns": -1815423509, "upper_ns": -1811842840 }, { "seq": 48, "t0_rel_ns": 12001776955, "t3_rel_ns": 12005850826, "offset_ns": -1814133999, "delay_ns": 3857871, "lower_ns": -1816123935, "upper_ns": -1812144064 }, { "seq": 49, "t0_rel_ns": 12245159255, "t3_rel_ns": 12249561195, "offset_ns": -1813040334, "delay_ns": 4247940, "lower_ns": -1815225304, "upper_ns": -1810855364 }, { "seq": 50, "t0_rel_ns": 12497326472, "t3_rel_ns": 12506882773, "offset_ns": -1816400231, "delay_ns": 9463301, "lower_ns": -1821192882, "upper_ns": -1811607581 }, { "seq": 51, "t0_rel_ns": 12747331312, "t3_rel_ns": 12750066832, "offset_ns": -1813082681, "delay_ns": 2556520, "lower_ns": -1814421941, "upper_ns": -1811743421 }, { "seq": 52, "t0_rel_ns": 13000613444, "t3_rel_ns": 13002988786, "offset_ns": -1812983724, "delay_ns": 2100342, "lower_ns": -1814094895, "upper_ns": -1811872553 }, { "seq": 53, "t0_rel_ns": 13249992571, "t3_rel_ns": 13259997138, "offset_ns": -1816885963, "delay_ns": 9904567, "lower_ns": -1821899247, "upper_ns": -1811872680 }, { "seq": 54, "t0_rel_ns": 13504836720, "t3_rel_ns": 13506804677, "offset_ns": -1812709307, "delay_ns": 1836957, "lower_ns": -1813688786, "upper_ns": -1811729829 }, { "seq": 55, "t0_rel_ns": 13754099508, "t3_rel_ns": 13755944353, "offset_ns": -1812460039, "delay_ns": 1578845, "lower_ns": -1813310462, "upper_ns": -1811609617 } ], "polygon": [ { "a_ns": -1811783018.136, "b_ppm": -111.038823 }, { "a_ns": -1811848203.749, "b_ppm": -24.651371 }, { "a_ns": -1813332438.036, "b_ppm": 99.016507 }, { "a_ns": -1813332403.342, "b_ppm": 80.84396 }, { "a_ns": -1813229377.296, "b_ppm": 21.88292 }, { "a_ns": -1812926158.999, "b_ppm": -26.64299 }, { "a_ns": -1812846182.899, "b_ppm": -33.751162 } ], "skew_ppm_interval": [ -111.039, 99.017 ], "ls_estimate": { "a_ns": -1812545988, "b_ppm": -7.051, "samples": 14 }, "bounds": { "robot_jitter_ns": 50000, "facility_jitter_ns": 10000, "facility_resolution_ns": 1000, "max_skew_ppm": 200 }, "assumptions": [ { "id": "A1", "text": "One-way network delays are non-negative (messages cannot arrive before they are sent)." }, { "id": "A2", "text": "The facility clock runs at a constant rate relative to the robot clock within the record window, with |skew| ≤ 200 ppm." }, { "id": "A3", "text": "Logged sync timestamps are within each source's declared jitter and resolution of the true send/receive instants." } ] }, "events": [ { "event_id": "E-001", "type": "NAV_GOAL_ACCEPTED", "label": "Navigation goal accepted", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697240150031681", "native_lo_ns": "1793697240149981681", "native_hi_ns": "1793697240150081681", "aligned_lo_ns": "1793697240149981681", "aligned_hi_ns": "1793697240150081681", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 0, "byte_start": 21289, "byte_end": 21353, "merkle_leaves": [ 0 ] }, "payload": { "status": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 149.982, "mid": 150.032, "hi": 150.082 } }, { "event_id": "E-002", "type": "NAV_GOAL_EXECUTING", "label": "Navigation goal executing", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697240200002895", "native_lo_ns": "1793697240199952895", "native_hi_ns": "1793697240200052895", "aligned_lo_ns": "1793697240199952895", "aligned_hi_ns": "1793697240200052895", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 1, "byte_start": 23125, "byte_end": 23189, "merkle_leaves": [ 0 ] }, "payload": { "status": 2 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 199.953, "mid": 200.003, "hi": 200.053 } }, { "event_id": "E-003", "type": "FACILITY_SAFETY_INPUT_OPEN", "label": "Facility controller records zone safety input ESTOP-ZONE-B2 open", "source_id": "facility-controller-sim", "clock_domain": "FACILITY_PLC_CLOCK", "raw_timestamp_ns": "1793697249189356000", "native_lo_ns": "1793697249185345000", "native_hi_ns": "1793697249189367000", "aligned_lo_ns": "1793697250997461351", "aligned_hi_ns": "1793697251002583108", "timing_basis": "PLC scan timestamp: the input change happened up to one 4 ms scan earlier; mapped to the robot clock through the evidence-derived clock model", "locator": { "kind": "jsonl_line", "file": "raw/facility_controller.jsonl", "line": 57, "seq": 56, "byte_start": 19813, "byte_end": 20233, "merkle_leaves": [ 0 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "zone_id": "ZONE-B2", "state": "OPEN", "input_kind": "zone_safety_input" }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 10997.461, "mid": 11000.022, "hi": 11002.583 } }, { "event_id": "E-004", "type": "FACILITY_STOP_BROADCAST", "label": "Facility controller broadcasts stop request to zone approach group", "source_id": "facility-controller-sim", "clock_domain": "FACILITY_PLC_CLOCK", "raw_timestamp_ns": "1793697249189969000", "native_lo_ns": "1793697249189958000", "native_hi_ns": "1793697249189980000", "aligned_lo_ns": "1793697251002074465", "aligned_hi_ns": "1793697251003196124", "timing_basis": "send timestamp ± facility jitter and resolution; mapped to the robot clock through the evidence-derived clock model", "locator": { "kind": "jsonl_line", "file": "raw/facility_controller.jsonl", "line": 58, "seq": 57, "byte_start": 20234, "byte_end": 20582, "merkle_leaves": [ 0 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "target_group": "zone-B2-approach", "assets": [ "SIM-AMR-01" ], "stop_category_requested": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11002.074, "mid": 11002.635, "hi": 11003.196 } }, { "event_id": "E-005", "type": "ROBOT_SAFETY_STOP_INPUT", "label": "Robot safety I/O registers external stop input", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251020000000", "native_lo_ns": "1793697251014950000", "native_hi_ns": "1793697251020050000", "aligned_lo_ns": "1793697251014950000", "aligned_hi_ns": "1793697251020050000", "timing_basis": "input sampled by a 200 Hz poll: true arrival within one poll period before the stamp, ± jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/safety/stop_input", "topic_index": 0, "byte_start": 1030774, "byte_end": 1030883, "merkle_leaves": [ 15 ] }, "payload": { "channel": "ESTOP-ZONE-B2", "asserted": true, "io_path": "facility_safety_link/di_3" }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11014.95, "mid": 11017.5, "hi": 11020.05 } }, { "event_id": "E-006", "type": "ROBOT_STOP_CAT1_STARTED", "label": "Robot safety controller starts Category-1 controlled stop", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251020100000", "native_lo_ns": "1793697251020050000", "native_hi_ns": "1793697251020150000", "aligned_lo_ns": "1793697251020050000", "aligned_hi_ns": "1793697251020150000", "timing_basis": "header stamp ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/safety/state", "topic_index": 0, "byte_start": 1032300, "byte_end": 1032380, "merkle_leaves": [ 15 ] }, "payload": { "state": "STOP_CAT1_DECEL", "stop_category": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11020.05, "mid": 11020.1, "hi": 11020.15 } }, { "event_id": "E-007", "type": "NAV_GOAL_ABORTED", "label": "Navigation goal aborted", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251049994900", "native_lo_ns": "1793697251049944900", "native_hi_ns": "1793697251050044900", "aligned_lo_ns": "1793697251049944900", "aligned_hi_ns": "1793697251050044900", "timing_basis": "status publish time ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/navigate_to_pose/_action/status", "topic_index": 2, "byte_start": 1033266, "byte_end": 1033330, "merkle_leaves": [ 15 ] }, "payload": { "status": 6 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11049.945, "mid": 11049.995, "hi": 11050.045 } }, { "event_id": "E-008", "type": "ROBOT_STOP_COMMAND", "label": "Zero velocity command recorded on /cmd_vel", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251050000000", "native_lo_ns": "1793697251050000000", "native_hi_ns": "1793697251050000000", "aligned_lo_ns": "1793697251050000000", "aligned_hi_ns": "1793697251050000000", "timing_basis": "MCAP publish time (Twist carries no header stamp)", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/cmd_vel", "topic_index": 217, "byte_start": 1033330, "byte_end": 1033413, "merkle_leaves": [ 15 ] }, "payload": { "linear_x_mps": 0, "angular_z_radps": 0 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11050, "mid": 11050, "hi": 11050 } }, { "event_id": "E-009", "type": "ROBOT_REPORTED_STATIONARY", "label": "Odometry reports speed < 0.01 m/s held ≥ 200 ms", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697251939968848", "native_lo_ns": "1793697251919926351", "native_hi_ns": "1793697251940018848", "aligned_lo_ns": "1793697251919926351", "aligned_hi_ns": "1793697251940018848", "timing_basis": "threshold crossing lies between the previous odometry sample and this one, ± jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/odom", "topic_index": 597, "byte_start": 1113911, "byte_end": 1114666, "merkle_leaves": [ 16, 17 ] }, "payload": { "speed_mps": 0.007206, "previous_sample_speed_mps": 0.014508, "threshold_mps": 0.01, "hold_ms": 200 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 11919.926, "mid": 11929.973, "hi": 11940.019 } }, { "event_id": "E-010", "type": "ROBOT_POWER_REMOVED", "label": "Robot safety controller reports drive power removed", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "raw_timestamp_ns": "1793697252140000000", "native_lo_ns": "1793697252139950000", "native_hi_ns": "1793697252140050000", "aligned_lo_ns": "1793697252139950000", "aligned_hi_ns": "1793697252140050000", "timing_basis": "header stamp ± robot timestamp jitter", "locator": { "kind": "mcap_message", "file": "raw/robot_navigation.mcap", "topic": "/safety/state", "topic_index": 1, "byte_start": 1132024, "byte_end": 1132110, "merkle_leaves": [ 17 ] }, "payload": { "state": "STOPPED_POWER_REMOVED", "stop_category": 1 }, "provenance_kind": "observed_record", "simulated": true, "t_rel_ms": { "lo": 12139.95, "mid": 12140, "hi": 12140.05 } } ], "series": { "odom_columns": [ "t_ms", "x_m", "y_m", "yaw_rad", "v_mps" ], "odom": [ [ 0.036, 1.3, 1.6, 0, 0 ], [ 20.031, 1.3, 1.6, 0, 0 ], [ 39.954, 1.3, 1.6, 0, 0 ], [ 59.957, 1.3, 1.6, 0, 0 ], [ 80.049, 1.3, 1.6, 0, 0 ], [ 99.992, 1.3, 1.6, 0, 0 ], [ 119.992, 1.3, 1.6, 0, 0 ], [ 139.977, 1.3, 1.6, 0, 0 ], [ 159.974, 1.3, 1.6, 0, 0 ], [ 179.957, 1.3, 1.6, 0, 0 ], [ 200.029, 1.3, 1.6, 0, -0.0007 ], [ 220.043, 1.3, 1.6, 0, 0.0054 ], [ 240.005, 1.3001, 1.6, 0, 0.0133 ], [ 259.986, 1.3004, 1.6, 0, 0.0215 ], [ 280.01, 1.3008, 1.6, 0, 0.0285 ], [ 299.956, 1.3014, 1.6, 0, 0.0326 ], [ 320.023, 1.302, 1.6, 0, 0.0458 ], [ 340.04, 1.3029, 1.6, 0, 0.057 ], [ 360.011, 1.3041, 1.6, 0, 0.0629 ], [ 380.003, 1.3053, 1.6, 0, 0.076 ], [ 399.966, 1.3068, 1.6, 0, 0.079 ], [ 419.972, 1.3084, 1.6, 0, 0.0961 ], [ 439.961, 1.3103, 1.6, 0, 0.1005 ], [ 460.044, 1.3124, 1.6, 0, 0.1156 ], [ 479.999, 1.3147, 1.6, 0, 0.1189 ], [ 499.952, 1.317, 1.6, 0, 0.137 ], [ 520.046, 1.3198, 1.6, 0, 0.1447 ], [ 540.045, 1.3227, 1.6, 0, 0.151 ], [ 560.015, 1.3257, 1.6, 0, 0.1636 ], [ 579.991, 1.329, 1.6, 0, 0.1701 ], [ 600.01, 1.3324, 1.6, 0, 0.1838 ], [ 619.99, 1.336, 1.6, 0, 0.1928 ], [ 640.011, 1.3399, 1.6, 0, 0.2023 ], [ 659.967, 1.3439, 1.6, 0, 0.2075 ], [ 680.021, 1.3481, 1.6, 0, 0.2215 ], [ 700.049, 1.3525, 1.6, 0, 0.2318 ], [ 719.983, 1.3572, 1.6, 0, 0.2441 ], [ 740.028, 1.362, 1.6, 0, 0.2515 ], [ 759.963, 1.3671, 1.6, 0, 0.2641 ], [ 780.038, 1.3724, 1.6, 0, 0.2774 ], [ 799.984, 1.3779, 1.6, 0, 0.2789 ], [ 820.043, 1.3835, 1.6, 0, 0.2916 ], [ 839.994, 1.3893, 1.6, 0, 0.2977 ], [ 859.991, 1.3953, 1.6, 0, 0.3158 ], [ 880.029, 1.4016, 1.6, 0, 0.3199 ], [ 900.046, 1.408, 1.6, 0, 0.3287 ], [ 920.046, 1.4146, 1.6, 0, 0.3467 ], [ 939.962, 1.4215, 1.6, 0, 0.3545 ], [ 960.019, 1.4286, 1.6, 0, 0.3613 ], [ 979.961, 1.4358, 1.6, 0, 0.3736 ], [ 1000.031, 1.4433, 1.6, 0, 0.3849 ], [ 1020.037, 1.451, 1.6, 0, 0.3943 ], [ 1039.985, 1.4589, 1.6, 0, 0.4017 ], [ 1060.022, 1.4669, 1.6, 0, 0.4177 ], [ 1079.956, 1.4753, 1.6, 0, 0.427 ], [ 1099.956, 1.4838, 1.6, 0, 0.4289 ], [ 1120.011, 1.4924, 1.6, 0, 0.4465 ], [ 1140.02, 1.5013, 1.6, 0, 0.45 ], [ 1160.04, 1.5103, 1.6, 0, 0.4617 ], [ 1179.978, 1.5195, 1.6, 0, 0.4721 ], [ 1199.973, 1.529, 1.6, 0, 0.4814 ], [ 1220.019, 1.5386, 1.6, 0, 0.4947 ], [ 1239.978, 1.5485, 1.6, 0, 0.4993 ], [ 1260.023, 1.5585, 1.6, 0, 0.5149 ], [ 1280.049, 1.5688, 1.6, 0, 0.5275 ], [ 1300.025, 1.5793, 1.6, 0, 0.5264 ], [ 1320.032, 1.5899, 1.6, 0, 0.5448 ], [ 1340.022, 1.6008, 1.6, 0, 0.5499 ], [ 1359.984, 1.6117, 1.6, 0, 0.5658 ], [ 1379.964, 1.6231, 1.6, 0, 0.5724 ], [ 1399.999, 1.6345, 1.6, 0, 0.5811 ], [ 1419.967, 1.6461, 1.6, 0, 0.5942 ], [ 1440.023, 1.658, 1.6, 0, 0.6035 ], [ 1460.045, 1.6701, 1.6, 0, 0.6108 ], [ 1480.023, 1.6823, 1.6, 0, 0.6255 ], [ 1499.962, 1.6948, 1.6, 0, 0.6342 ], [ 1520, 1.7075, 1.6, -0.0001, 0.6452 ], [ 1540.016, 1.7204, 1.6, 0.0007, 0.6583 ], [ 1560.026, 1.7336, 1.6, 0.0021, 0.6666 ], [ 1579.99, 1.7469, 1.6001, 0.0043, 0.6747 ], [ 1600.019, 1.7604, 1.6001, 0.0075, 0.683 ], [ 1619.968, 1.7741, 1.6003, 0.0115, 0.6964 ], [ 1640.01, 1.788, 1.6005, 0.0169, 0.7006 ], [ 1659.976, 1.802, 1.6007, 0.0232, 0.7098 ], [ 1680.024, 1.8162, 1.6011, 0.0307, 0.7202 ], [ 1699.953, 1.8306, 1.6016, 0.0394, 0.729 ], [ 1719.98, 1.8451, 1.6023, 0.0492, 0.7413 ], [ 1739.99, 1.8599, 1.6031, 0.0602, 0.751 ], [ 1760.015, 1.8749, 1.6041, 0.0723, 0.7663 ], [ 1779.98, 1.8902, 1.6053, 0.0857, 0.7773 ], [ 1799.998, 1.9057, 1.6067, 0.1004, 0.7875 ], [ 1820.021, 1.9213, 1.6084, 0.1158, 0.7959 ], [ 1839.994, 1.9371, 1.6104, 0.1324, 0.807 ], [ 1859.987, 1.9531, 1.6126, 0.1498, 0.8119 ], [ 1879.982, 1.9692, 1.6152, 0.1682, 0.8219 ], [ 1899.994, 1.9853, 1.6181, 0.1873, 0.8273 ], [ 1920.038, 2.0016, 1.6213, 0.207, 0.843 ], [ 1940.006, 2.018, 1.6249, 0.2277, 0.8483 ], [ 1959.982, 2.0345, 1.6289, 0.2491, 0.8658 ], [ 1980.028, 2.0512, 1.6334, 0.2714, 0.8739 ], [ 2000.036, 2.068, 1.6383, 0.2945, 0.8825 ], [ 2019.982, 2.0849, 1.6436, 0.318, 0.8949 ], [ 2039.981, 2.1018, 1.6494, 0.3424, 0.9029 ], [ 2060.02, 2.1187, 1.6556, 0.3673, 0.9153 ], [ 2080.025, 2.1357, 1.6624, 0.3929, 0.9219 ], [ 2100.012, 2.1527, 1.6697, 0.4187, 0.9299 ], [ 2120.02, 2.1696, 1.6775, 0.4447, 0.9431 ], [ 2139.988, 2.1865, 1.6858, 0.4708, 0.9557 ], [ 2160.04, 2.2034, 1.6947, 0.4971, 0.9666 ], [ 2179.982, 2.2203, 1.7041, 0.5236, 0.9732 ], [ 2200.007, 2.237, 1.714, 0.5501, 0.9807 ], [ 2219.982, 2.2536, 1.7245, 0.5766, 0.9967 ], [ 2239.959, 2.2702, 1.7356, 0.6032, 1.0006 ], [ 2260.037, 2.2865, 1.7471, 0.6297, 1.0065 ], [ 2280.019, 2.3027, 1.7592, 0.6562, 1.0175 ], [ 2299.975, 2.3186, 1.7718, 0.6829, 1.0186 ], [ 2319.984, 2.3343, 1.7849, 0.7095, 1.0237 ], [ 2339.956, 2.3496, 1.7984, 0.7362, 1.022 ], [ 2360.047, 2.3646, 1.8123, 0.763, 1.0237 ], [ 2380.009, 2.3792, 1.8266, 0.7896, 1.0232 ], [ 2400.048, 2.3934, 1.8414, 0.8162, 1.022 ], [ 2419.956, 2.4072, 1.8564, 0.8428, 1.0279 ], [ 2439.957, 2.4207, 1.8719, 0.8687, 1.0292 ], [ 2459.978, 2.4338, 1.8878, 0.8943, 1.0439 ], [ 2479.963, 2.4467, 1.9042, 0.9192, 1.0477 ], [ 2499.989, 2.4592, 1.9211, 0.9436, 1.0572 ], [ 2519.968, 2.4714, 1.9383, 0.9679, 1.065 ], [ 2539.95, 2.4833, 1.956, 0.9913, 1.0682 ], [ 2559.99, 2.4948, 1.974, 1.0143, 1.0847 ], [ 2579.955, 2.5061, 1.9925, 1.037, 1.0972 ], [ 2599.966, 2.517, 2.0115, 1.0591, 1.1024 ], [ 2619.956, 2.5276, 2.0309, 1.0808, 1.1132 ], [ 2640.046, 2.5379, 2.0506, 1.1018, 1.125 ], [ 2659.956, 2.5479, 2.0708, 1.1225, 1.1275 ], [ 2679.986, 2.5575, 2.0912, 1.1426, 1.1462 ], [ 2700.025, 2.5668, 2.1122, 1.1623, 1.1463 ], [ 2720.043, 2.5757, 2.1333, 1.1817, 1.1618 ], [ 2739.967, 2.5843, 2.1549, 1.2005, 1.1754 ], [ 2760.016, 2.5926, 2.1768, 1.2189, 1.18 ], [ 2779.955, 2.6006, 2.1991, 1.2367, 1.1838 ], [ 2800.023, 2.6082, 2.2215, 1.2543, 1.1915 ], [ 2820.049, 2.6154, 2.2442, 1.2712, 1.1938 ], [ 2840.05, 2.6223, 2.2671, 1.2877, 1.1964 ], [ 2859.984, 2.6288, 2.2901, 1.3037, 1.1949 ], [ 2879.971, 2.6349, 2.3132, 1.3192, 1.1964 ], [ 2899.956, 2.6407, 2.3364, 1.3342, 1.1986 ], [ 2919.951, 2.6462, 2.3597, 1.349, 1.1983 ], [ 2940.041, 2.6513, 2.3832, 1.3632, 1.2018 ], [ 2960.004, 2.6561, 2.4067, 1.3771, 1.1965 ], [ 2979.991, 2.6605, 2.4302, 1.3905, 1.2028 ], [ 2999.966, 2.6647, 2.4539, 1.4035, 1.202 ], [ 3019.984, 2.6686, 2.4776, 1.416, 1.2002 ], [ 3039.984, 2.6721, 2.5014, 1.428, 1.2027 ], [ 3060.046, 2.6754, 2.5252, 1.4396, 1.1993 ], [ 3080.004, 2.6784, 2.549, 1.4508, 1.203 ], [ 3100, 2.6812, 2.5729, 1.4617, 1.2013 ], [ 3120.023, 2.6837, 2.5968, 1.4721, 1.2024 ], [ 3140.026, 2.6859, 2.6207, 1.482, 1.2026 ], [ 3160.033, 2.688, 2.6447, 1.4918, 1.2037 ], [ 3180.034, 2.6898, 2.6687, 1.5011, 1.1998 ], [ 3199.981, 2.6913, 2.6927, 1.51, 1.1967 ], [ 3220.05, 2.6927, 2.7166, 1.5186, 1.2008 ], [ 3240.04, 2.6938, 2.7405, 1.5269, 1.1974 ], [ 3259.989, 2.6948, 2.7645, 1.5348, 1.2005 ], [ 3279.977, 2.6956, 2.7885, 1.5422, 1.1998 ], [ 3300.017, 2.6962, 2.8125, 1.5493, 1.1968 ], [ 3319.986, 2.6966, 2.8364, 1.5562, 1.2002 ], [ 3340.009, 2.6969, 2.8604, 1.5626, 1.1995 ], [ 3359.968, 2.697, 2.8844, 1.5688, 1.1987 ], [ 3379.994, 2.697, 2.9084, 1.5746, 1.2006 ], [ 3399.984, 2.6969, 2.9324, 1.5801, 1.1996 ], [ 3419.955, 2.6966, 2.9564, 1.5854, 1.1987 ], [ 3440.046, 2.6962, 2.9803, 1.5901, 1.195 ], [ 3459.979, 2.6957, 3.0042, 1.5948, 1.2011 ], [ 3479.975, 2.695, 3.0282, 1.5991, 1.2021 ], [ 3499.98, 2.6943, 3.0523, 1.6031, 1.1991 ], [ 3520.01, 2.6935, 3.0762, 1.6068, 1.2035 ], [ 3539.978, 2.6926, 3.1003, 1.6104, 1.2025 ], [ 3559.994, 2.6916, 3.1243, 1.6137, 1.196 ], [ 3579.956, 2.6905, 3.1482, 1.6169, 1.2019 ], [ 3599.962, 2.6894, 3.1722, 1.6197, 1.1994 ], [ 3619.995, 2.6882, 3.1962, 1.6224, 1.1991 ], [ 3640.048, 2.6869, 3.2201, 1.6248, 1.1957 ], [ 3660.042, 2.6856, 3.244, 1.6273, 1.2005 ], [ 3679.988, 2.6842, 3.268, 1.6293, 1.1951 ], [ 3699.99, 2.6828, 3.2918, 1.6312, 1.197 ], [ 3719.982, 2.6813, 3.3157, 1.6328, 1.2033 ], [ 3740.013, 2.6798, 3.3398, 1.6343, 1.2006 ], [ 3759.969, 2.6783, 3.3637, 1.6357, 1.1986 ], [ 3780.037, 2.6767, 3.3876, 1.6369, 1.1991 ], [ 3799.959, 2.6751, 3.4116, 1.6378, 1.2015 ], [ 3820.037, 2.6735, 3.4355, 1.6387, 1.2007 ], [ 3840.021, 2.6719, 3.4595, 1.6394, 1.2018 ], [ 3860.008, 2.6702, 3.4835, 1.64, 1.2054 ], [ 3879.95, 2.6686, 3.5075, 1.6403, 1.1979 ], [ 3899.98, 2.6669, 3.5314, 1.6405, 1.2025 ], [ 3919.982, 2.6652, 3.5554, 1.6407, 1.2037 ], [ 3939.961, 2.6635, 3.5794, 1.6408, 1.1997 ], [ 3959.997, 2.6618, 3.6034, 1.6407, 1.2025 ], [ 3980.033, 2.6602, 3.6274, 1.6406, 1.1969 ], [ 4000.047, 2.6585, 3.6512, 1.6403, 1.1991 ], [ 4019.995, 2.6568, 3.6752, 1.64, 1.1991 ], [ 4039.994, 2.6552, 3.6991, 1.6395, 1.2077 ], [ 4060.011, 2.6535, 3.7232, 1.6391, 1.2024 ], [ 4079.958, 2.6519, 3.7472, 1.6386, 1.2009 ], [ 4099.971, 2.6503, 3.7711, 1.638, 1.1947 ], [ 4120.026, 2.6487, 3.795, 1.6373, 1.2007 ], [ 4140.015, 2.6471, 3.8189, 1.6365, 1.2047 ], [ 4159.983, 2.6455, 3.843, 1.6357, 1.2012 ], [ 4180.005, 2.644, 3.867, 1.6349, 1.2003 ], [ 4200.014, 2.6424, 3.8909, 1.634, 1.1949 ], [ 4219.969, 2.6409, 3.9148, 1.6329, 1.2021 ], [ 4239.961, 2.6395, 3.9388, 1.6318, 1.1983 ], [ 4260.006, 2.638, 3.9627, 1.6308, 1.2002 ], [ 4280.028, 2.6366, 3.9867, 1.6299, 1.1995 ], [ 4299.997, 2.6352, 4.0106, 1.6287, 1.1994 ], [ 4319.959, 2.6338, 4.0346, 1.6276, 1.1982 ], [ 4339.979, 2.6325, 4.0585, 1.6266, 1.2043 ], [ 4360.045, 2.6311, 4.0825, 1.6255, 1.1989 ], [ 4379.994, 2.6298, 4.1065, 1.6243, 1.2023 ], [ 4400.01, 2.6286, 4.1305, 1.6233, 1.1972 ], [ 4420.017, 2.6273, 4.1544, 1.6221, 1.1988 ], [ 4440.043, 2.6261, 4.1783, 1.6209, 1.2011 ], [ 4460.007, 2.6249, 4.2023, 1.6197, 1.2017 ], [ 4480.044, 2.6237, 4.2263, 1.6184, 1.1995 ], [ 4499.996, 2.6226, 4.2503, 1.6172, 1.1963 ], [ 4519.959, 2.6215, 4.2742, 1.6159, 1.2019 ], [ 4539.957, 2.6205, 4.2982, 1.6146, 1.2057 ], [ 4560.011, 2.6194, 4.3223, 1.6134, 1.1992 ], [ 4580.036, 2.6184, 4.3463, 1.612, 1.2 ], [ 4600.036, 2.6174, 4.3702, 1.6103, 1.1951 ], [ 4620.047, 2.6165, 4.3941, 1.6083, 1.2026 ], [ 4639.973, 2.6156, 4.4182, 1.6055, 1.1968 ], [ 4659.959, 2.6149, 4.4421, 1.602, 1.2014 ], [ 4680.011, 2.6142, 4.4661, 1.5975, 1.2018 ], [ 4700.002, 2.6136, 4.4901, 1.5918, 1.201 ], [ 4719.958, 2.6131, 4.5142, 1.5854, 1.2024 ], [ 4740.025, 2.6129, 4.5382, 1.5776, 1.2044 ], [ 4760, 2.6128, 4.5623, 1.5689, 1.1967 ], [ 4780.048, 2.613, 4.5862, 1.559, 1.2 ], [ 4799.975, 2.6134, 4.6102, 1.5477, 1.2021 ], [ 4820.013, 2.6141, 4.6342, 1.5355, 1.1983 ], [ 4840.001, 2.6151, 4.6582, 1.5219, 1.1981 ], [ 4860.012, 2.6164, 4.6821, 1.5072, 1.1875 ], [ 4880.013, 2.6181, 4.7058, 1.4915, 1.1809 ], [ 4900.009, 2.6202, 4.7293, 1.4743, 1.1759 ], [ 4919.99, 2.6226, 4.7527, 1.4563, 1.1501 ], [ 4939.979, 2.6255, 4.7755, 1.4367, 1.1381 ], [ 4959.95, 2.6287, 4.7981, 1.4162, 1.1156 ], [ 4979.997, 2.6324, 4.8201, 1.3943, 1.0918 ], [ 4999.953, 2.6365, 4.8415, 1.3711, 1.0826 ], [ 5019.965, 2.641, 4.8627, 1.3471, 1.0579 ], [ 5040.041, 2.646, 4.8833, 1.3224, 1.0487 ], [ 5060.044, 2.6514, 4.9035, 1.2971, 1.0219 ], [ 5079.969, 2.6571, 4.9232, 1.2713, 1.0046 ], [ 5099.981, 2.6633, 4.9423, 1.2453, 0.9866 ], [ 5120.044, 2.6698, 4.9609, 1.2189, 0.9558 ], [ 5140.048, 2.6766, 4.9787, 1.1926, 0.9481 ], [ 5159.952, 2.6839, 4.9963, 1.1663, 0.9234 ], [ 5180.038, 2.6913, 5.0132, 1.1398, 0.9026 ], [ 5199.979, 2.6991, 5.0295, 1.1132, 0.8866 ], [ 5220.023, 2.7071, 5.0453, 1.0866, 0.8621 ], [ 5239.984, 2.7153, 5.0604, 1.06, 0.8415 ], [ 5260.024, 2.7238, 5.075, 1.0332, 0.8195 ], [ 5280.013, 2.7323, 5.089, 1.0067, 0.8012 ], [ 5299.988, 2.7411, 5.1024, 0.9801, 0.7821 ], [ 5319.983, 2.7499, 5.1153, 0.9534, 0.772 ], [ 5340.02, 2.759, 5.1278, 0.9268, 0.7564 ], [ 5360.006, 2.7683, 5.1397, 0.9002, 0.7519 ], [ 5379.989, 2.7778, 5.1514, 0.8735, 0.7509 ], [ 5400.012, 2.7875, 5.1628, 0.8468, 0.7508 ], [ 5420.042, 2.7976, 5.1739, 0.8202, 0.7596 ], [ 5440.029, 2.8081, 5.1849, 0.7936, 0.7647 ], [ 5459.965, 2.819, 5.1957, 0.7669, 0.7706 ], [ 5480.019, 2.8302, 5.2062, 0.7403, 0.7867 ], [ 5499.959, 2.842, 5.2167, 0.7136, 0.7864 ], [ 5519.968, 2.854, 5.2268, 0.687, 0.7994 ], [ 5540.017, 2.8665, 5.2368, 0.6603, 0.8023 ], [ 5559.98, 2.8793, 5.2465, 0.6336, 0.8159 ], [ 5580.023, 2.8926, 5.256, 0.607, 0.8275 ], [ 5599.984, 2.9063, 5.2652, 0.5804, 0.8325 ], [ 5619.959, 2.9203, 5.2742, 0.554, 0.8464 ], [ 5640.031, 2.9348, 5.2829, 0.5282, 0.8548 ], [ 5659.993, 2.9497, 5.2914, 0.5026, 0.866 ], [ 5680.019, 2.965, 5.2995, 0.4776, 0.8747 ], [ 5699.987, 2.9806, 5.3074, 0.4532, 0.8836 ], [ 5719.954, 2.9966, 5.3149, 0.4293, 0.8941 ], [ 5739.992, 3.0129, 5.3222, 0.4063, 0.9054 ], [ 5759.966, 3.0296, 5.3292, 0.3838, 0.9152 ], [ 5779.952, 3.0466, 5.3359, 0.3622, 0.9277 ], [ 5800.016, 3.0641, 5.3423, 0.3411, 0.9378 ], [ 5820.025, 3.0818, 5.3484, 0.3206, 0.9421 ], [ 5840.023, 3.0997, 5.3541, 0.3009, 0.9543 ], [ 5860.049, 3.118, 5.3596, 0.2817, 0.9671 ], [ 5879.977, 3.1366, 5.3648, 0.2633, 0.9754 ], [ 5899.968, 3.1555, 5.3698, 0.2456, 0.9806 ], [ 5919.965, 3.1746, 5.3744, 0.2284, 0.9956 ], [ 5939.953, 3.194, 5.3787, 0.2118, 1.0074 ], [ 5959.953, 3.2137, 5.3828, 0.1959, 1.0131 ], [ 5980.039, 3.2336, 5.3866, 0.1806, 1.0278 ], [ 5999.988, 3.2539, 5.3902, 0.1657, 1.0291 ], [ 6020.045, 3.2742, 5.3934, 0.1513, 1.0451 ], [ 6039.986, 3.2949, 5.3964, 0.1377, 1.055 ], [ 6060.017, 3.3158, 5.3992, 0.1244, 1.0639 ], [ 6080.023, 3.3369, 5.4017, 0.1119, 1.0725 ], [ 6100.002, 3.3583, 5.404, 0.0997, 1.0825 ], [ 6119.996, 3.3798, 5.406, 0.0881, 1.0946 ], [ 6140.023, 3.4016, 5.4078, 0.0771, 1.1085 ], [ 6159.951, 3.4237, 5.4094, 0.0665, 1.1158 ], [ 6180.009, 3.446, 5.4108, 0.0563, 1.1285 ], [ 6199.969, 3.4686, 5.412, 0.0465, 1.1331 ], [ 6220.014, 3.4912, 5.4129, 0.0372, 1.1425 ], [ 6239.981, 3.514, 5.4137, 0.0286, 1.1536 ], [ 6260.008, 3.5371, 5.4142, 0.0201, 1.1674 ], [ 6279.989, 3.5605, 5.4146, 0.0122, 1.1758 ], [ 6299.96, 3.584, 5.4148, 0.0046, 1.1848 ], [ 6319.993, 3.6077, 5.4149, -0.0027, 1.1899 ], [ 6339.963, 3.6315, 5.4147, -0.0095, 1.1913 ], [ 6360.004, 3.6553, 5.4144, -0.0159, 1.1949 ], [ 6380.028, 3.6792, 5.414, -0.022, 1.195 ], [ 6399.987, 3.7031, 5.4134, -0.0277, 1.1937 ], [ 6419.969, 3.7269, 5.4127, -0.0333, 1.2012 ], [ 6439.952, 3.7509, 5.4118, -0.0383, 1.1937 ], [ 6459.992, 3.7748, 5.4108, -0.0432, 1.1977 ], [ 6480.002, 3.7987, 5.4097, -0.0477, 1.1997 ], [ 6499.973, 3.8227, 5.4086, -0.0517, 1.2028 ], [ 6519.997, 3.8467, 5.4073, -0.0556, 1.1981 ], [ 6540.033, 3.8706, 5.4059, -0.0593, 1.2015 ], [ 6560.043, 3.8946, 5.4044, -0.0628, 1.201 ], [ 6580.035, 3.9186, 5.4029, -0.0659, 1.1994 ], [ 6599.951, 3.9425, 5.4013, -0.0688, 1.1994 ], [ 6620.027, 3.9664, 5.3996, -0.0713, 1.2018 ], [ 6639.999, 3.9904, 5.3979, -0.0736, 1.1983 ], [ 6660.038, 4.0143, 5.3961, -0.0757, 1.1991 ], [ 6679.992, 4.0382, 5.3942, -0.0775, 1.2012 ], [ 6699.992, 4.0622, 5.3924, -0.0791, 1.2025 ], [ 6719.968, 4.0862, 5.3904, -0.0806, 1.2015 ], [ 6739.987, 4.1101, 5.3885, -0.0817, 1.2015 ], [ 6760, 4.1341, 5.3865, -0.0826, 1.2006 ], [ 6779.966, 4.158, 5.3845, -0.0836, 1.2029 ], [ 6800.048, 4.182, 5.3825, -0.0843, 1.2035 ], [ 6820.016, 4.2059, 5.3805, -0.085, 1.1953 ], [ 6839.958, 4.2298, 5.3784, -0.0854, 1.1994 ], [ 6860.01, 4.2537, 5.3764, -0.0858, 1.1944 ], [ 6879.967, 4.2775, 5.3743, -0.086, 1.2026 ], [ 6900.034, 4.3014, 5.3723, -0.086, 1.1992 ], [ 6920, 4.3253, 5.3702, -0.0859, 1.1981 ], [ 6940.04, 4.3492, 5.3682, -0.0856, 1.1989 ], [ 6960.016, 4.3731, 5.3661, -0.0853, 1.2006 ], [ 6980.034, 4.397, 5.3641, -0.085, 1.2023 ], [ 7000.007, 4.421, 5.362, -0.0845, 1.2028 ], [ 7020.02, 4.4449, 5.36, -0.0838, 1.1979 ], [ 7040.004, 4.4688, 5.358, -0.0831, 1.1974 ], [ 7059.986, 4.4927, 5.356, -0.0821, 1.2034 ], [ 7079.998, 4.5167, 5.3541, -0.0812, 1.1977 ], [ 7100.04, 4.5405, 5.3521, -0.0804, 1.2005 ], [ 7119.959, 4.5645, 5.3502, -0.0793, 1.2011 ], [ 7139.981, 4.5884, 5.3483, -0.0783, 1.2049 ], [ 7160.011, 4.6125, 5.3465, -0.0771, 1.2024 ], [ 7179.972, 4.6364, 5.3446, -0.0759, 1.2008 ], [ 7200.045, 4.6604, 5.3428, -0.0747, 1.1992 ], [ 7220.037, 4.6843, 5.341, -0.0735, 1.2036 ], [ 7239.963, 4.7083, 5.3393, -0.0723, 1.2012 ], [ 7259.983, 4.7323, 5.3376, -0.0713, 1.195 ], [ 7280.033, 4.7561, 5.3359, -0.0699, 1.2024 ], [ 7300.045, 4.7801, 5.3342, -0.0686, 1.2014 ], [ 7320.023, 4.8041, 5.3326, -0.0673, 1.1992 ], [ 7340.009, 4.828, 5.331, -0.0659, 1.1994 ], [ 7359.984, 4.8519, 5.3294, -0.0644, 1.1992 ], [ 7380.029, 4.8759, 5.3279, -0.063, 1.2007 ], [ 7400.004, 4.8998, 5.3264, -0.0615, 1.1964 ], [ 7419.988, 4.9237, 5.3249, -0.0601, 1.1978 ], [ 7440.045, 4.9476, 5.3235, -0.0586, 1.2001 ], [ 7460.013, 4.9716, 5.3221, -0.0572, 1.2035 ], [ 7480.033, 4.9956, 5.3208, -0.0558, 1.2026 ], [ 7499.95, 5.0196, 5.3194, -0.0543, 1.2009 ], [ 7519.962, 5.0436, 5.3182, -0.0529, 1.1994 ], [ 7540.013, 5.0676, 5.3169, -0.0513, 1.1999 ], [ 7560.027, 5.0916, 5.3157, -0.0497, 1.1955 ], [ 7580.042, 5.1154, 5.3145, -0.0483, 1.1975 ], [ 7599.969, 5.1394, 5.3134, -0.0468, 1.1972 ], [ 7620.036, 5.1633, 5.3123, -0.0452, 1.2028 ], [ 7640.043, 5.1873, 5.3112, -0.0437, 1.2036 ], [ 7659.956, 5.2114, 5.3102, -0.0424, 1.2009 ], [ 7679.951, 5.2354, 5.3092, -0.0412, 1.2063 ], [ 7700.011, 5.2595, 5.3082, -0.0397, 1.2055 ], [ 7719.976, 5.2836, 5.3073, -0.0384, 1.2008 ], [ 7739.995, 5.3076, 5.3063, -0.037, 1.1993 ], [ 7760.012, 5.3315, 5.3055, -0.0356, 1.2002 ], [ 7780.024, 5.3555, 5.3046, -0.0343, 1.198 ], [ 7800.043, 5.3795, 5.3038, -0.0331, 1.2035 ], [ 7820.044, 5.4035, 5.303, -0.0316, 1.1995 ], [ 7839.992, 5.4275, 5.3023, -0.0304, 1.2041 ], [ 7859.977, 5.4516, 5.3016, -0.0292, 1.1964 ], [ 7880.009, 5.4755, 5.3009, -0.0279, 1.1944 ], [ 7899.968, 5.4994, 5.3002, -0.0268, 1.2016 ], [ 7919.998, 5.5234, 5.2996, -0.0257, 1.1976 ], [ 7940.021, 5.5473, 5.299, -0.0244, 1.2001 ], [ 7960.023, 5.5713, 5.2984, -0.0233, 1.2025 ], [ 7980.05, 5.5954, 5.2979, -0.0222, 1.1996 ], [ 7999.989, 5.6194, 5.2974, -0.0213, 1.2007 ], [ 8019.955, 5.6434, 5.2969, -0.0204, 1.2021 ], [ 8040.046, 5.6674, 5.2964, -0.0195, 1.1978 ], [ 8060.009, 5.6914, 5.2959, -0.0185, 1.199 ], [ 8079.956, 5.7153, 5.2955, -0.0176, 1.2045 ], [ 8099.963, 5.7394, 5.2951, -0.0166, 1.2014 ], [ 8120.007, 5.7634, 5.2947, -0.0158, 1.2026 ], [ 8140.034, 5.7875, 5.2943, -0.0149, 1.1997 ], [ 8160, 5.8115, 5.294, -0.0141, 1.1993 ], [ 8179.968, 5.8355, 5.2937, -0.0132, 1.2011 ], [ 8199.95, 5.8595, 5.2933, -0.0125, 1.1964 ], [ 8220.015, 5.8834, 5.2931, -0.0118, 1.1995 ], [ 8240.02, 5.9074, 5.2928, -0.011, 1.1982 ], [ 8259.953, 5.9314, 5.2925, -0.0104, 1.2015 ], [ 8279.969, 5.9554, 5.2923, -0.0098, 1.1992 ], [ 8300.011, 5.9794, 5.2921, -0.0091, 1.1992 ], [ 8320.034, 6.0034, 5.2918, -0.0085, 1.1966 ], [ 8340.037, 6.0273, 5.2916, -0.0076, 1.1975 ], [ 8359.998, 6.0512, 5.2915, -0.0071, 1.1971 ], [ 8380.033, 6.0752, 5.2913, -0.0066, 1.1979 ], [ 8399.956, 6.0991, 5.2912, -0.0061, 1.2023 ], [ 8419.974, 6.1232, 5.291, -0.0056, 1.1986 ], [ 8440.012, 6.1472, 5.2909, -0.0051, 1.2013 ], [ 8460.047, 6.1712, 5.2908, -0.0046, 1.2017 ], [ 8479.997, 6.1952, 5.2907, -0.0042, 1.2007 ], [ 8500.047, 6.2192, 5.2906, -0.0037, 1.1997 ], [ 8519.967, 6.2432, 5.2905, -0.0033, 1.2049 ], [ 8540.032, 6.2673, 5.2904, -0.003, 1.1967 ], [ 8559.978, 6.2913, 5.2903, -0.0026, 1.201 ], [ 8580.032, 6.3153, 5.2903, -0.0023, 1.2037 ], [ 8599.998, 6.3393, 5.2902, -0.002, 1.203 ], [ 8620.022, 6.3634, 5.2902, -0.0017, 1.2023 ], [ 8639.956, 6.3875, 5.2902, -0.0014, 1.2002 ], [ 8659.983, 6.4115, 5.2901, -0.0012, 1.1982 ], [ 8680.037, 6.4354, 5.2901, -0.0009, 1.2003 ], [ 8700, 6.4594, 5.2901, -0.0006, 1.199 ], [ 8719.955, 6.4834, 5.2901, -0.0003, 1.1991 ], [ 8739.99, 6.5074, 5.2901, -0.0001, 1.2002 ], [ 8759.959, 6.5314, 5.2901, 0, 1.2 ], [ 8780.03, 6.5554, 5.2901, 0.0002, 1.2053 ], [ 8799.964, 6.5795, 5.2901, 0.0004, 1.1982 ], [ 8819.998, 6.6035, 5.2901, 0.0006, 1.2022 ], [ 8840.005, 6.6275, 5.2901, 0.0008, 1.1997 ], [ 8860.023, 6.6515, 5.2901, 0.001, 1.2022 ], [ 8879.96, 6.6755, 5.2901, 0.0012, 1.2006 ], [ 8900.028, 6.6996, 5.2902, 0.0014, 1.1987 ], [ 8920.027, 6.7235, 5.2902, 0.0015, 1.1989 ], [ 8939.953, 6.7475, 5.2902, 0.0015, 1.2035 ], [ 8959.981, 6.7716, 5.2903, 0.0015, 1.2004 ], [ 8980.007, 6.7956, 5.2903, 0.0016, 1.2007 ], [ 8999.983, 6.8196, 5.2904, 0.0018, 1.2028 ], [ 9019.971, 6.8437, 5.2904, 0.0019, 1.1971 ], [ 9040.002, 6.8676, 5.2905, 0.0021, 1.1994 ], [ 9059.984, 6.8916, 5.2905, 0.0021, 1.1975 ], [ 9080.039, 6.9155, 5.2906, 0.0021, 1.1995 ], [ 9100.032, 6.9395, 5.2906, 0.0022, 1.2007 ], [ 9120.044, 6.9635, 5.2907, 0.0022, 1.197 ], [ 9139.959, 6.9875, 5.2907, 0.0024, 1.1971 ], [ 9160.001, 7.0114, 5.2908, 0.0024, 1.1942 ], [ 9180.034, 7.0353, 5.2908, 0.0023, 1.2017 ], [ 9200.033, 7.0593, 5.2909, 0.0023, 1.2028 ], [ 9220.038, 7.0834, 5.2909, 0.0023, 1.1993 ], [ 9239.996, 7.1074, 5.291, 0.0023, 1.2014 ], [ 9259.98, 7.1314, 5.291, 0.0022, 1.2036 ], [ 9280, 7.1555, 5.2911, 0.0022, 1.2003 ], [ 9300.042, 7.1795, 5.2912, 0.0024, 1.1995 ], [ 9319.985, 7.2035, 5.2912, 0.0024, 1.2 ], [ 9340.043, 7.2275, 5.2913, 0.0024, 1.2047 ], [ 9360.018, 7.2516, 5.2913, 0.0023, 1.2002 ], [ 9380.007, 7.2756, 5.2914, 0.0022, 1.201 ], [ 9399.981, 7.2996, 5.2914, 0.002, 1.2057 ], [ 9419.953, 7.3237, 5.2915, 0.002, 1.2001 ], [ 9440.026, 7.3477, 5.2915, 0.002, 1.2033 ], [ 9459.983, 7.3718, 5.2916, 0.002, 1.2027 ], [ 9479.987, 7.3958, 5.2916, 0.002, 1.1987 ], [ 9500.015, 7.4198, 5.2917, 0.002, 1.1962 ], [ 9520.01, 7.4437, 5.2917, 0.0019, 1.1989 ], [ 9540.027, 7.4677, 5.2918, 0.0019, 1.2012 ], [ 9559.968, 7.4917, 5.2918, 0.0021, 1.1963 ], [ 9580.015, 7.5157, 5.2919, 0.0019, 1.2029 ], [ 9600.018, 7.5397, 5.2919, 0.0017, 1.2018 ], [ 9619.974, 7.5638, 5.2919, 0.0016, 1.2004 ], [ 9639.972, 7.5878, 5.292, 0.0015, 1.2001 ], [ 9660.013, 7.6118, 5.292, 0.0014, 1.1968 ], [ 9679.953, 7.6357, 5.292, 0.0014, 1.1992 ], [ 9699.966, 7.6597, 5.2921, 0.0014, 1.2005 ], [ 9720.022, 7.6837, 5.2921, 0.0014, 1.2029 ], [ 9740.007, 7.7077, 5.2921, 0.0011, 1.1958 ], [ 9760.009, 7.7317, 5.2922, 0.0011, 1.1981 ], [ 9780.008, 7.7556, 5.2922, 0.001, 1.2016 ], [ 9800.032, 7.7797, 5.2922, 0.001, 1.201 ], [ 9820.026, 7.8037, 5.2922, 0.0009, 1.1993 ], [ 9839.982, 7.8277, 5.2923, 0.0008, 1.201 ], [ 9860.012, 7.8517, 5.2923, 0.0007, 1.1964 ], [ 9879.95, 7.8756, 5.2923, 0.0008, 1.2045 ], [ 9899.981, 7.8997, 5.2923, 0.0007, 1.1983 ], [ 9919.999, 7.9237, 5.2923, 0.0007, 1.201 ], [ 9940.011, 7.9477, 5.2923, 0.0007, 1.1991 ], [ 9960.025, 7.9717, 5.2924, 0.0007, 1.199 ], [ 9980.032, 7.9957, 5.2924, 0.0007, 1.2018 ], [ 10000.022, 8.0197, 5.2924, 0.0006, 1.2013 ], [ 10019.977, 8.0437, 5.2924, 0.0003, 1.2015 ], [ 10039.982, 8.0677, 5.2924, 0.0002, 1.204 ], [ 10059.999, 8.0918, 5.2924, 0.0001, 1.1972 ], [ 10080.044, 8.1158, 5.2924, 0.0002, 1.2023 ], [ 10100.041, 8.1398, 5.2924, 0.0002, 1.1985 ], [ 10119.959, 8.1638, 5.2924, 0.0003, 1.1987 ], [ 10140.039, 8.1878, 5.2924, 0.0002, 1.1993 ], [ 10160.017, 8.2117, 5.2924, 0.0001, 1.2008 ], [ 10179.988, 8.2358, 5.2924, 0, 1.1974 ], [ 10199.989, 8.2597, 5.2924, 0, 1.1985 ], [ 10219.97, 8.2837, 5.2924, -0.0002, 1.2019 ], [ 10239.968, 8.3077, 5.2924, -0.0003, 1.2037 ], [ 10259.984, 8.3318, 5.2924, -0.0004, 1.2006 ], [ 10279.971, 8.3558, 5.2924, -0.0004, 1.1961 ], [ 10300.035, 8.3797, 5.2924, -0.0004, 1.1954 ], [ 10320.035, 8.4036, 5.2924, -0.0006, 1.2011 ], [ 10339.962, 8.4277, 5.2924, -0.0007, 1.1988 ], [ 10359.99, 8.4516, 5.2924, -0.0007, 1.1981 ], [ 10380.006, 8.4756, 5.2923, -0.0007, 1.1977 ], [ 10399.994, 8.4995, 5.2923, -0.0007, 1.1983 ], [ 10420.027, 8.5235, 5.2923, -0.0007, 1.2011 ], [ 10439.95, 8.5475, 5.2923, -0.0008, 1.1974 ], [ 10460.009, 8.5715, 5.2923, -0.001, 1.1973 ], [ 10480.002, 8.5954, 5.2922, -0.0011, 1.2022 ], [ 10499.975, 8.6195, 5.2922, -0.0011, 1.2032 ], [ 10520.013, 8.6435, 5.2922, -0.0011, 1.1989 ], [ 10540.047, 8.6675, 5.2922, -0.0011, 1.2036 ], [ 10559.953, 8.6916, 5.2921, -0.0012, 1.1992 ], [ 10579.96, 8.7156, 5.2921, -0.0012, 1.1996 ], [ 10599.961, 8.7396, 5.2921, -0.0013, 1.1976 ], [ 10619.989, 8.7635, 5.292, -0.0014, 1.1978 ], [ 10639.972, 8.7875, 5.292, -0.0015, 1.2004 ], [ 10660.009, 8.8115, 5.292, -0.0015, 1.2021 ], [ 10679.97, 8.8355, 5.2919, -0.0013, 1.2 ], [ 10699.965, 8.8595, 5.2919, -0.0013, 1.2015 ], [ 10719.971, 8.8835, 5.2919, -0.0014, 1.1954 ], [ 10739.951, 8.9075, 5.2918, -0.0014, 1.1987 ], [ 10759.958, 8.9314, 5.2918, -0.0013, 1.2063 ], [ 10779.957, 8.9556, 5.2918, -0.0014, 1.1957 ], [ 10800.043, 8.9795, 5.2917, -0.0014, 1.2065 ], [ 10820.034, 9.0036, 5.2917, -0.0015, 1.1993 ], [ 10840.001, 9.0276, 5.2917, -0.0015, 1.1985 ], [ 10860.029, 9.0516, 5.2916, -0.0015, 1.1963 ], [ 10880.03, 9.0755, 5.2916, -0.0013, 1.1998 ], [ 10900.034, 9.0995, 5.2916, -0.0013, 1.1971 ], [ 10919.981, 9.1234, 5.2915, -0.0014, 1.2005 ], [ 10940.024, 9.1474, 5.2915, -0.0014, 1.2006 ], [ 10959.962, 9.1714, 5.2915, -0.0013, 1.2002 ], [ 10979.988, 9.1954, 5.2914, -0.0012, 1.1984 ], [ 10999.993, 9.2194, 5.2914, -0.0014, 1.2016 ], [ 11020.016, 9.2434, 5.2914, -0.0015, 1.1962 ], [ 11039.953, 9.2674, 5.2913, -0.0015, 1.1992 ], [ 11059.997, 9.2913, 5.2913, -0.0015, 1.1829 ], [ 11080.006, 9.315, 5.2913, -0.0016, 1.1652 ], [ 11100.029, 9.3383, 5.2912, -0.0016, 1.146 ], [ 11120.045, 9.3612, 5.2912, -0.0016, 1.12 ], [ 11140.017, 9.3836, 5.2912, -0.0016, 1.0934 ], [ 11160.004, 9.4055, 5.2911, -0.0016, 1.0669 ], [ 11179.985, 9.4268, 5.2911, -0.0016, 1.0425 ], [ 11199.99, 9.4477, 5.291, -0.0016, 1.0128 ], [ 11220.045, 9.4679, 5.291, -0.0016, 0.9816 ], [ 11239.967, 9.4876, 5.291, -0.0016, 0.9516 ], [ 11260.049, 9.5066, 5.291, -0.0016, 0.9258 ], [ 11280.024, 9.5251, 5.2909, -0.0016, 0.8943 ], [ 11299.954, 9.543, 5.2909, -0.0016, 0.8691 ], [ 11319.994, 9.5604, 5.2909, -0.0016, 0.8387 ], [ 11339.959, 9.5772, 5.2908, -0.0016, 0.8069 ], [ 11359.968, 9.5933, 5.2908, -0.0016, 0.7739 ], [ 11379.994, 9.6088, 5.2908, -0.0016, 0.7471 ], [ 11400.008, 9.6237, 5.2908, -0.0016, 0.7136 ], [ 11420.039, 9.638, 5.2907, -0.0016, 0.689 ], [ 11439.966, 9.6518, 5.2907, -0.0016, 0.6536 ], [ 11459.971, 9.6648, 5.2907, -0.0016, 0.6247 ], [ 11480.039, 9.6773, 5.2907, -0.0016, 0.5959 ], [ 11500.038, 9.6893, 5.2907, -0.0016, 0.569 ], [ 11520.023, 9.7006, 5.2906, -0.0016, 0.5356 ], [ 11539.951, 9.7114, 5.2906, -0.0016, 0.5073 ], [ 11560.02, 9.7215, 5.2906, -0.0016, 0.4788 ], [ 11580.048, 9.7311, 5.2906, -0.0016, 0.4471 ], [ 11600.01, 9.74, 5.2906, -0.0016, 0.4194 ], [ 11620.039, 9.7484, 5.2906, -0.0016, 0.3847 ], [ 11640.017, 9.7561, 5.2905, -0.0016, 0.3554 ], [ 11660.023, 9.7632, 5.2905, -0.0016, 0.326 ], [ 11680.02, 9.7697, 5.2905, -0.0016, 0.2939 ], [ 11699.989, 9.7756, 5.2905, -0.0016, 0.2721 ], [ 11720.025, 9.781, 5.2905, -0.0016, 0.2397 ], [ 11740.023, 9.7858, 5.2905, -0.0016, 0.2034 ], [ 11760.017, 9.7899, 5.2905, -0.0016, 0.1786 ], [ 11780.042, 9.7935, 5.2905, -0.0016, 0.1496 ], [ 11800.013, 9.7965, 5.2905, -0.0016, 0.1141 ], [ 11820.002, 9.7987, 5.2905, -0.0016, 0.0884 ], [ 11840.049, 9.8005, 5.2905, -0.0016, 0.0622 ], [ 11860.005, 9.8018, 5.2905, -0.0016, 0.0475 ], [ 11880.009, 9.8027, 5.2905, -0.0016, 0.036 ], [ 11899.996, 9.8034, 5.2905, -0.0016, 0.0215 ], [ 11919.976, 9.8039, 5.2905, -0.0016, 0.0145 ], [ 11939.969, 9.8041, 5.2905, -0.0016, 0.0072 ], [ 11960.016, 9.8043, 5.2905, -0.0016, 0.0081 ], [ 11979.966, 9.8045, 5.2905, -0.0016, 0.0048 ], [ 12000.047, 9.8046, 5.2905, -0.0016, 0.0061 ], [ 12020.046, 9.8047, 5.2905, -0.0016, 0.0053 ], [ 12039.995, 9.8048, 5.2905, -0.0016, 0.0013 ], [ 12059.967, 9.8048, 5.2905, -0.0016, 0.0049 ], [ 12080.048, 9.8049, 5.2905, -0.0016, 0.0011 ], [ 12099.992, 9.8049, 5.2905, -0.0016, 0.0028 ], [ 12120.01, 9.805, 5.2905, -0.0016, 0.0008 ], [ 12140.023, 9.805, 5.2905, -0.0016, 0.0024 ], [ 12159.966, 9.805, 5.2905, -0.0016, 0 ], [ 12179.998, 9.805, 5.2905, -0.0016, 0 ], [ 12200.015, 9.805, 5.2905, -0.0016, 0 ], [ 12219.995, 9.805, 5.2905, -0.0016, 0 ], [ 12240.043, 9.805, 5.2905, -0.0016, 0 ], [ 12259.973, 9.805, 5.2905, -0.0016, 0 ], [ 12279.962, 9.805, 5.2905, -0.0016, 0 ], [ 12299.979, 9.805, 5.2905, -0.0016, 0 ], [ 12320.001, 9.805, 5.2905, -0.0016, 0 ], [ 12339.977, 9.805, 5.2905, -0.0016, 0 ], [ 12360.018, 9.805, 5.2905, -0.0016, 0 ], [ 12379.97, 9.805, 5.2905, -0.0016, 0 ], [ 12399.997, 9.805, 5.2905, -0.0016, 0 ], [ 12419.951, 9.805, 5.2905, -0.0016, 0 ], [ 12439.983, 9.805, 5.2905, -0.0016, 0 ], [ 12459.994, 9.805, 5.2905, -0.0016, 0 ], [ 12479.952, 9.805, 5.2905, -0.0016, 0 ], [ 12500.029, 9.805, 5.2905, -0.0016, 0 ], [ 12519.953, 9.805, 5.2905, -0.0016, 0 ], [ 12540.002, 9.805, 5.2905, -0.0016, 0 ], [ 12559.956, 9.805, 5.2905, -0.0016, 0 ], [ 12579.959, 9.805, 5.2905, -0.0016, 0 ], [ 12599.951, 9.805, 5.2905, -0.0016, 0 ], [ 12620, 9.805, 5.2905, -0.0016, 0 ], [ 12639.953, 9.805, 5.2905, -0.0016, 0 ], [ 12660.001, 9.805, 5.2905, -0.0016, 0 ], [ 12680.038, 9.805, 5.2905, -0.0016, 0 ], [ 12699.968, 9.805, 5.2905, -0.0016, 0 ], [ 12720.037, 9.805, 5.2905, -0.0016, 0 ], [ 12739.963, 9.805, 5.2905, -0.0016, 0 ], [ 12760.047, 9.805, 5.2905, -0.0016, 0 ], [ 12780.047, 9.805, 5.2905, -0.0016, 0 ], [ 12799.998, 9.805, 5.2905, -0.0016, 0 ], [ 12819.985, 9.805, 5.2905, -0.0016, 0 ], [ 12840.013, 9.805, 5.2905, -0.0016, 0 ], [ 12860.037, 9.805, 5.2905, -0.0016, 0 ], [ 12879.967, 9.805, 5.2905, -0.0016, 0 ], [ 12899.951, 9.805, 5.2905, -0.0016, 0 ], [ 12920.029, 9.805, 5.2905, -0.0016, 0 ], [ 12939.976, 9.805, 5.2905, -0.0016, 0 ], [ 12960.011, 9.805, 5.2905, -0.0016, 0 ], [ 12979.96, 9.805, 5.2905, -0.0016, 0 ], [ 13000.026, 9.805, 5.2905, -0.0016, 0 ], [ 13020.016, 9.805, 5.2905, -0.0016, 0 ], [ 13039.981, 9.805, 5.2905, -0.0016, 0 ], [ 13059.987, 9.805, 5.2905, -0.0016, 0 ], [ 13079.958, 9.805, 5.2905, -0.0016, 0 ], [ 13100.003, 9.805, 5.2905, -0.0016, 0 ], [ 13120.02, 9.805, 5.2905, -0.0016, 0 ], [ 13140.042, 9.805, 5.2905, -0.0016, 0 ], [ 13160.015, 9.805, 5.2905, -0.0016, 0 ], [ 13179.995, 9.805, 5.2905, -0.0016, 0 ], [ 13200.032, 9.805, 5.2905, -0.0016, 0 ], [ 13219.962, 9.805, 5.2905, -0.0016, 0 ], [ 13240.001, 9.805, 5.2905, -0.0016, 0 ], [ 13259.982, 9.805, 5.2905, -0.0016, 0 ], [ 13279.997, 9.805, 5.2905, -0.0016, 0 ], [ 13300.014, 9.805, 5.2905, -0.0016, 0 ], [ 13320.007, 9.805, 5.2905, -0.0016, 0 ], [ 13340.029, 9.805, 5.2905, -0.0016, 0 ], [ 13360.042, 9.805, 5.2905, -0.0016, 0 ], [ 13379.956, 9.805, 5.2905, -0.0016, 0 ], [ 13400.009, 9.805, 5.2905, -0.0016, 0 ], [ 13419.972, 9.805, 5.2905, -0.0016, 0 ], [ 13439.997, 9.805, 5.2905, -0.0016, 0 ], [ 13460.05, 9.805, 5.2905, -0.0016, 0 ], [ 13480.016, 9.805, 5.2905, -0.0016, 0 ], [ 13500.013, 9.805, 5.2905, -0.0016, 0 ], [ 13519.993, 9.805, 5.2905, -0.0016, 0 ], [ 13540.019, 9.805, 5.2905, -0.0016, 0 ], [ 13559.993, 9.805, 5.2905, -0.0016, 0 ], [ 13579.99, 9.805, 5.2905, -0.0016, 0 ], [ 13599.984, 9.805, 5.2905, -0.0016, 0 ], [ 13619.966, 9.805, 5.2905, -0.0016, 0 ], [ 13639.95, 9.805, 5.2905, -0.0016, 0 ], [ 13659.994, 9.805, 5.2905, -0.0016, 0 ], [ 13680.012, 9.805, 5.2905, -0.0016, 0 ], [ 13699.97, 9.805, 5.2905, -0.0016, 0 ], [ 13719.973, 9.805, 5.2905, -0.0016, 0 ], [ 13740.024, 9.805, 5.2905, -0.0016, 0 ], [ 13759.999, 9.805, 5.2905, -0.0016, 0 ], [ 13779.966, 9.805, 5.2905, -0.0016, 0 ], [ 13799.982, 9.805, 5.2905, -0.0016, 0 ], [ 13819.988, 9.805, 5.2905, -0.0016, 0 ], [ 13840.009, 9.805, 5.2905, -0.0016, 0 ], [ 13859.977, 9.805, 5.2905, -0.0016, 0 ], [ 13879.962, 9.805, 5.2905, -0.0016, 0 ], [ 13900.032, 9.805, 5.2905, -0.0016, 0 ], [ 13920.006, 9.805, 5.2905, -0.0016, 0 ], [ 13940.046, 9.805, 5.2905, -0.0016, 0 ], [ 13960.02, 9.805, 5.2905, -0.0016, 0 ], [ 13980.012, 9.805, 5.2905, -0.0016, 0 ], [ 14000.032, 9.805, 5.2905, -0.0016, 0 ] ], "cmd_columns": [ "t_ms", "v_mps", "w_radps" ], "cmd_vel": [ [ 200, 0.025, 0 ], [ 250, 0.05, 0 ], [ 300, 0.075, 0 ], [ 350, 0.1, 0 ], [ 400, 0.125, 0 ], [ 450, 0.15, 0 ], [ 500, 0.175, 0 ], [ 550, 0.2, 0 ], [ 600, 0.225, 0 ], [ 650, 0.25, 0 ], [ 700, 0.275, 0 ], [ 750, 0.3, 0 ], [ 800, 0.325, 0 ], [ 850, 0.35, 0 ], [ 900, 0.375, 0 ], [ 950, 0.4, 0 ], [ 1000, 0.425, 0 ], [ 1050, 0.45, 0 ], [ 1100, 0.475, 0 ], [ 1150, 0.5, 0 ], [ 1200, 0.525, 0 ], [ 1250, 0.55, 0 ], [ 1300, 0.575, 0 ], [ 1350, 0.6, 0 ], [ 1400, 0.625, 0 ], [ 1450, 0.65, 0 ], [ 1500, 0.675, 0.138 ], [ 1550, 0.7, 0.288 ], [ 1600, 0.725, 0.438 ], [ 1650, 0.75, 0.588 ], [ 1700, 0.775, 0.738 ], [ 1750, 0.8, 0.888 ], [ 1800, 0.825, 0.9668 ], [ 1850, 0.85, 1.068 ], [ 1900, 0.875, 1.1609 ], [ 1950, 0.9, 1.244 ], [ 2000, 0.925, 1.3333 ], [ 2050, 0.95, 1.3333 ], [ 2100, 0.975, 1.3333 ], [ 2150, 1, 1.3333 ], [ 2200, 1.025, 1.3333 ], [ 2250, 1.0331, 1.3333 ], [ 2300, 1.0221, 1.3333 ], [ 2350, 1.0183, 1.3333 ], [ 2400, 1.0433, 1.2155 ], [ 2450, 1.0683, 1.1557 ], [ 2500, 1.0933, 1.098 ], [ 2550, 1.1183, 1.0427 ], [ 2600, 1.1433, 0.9816 ], [ 2650, 1.1683, 0.9229 ], [ 2700, 1.1933, 0.8667 ], [ 2750, 1.2, 0.8052 ], [ 2800, 1.2, 0.7539 ], [ 2850, 1.2, 0.6964 ], [ 2900, 1.2, 0.6405 ], [ 2950, 1.2, 0.5862 ], [ 3000, 1.2, 0.534 ], [ 3050, 1.2, 0.4838 ], [ 3100, 1.2, 0.4421 ], [ 3150, 1.2, 0.3959 ], [ 3200, 1.2, 0.3518 ], [ 3250, 1.2, 0.3101 ], [ 3300, 1.2, 0.2708 ], [ 3350, 1.2, 0.2341 ], [ 3400, 1.2, 0.2 ], [ 3450, 1.2, 0.1684 ], [ 3500, 1.2, 0.1392 ], [ 3550, 1.2, 0.1126 ], [ 3600, 1.2, 0.0883 ], [ 3650, 1.2, 0.0662 ], [ 3700, 1.2, 0.0464 ], [ 3750, 1.2, 0.0286 ], [ 3800, 1.2, 0.0129 ], [ 3850, 1.2, -0.001 ], [ 3900, 1.2, -0.0132 ], [ 3950, 1.2, -0.0237 ], [ 4000, 1.2, -0.0326 ], [ 4050, 1.2, -0.0402 ], [ 4100, 1.2, -0.0464 ], [ 4150, 1.2, -0.0515 ], [ 4200, 1.2, -0.0555 ], [ 4250, 1.2, -0.0585 ], [ 4300, 1.2, -0.0606 ], [ 4350, 1.2, -0.0619 ], [ 4400, 1.2, -0.0625 ], [ 4450, 1.2, -0.0625 ], [ 4500, 1.2, -0.0619 ], [ 4550, 1.2, -0.1114 ], [ 4600, 1.2, -0.2614 ], [ 4650, 1.2, -0.4114 ], [ 4700, 1.2, -0.5614 ], [ 4750, 1.2, -0.7114 ], [ 4800, 1.2, -0.8614 ], [ 4850, 1.15, -1.0114 ], [ 4900, 1.1, -1.1614 ], [ 4950, 1.05, -1.3114 ], [ 5000, 1, -1.3333 ], [ 5050, 0.95, -1.3333 ], [ 5100, 0.9, -1.3333 ], [ 5150, 0.85, -1.3333 ], [ 5200, 0.8, -1.3333 ], [ 5250, 0.75, -1.3333 ], [ 5300, 0.727, -1.3333 ], [ 5350, 0.752, -1.3333 ], [ 5400, 0.777, -1.3333 ], [ 5450, 0.802, -1.3333 ], [ 5500, 0.827, -1.3333 ], [ 5550, 0.852, -1.3139 ], [ 5600, 0.877, -1.2324 ], [ 5650, 0.902, -1.1393 ], [ 5700, 0.927, -1.0496 ], [ 5750, 0.952, -0.9649 ], [ 5800, 0.977, -0.8858 ], [ 5850, 1.002, -0.8026 ], [ 5900, 1.027, -0.7347 ], [ 5950, 1.052, -0.6633 ], [ 6000, 1.077, -0.5975 ], [ 6050, 1.102, -0.5368 ], [ 6100, 1.127, -0.4738 ], [ 6150, 1.152, -0.4229 ], [ 6200, 1.177, -0.3699 ], [ 6250, 1.2, -0.3274 ], [ 6300, 1.2, -0.2827 ], [ 6350, 1.2, -0.2415 ], [ 6400, 1.2, -0.2036 ], [ 6450, 1.2, -0.1687 ], [ 6500, 1.2, -0.1367 ], [ 6550, 1.2, -0.1075 ], [ 6600, 1.2, -0.081 ], [ 6650, 1.2, -0.0572 ], [ 6700, 1.2, -0.0358 ], [ 6750, 1.2, -0.0168 ], [ 6800, 1.2, 0 ], [ 6850, 1.2, 0.0147 ], [ 6900, 1.2, 0.0274 ], [ 6950, 1.2, 0.0383 ], [ 7000, 1.2, 0.0475 ], [ 7050, 1.2, 0.0551 ], [ 7100, 1.2, 0.0613 ], [ 7150, 1.2, 0.0662 ], [ 7200, 1.2, 0.0699 ], [ 7250, 1.2, 0.0726 ], [ 7300, 1.2, 0.0743 ], [ 7350, 1.2, 0.0751 ], [ 7400, 1.2, 0.0752 ], [ 7450, 1.2, 0.0746 ], [ 7500, 1.2, 0.0735 ], [ 7550, 1.2, 0.0718 ], [ 7600, 1.2, 0.0698 ], [ 7650, 1.2, 0.0674 ], [ 7700, 1.2, 0.0647 ], [ 7750, 1.2, 0.0618 ], [ 7800, 1.2, 0.0588 ], [ 7850, 1.2, 0.0556 ], [ 7900, 1.2, 0.0524 ], [ 7950, 1.2, 0.0491 ], [ 8000, 1.2, 0.0458 ], [ 8050, 1.2, 0.0425 ], [ 8100, 1.2, 0.0393 ], [ 8150, 1.2, 0.0361 ], [ 8200, 1.2, 0.033 ], [ 8250, 1.2, 0.0301 ], [ 8300, 1.2, 0.0272 ], [ 8350, 1.2, 0.0245 ], [ 8400, 1.2, 0.0219 ], [ 8450, 1.2, 0.0194 ], [ 8500, 1.2, 0.0171 ], [ 8550, 1.2, 0.015 ], [ 8600, 1.2, 0.0129 ], [ 8650, 1.2, 0.0111 ], [ 8700, 1.2, 0.0093 ], [ 8750, 1.2, 0.0077 ], [ 8800, 1.2, 0.0063 ], [ 8850, 1.2, 0.0049 ], [ 8900, 1.2, 0.0037 ], [ 8950, 1.2, 0.0026 ], [ 9000, 1.2, 0.0017 ], [ 9050, 1.2, 0.0008 ], [ 9100, 1.2, 0 ], [ 9150, 1.2, -0.0006 ], [ 9200, 1.2, -0.0012 ], [ 9250, 1.2, -0.0017 ], [ 9300, 1.2, -0.0021 ], [ 9350, 1.2, -0.0025 ], [ 9400, 1.2, -0.0028 ], [ 9450, 1.2, -0.003 ], [ 9500, 1.2, -0.0031 ], [ 9550, 1.2, -0.0033 ], [ 9600, 1.2, -0.0033 ], [ 9650, 1.2, -0.0034 ], [ 9700, 1.2, -0.0034 ], [ 9750, 1.2, -0.0034 ], [ 9800, 1.2, -0.0033 ], [ 9850, 1.2, -0.0032 ], [ 9900, 1.2, -0.0031 ], [ 9950, 1.2, -0.003 ], [ 10000, 1.2, -0.0029 ], [ 10050, 1.2, -0.0028 ], [ 10100, 1.2, -0.0027 ], [ 10150, 1.2, -0.0025 ], [ 10200, 1.2, -0.0024 ], [ 10250, 1.2, -0.0022 ], [ 10300, 1.2, -0.0021 ], [ 10350, 1.2, -0.0019 ], [ 10400, 1.2, -0.0018 ], [ 10450, 1.2, -0.0016 ], [ 10500, 1.2, -0.0015 ], [ 10550, 1.2, -0.0014 ], [ 10600, 1.2, -0.0012 ], [ 10650, 1.2, -0.0011 ], [ 10700, 1.2, -0.001 ], [ 10750, 1.2, -0.0009 ], [ 10800, 1.2, -0.0008 ], [ 10850, 1.2, -0.0007 ], [ 10900, 1.2, -0.0006 ], [ 10950, 1.2, -0.0005 ], [ 11000, 1.2, -0.0004 ], [ 11050, 0, 0 ], [ 11100, 0, 0 ], [ 11150, 0, 0 ], [ 11200, 0, 0 ], [ 11250, 0, 0 ], [ 11300, 0, 0 ], [ 11350, 0, 0 ], [ 11400, 0, 0 ], [ 11450, 0, 0 ], [ 11500, 0, 0 ], [ 11550, 0, 0 ], [ 11600, 0, 0 ], [ 11650, 0, 0 ], [ 11700, 0, 0 ], [ 11750, 0, 0 ], [ 11800, 0, 0 ], [ 11850, 0, 0 ], [ 11900, 0, 0 ], [ 11950, 0, 0 ], [ 12000, 0, 0 ], [ 12050, 0, 0 ], [ 12100, 0, 0 ], [ 12150, 0, 0 ], [ 12200, 0, 0 ], [ 12250, 0, 0 ], [ 12300, 0, 0 ], [ 12350, 0, 0 ], [ 12400, 0, 0 ], [ 12450, 0, 0 ], [ 12500, 0, 0 ], [ 12550, 0, 0 ], [ 12600, 0, 0 ], [ 12650, 0, 0 ], [ 12700, 0, 0 ], [ 12750, 0, 0 ], [ 12800, 0, 0 ], [ 12850, 0, 0 ], [ 12900, 0, 0 ], [ 12950, 0, 0 ], [ 13000, 0, 0 ], [ 13050, 0, 0 ], [ 13100, 0, 0 ], [ 13150, 0, 0 ], [ 13200, 0, 0 ], [ 13250, 0, 0 ], [ 13300, 0, 0 ], [ 13350, 0, 0 ], [ 13400, 0, 0 ], [ 13450, 0, 0 ], [ 13500, 0, 0 ], [ 13550, 0, 0 ], [ 13600, 0, 0 ], [ 13650, 0, 0 ], [ 13700, 0, 0 ], [ 13750, 0, 0 ], [ 13800, 0, 0 ], [ 13850, 0, 0 ], [ 13900, 0, 0 ], [ 13950, 0, 0 ], [ 14000, 0, 0 ] ] }, "map": { "frame_id": "map", "units": "m", "id": "W-01", "width": 24, "height": 11, "shelves": [ { "id": "SH-A1", "x0": 4, "y0": 6.6, "x1": 7.2, "y1": 9.8 }, { "id": "SH-A2", "x0": 4, "y0": 1, "x1": 7.2, "y1": 4 }, { "id": "SH-B1", "x0": 14.4, "y0": 6.6, "x1": 17.6, "y1": 9.8 }, { "id": "SH-B2", "x0": 14.4, "y0": 1, "x1": 17.6, "y1": 4 } ], "safetyZones": [ { "id": "ZONE-B2", "channel": "ESTOP-ZONE-B2", "x0": 11.2, "y0": 4.2, "x1": 13.6, "y1": 6.4 } ], "path": [ [ 1.3, 1.6 ], [ 2.6, 1.6 ], [ 2.6, 5.3 ], [ 11, 5.3 ], [ 13, 5.3 ], [ 14, 7.2 ] ], "start": { "x": 1.3, "y": 1.6, "yaw": 0 } }, "mcap": { "profile": "ros2", "library": "kinesim/0.1.0 (@mcap/core)", "crc_validated": true, "provenance": { "simulated": "true", "generator": "kinesim/0.1.0", "scenario_id": "s01-large-offset", "seed": "kinwit/s01-stop/v1", "source_id": "robot-controller-sim", "clock_domain": "ROBOT_ROS_TIME", "note": "Deterministic kinematic simulation. Not a Gazebo or real-robot recording.", "safety_poll_hz": "200", "timestamp_jitter_ns": "50000", "control_hz": "20" }, "topics": [ { "topic": "/tf_static", "count": 1, "schema": "tf2_msgs/msg/TFMessage" }, { "topic": "/scan", "count": 141, "schema": "sensor_msgs/msg/LaserScan" }, { "topic": "/odom", "count": 701, "schema": "nav_msgs/msg/Odometry" }, { "topic": "/tf", "count": 701, "schema": "tf2_msgs/msg/TFMessage" }, { "topic": "/kinwit/clock_sync", "count": 56, "schema": "kinwit_msgs/msg/ClockSyncSample" }, { "topic": "/navigate_to_pose/_action/status", "count": 3, "schema": "action_msgs/msg/GoalStatusArray" }, { "topic": "/cmd_vel", "count": 277, "schema": "geometry_msgs/msg/Twist" }, { "topic": "/safety/stop_input", "count": 1, "schema": "kinwit_msgs/msg/SafetyInput" }, { "topic": "/safety/state", "count": 2, "schema": "kinwit_msgs/msg/SafetyState" } ] }, "facility": { "header": { "clock_domain": "FACILITY_PLC_CLOCK", "controller": "facility-zone-controller-sim", "firmware": "kinesim-facility/0.1.0", "note": "Synthetic facility controller. Logically separate generator; not a physical PLC.", "plc_scan_ms": 4, "prev_sha256": "0000000000000000000000000000000000000000000000000000000000000000", "seq": 0, "simulated": true, "source_id": "facility-controller-sim", "timestamp_jitter_bound_ns": 10000, "timestamp_resolution_ns": 1000, "timestamp_semantics": "Input changes are timestamped at the PLC scan in which they are observed (latency up to one scan).", "ts_ns": "1793697238187655000", "type": "LOG_OPEN" }, "records": 72, "chain_head_line": 72 } }