initial_guess1.INIVAL

let x[1]:= 0.000; 
let y[1]:= -0.780; 
let theta[1]:= 0.000; 
let v[1]:= 20.000; 
let a[1]:= 0.000; 
let phy[1]:= 0.180; 
let w[1]:= 0.000; 
let xf[1]:= 2.588; 
let yf[1]:= -0.780; 
let xr[1]:= 0.243; 
let yr[1]:= -0.780; 
let x[2]:= 0.996; 
let y[2]:= -0.732; 
let theta[2]:= 0.048; 
let v[2]:= 20.072; 
let a[2]:= 1.444; 
let phy[2]:= 0.134; 
let w[2]:= -0.917; 
let xf[2]:= 3.581; 
let yf[2]:= -0.607; 
let xr[2]:= 1.239; 
let yr[2]:= -0.720; 
let x[3]:= 1.994; 
let y[3]:= -0.652; 
let theta[3]:= 0.080; 
let v[3]:= 20.148; 
let a[3]:= 1.536; 
let phy[3]:= 0.090; 
let w[3]:= -0.899; 
let xf[3]:= 4.573; 
let yf[3]:= -0.444; 
let xr[3]:= 2.237; 
let yr[3]:= -0.632; 
let x[4]:= 2.995; 
let y[4]:= -0.554; 
let theta[4]:= 0.097; 
let v[4]:= 20.238; 
let a[4]:= 1.811; 
let phy[4]:= 0.046; 
let w[4]:= -0.875; 
let xf[4]:= 5.571; 
let yf[4]:= -0.304; 
let xr[4]:= 3.237; 
let yr[4]:= -0.531; 
let x[5]:= 4.000; 
let y[5]:= -0.455; 
let theta[5]:= 0.099; 
let v[5]:= 20.331; 
let a[5]:= 1.872; 
let phy[5]:= 0.005; 
let w[5]:= -0.837; 
let xf[5]:= 6.575; 
let yf[5]:= -0.200; 
let xr[5]:= 4.242; 
let yr[5]:= -0.431; 
let x[6]:= 5.011; 
let y[6]:= -0.367; 
let theta[6]:= 0.087; 
let v[6]:= 20.421; 
let a[6]:= 1.815; 
let phy[6]:= -0.033; 
let w[6]:= -0.765; 
let xf[6]:= 7.589; 
let yf[6]:= -0.143; 
let xr[6]:= 5.254; 
let yr[6]:= -0.346; 
let x[7]:= 6.028; 
let y[7]:= -0.303; 
let theta[7]:= 0.063; 
let v[7]:= 20.504; 
let a[7]:= 1.672; 
let phy[7]:= -0.065; 
let w[7]:= -0.642; 
let xf[7]:= 8.611; 
let yf[7]:= -0.141; 
let xr[7]:= 6.271; 
let yr[7]:= -0.288; 
let x[8]:= 7.050; 
let y[8]:= -0.271; 
let theta[8]:= 0.031; 
let v[8]:= 20.577; 
let a[8]:= 1.472; 
let phy[8]:= -0.087; 
let w[8]:= -0.430; 
let xf[8]:= 9.637; 
let yf[8]:= -0.191; 
let xr[8]:= 7.293; 
let yr[8]:= -0.264; 
let x[9]:= 8.076; 
let y[9]:= -0.272; 
let theta[9]:= -0.001; 
let v[9]:= 20.640; 
let a[9]:= 1.251; 
let phy[9]:= -0.087; 
let w[9]:= -0.003; 
let xf[9]:= 10.663; 
let yf[9]:= -0.274; 
let xr[9]:= 8.319; 
let yr[9]:= -0.272; 
let x[10]:= 9.103; 
let y[10]:= -0.300; 
let theta[10]:= -0.027; 
let v[10]:= 20.691; 
let a[10]:= 1.040; 
let phy[10]:= -0.072; 
let w[10]:= 0.293; 
let xf[10]:= 11.690; 
let yf[10]:= -0.371; 
let xr[10]:= 9.346; 
let yr[10]:= -0.307; 
let x[11]:= 10.132; 
let y[11]:= -0.349; 
let theta[11]:= -0.047; 
let v[11]:= 20.733; 
let a[11]:= 0.848; 
let phy[11]:= -0.054; 
let w[11]:= 0.363; 
let xf[11]:= 12.717; 
let yf[11]:= -0.471; 
let xr[11]:= 10.375; 
let yr[11]:= -0.360; 
let x[12]:= 11.162; 
let y[12]:= -0.411; 
let theta[12]:= -0.061; 
let v[12]:= 20.767; 
let a[12]:= 0.677; 
let phy[12]:= -0.036; 
let w[12]:= 0.372; 
let xf[12]:= 13.745; 
let yf[12]:= -0.568; 
let xr[12]:= 11.405; 
let yr[12]:= -0.426; 
let x[13]:= 12.193; 
let y[13]:= -0.481; 
let theta[13]:= -0.067; 
let v[13]:= 20.793; 
let a[13]:= 0.514; 
let phy[13]:= -0.019; 
let w[13]:= 0.345; 
let xf[13]:= 14.775; 
let yf[13]:= -0.655; 
let xr[13]:= 12.436; 
let yr[13]:= -0.497; 
let x[14]:= 13.225; 
let y[14]:= -0.552; 
let theta[14]:= -0.069; 
let v[14]:= 20.810; 
let a[14]:= 0.354; 
let phy[14]:= -0.004; 
let w[14]:= 0.293; 
let xf[14]:= 15.806; 
let yf[14]:= -0.730; 
let xr[14]:= 13.468; 
let yr[14]:= -0.569; 
let x[15]:= 14.257; 
let y[15]:= -0.621; 
let theta[15]:= -0.066; 
let v[15]:= 20.820; 
let a[15]:= 0.195; 
let phy[15]:= 0.007; 
let w[15]:= 0.221; 
let xf[15]:= 16.839; 
let yf[15]:= -0.792; 
let xr[15]:= 14.500; 
let yr[15]:= -0.637; 
let x[16]:= 15.290; 
let y[16]:= -0.684; 
let theta[16]:= -0.061; 
let v[16]:= 20.823; 
let a[16]:= 0.057; 
let phy[16]:= 0.014; 
let w[16]:= 0.141; 
let xf[16]:= 17.873; 
let yf[16]:= -0.842; 
let xr[16]:= 15.533; 
let yr[16]:= -0.699; 
let x[17]:= 16.323; 
let y[17]:= -0.740; 
let theta[17]:= -0.055; 
let v[17]:= 20.820; 
let a[17]:= -0.060; 
let phy[17]:= 0.017; 
let w[17]:= 0.069; 
let xf[17]:= 18.907; 
let yf[17]:= -0.882; 
let xr[17]:= 16.566; 
let yr[17]:= -0.754; 
let x[18]:= 17.356; 
let y[18]:= -0.790; 
let theta[18]:= -0.048; 
let v[18]:= 20.812; 
let a[18]:= -0.158; 
let phy[18]:= 0.018; 
let w[18]:= 0.017; 
let xf[18]:= 19.941; 
let yf[18]:= -0.914; 
let xr[18]:= 17.599; 
let yr[18]:= -0.802; 
let x[19]:= 18.388; 
let y[19]:= -0.833; 
let theta[19]:= -0.042; 
let v[19]:= 20.800; 
let a[19]:= -0.239; 
let phy[19]:= 0.017; 
let w[19]:= -0.016; 
let xf[19]:= 20.974; 
let yf[19]:= -0.940; 
let xr[19]:= 18.631; 
let yr[19]:= -0.843; 
let x[20]:= 19.421; 
let y[20]:= -0.870; 
let theta[20]:= -0.036; 
let v[20]:= 20.784; 
let a[20]:= -0.323; 
let phy[20]:= 0.016; 
let w[20]:= -0.033; 
let xf[20]:= 22.007; 
let yf[20]:= -0.962; 
let xr[20]:= 19.664; 
let yr[20]:= -0.878; 
let x[21]:= 20.452; 
let y[21]:= -0.901; 
let theta[21]:= -0.031; 
let v[21]:= 20.764; 
let a[21]:= -0.409; 
let phy[21]:= 0.014; 
let w[21]:= -0.040; 
let xf[21]:= 23.038; 
let yf[21]:= -0.980; 
let xr[21]:= 20.695; 
let yr[21]:= -0.909; 
let x[22]:= 21.482; 
let y[22]:= -0.928; 
let theta[22]:= -0.026; 
let v[22]:= 20.739; 
let a[22]:= -0.493; 
let phy[22]:= 0.012; 
let w[22]:= -0.040; 
let xf[22]:= 24.069; 
let yf[22]:= -0.996; 
let xr[22]:= 21.725; 
let yr[22]:= -0.935; 
let x[23]:= 22.511; 
let y[23]:= -0.952; 
let theta[23]:= -0.023; 
let v[23]:= 20.710; 
let a[23]:= -0.587; 
let phy[23]:= 0.010; 
let w[23]:= -0.037; 
let xf[23]:= 25.098; 
let yf[23]:= -1.010; 
let xr[23]:= 22.754; 
let yr[23]:= -0.957; 
let x[24]:= 23.538; 
let y[24]:= -0.972; 
let theta[24]:= -0.019; 
let v[24]:= 20.676; 
let a[24]:= -0.678; 
let phy[24]:= 0.008; 
let w[24]:= -0.031; 
let xf[24]:= 26.125; 
let yf[24]:= -1.022; 
let xr[24]:= 23.781; 
let yr[24]:= -0.976; 
let x[25]:= 24.563; 
let y[25]:= -0.989; 
let theta[25]:= -0.017; 
let v[25]:= 20.637; 
let a[25]:= -0.793; 
let phy[25]:= 0.007; 
let w[25]:= -0.024; 
let xf[25]:= 27.151; 
let yf[25]:= -1.032; 
let xr[25]:= 24.806; 
let yr[25]:= -0.993; 
let x[26]:= 25.586; 
let y[26]:= -1.003; 
let theta[26]:= -0.014; 
let v[26]:= 20.592; 
let a[26]:= -0.908; 
let phy[26]:= 0.007; 
let w[26]:= -0.016; 
let xf[26]:= 28.174; 
let yf[26]:= -1.041; 
let xr[26]:= 25.830; 
let yr[26]:= -1.007; 
let x[27]:= 26.607; 
let y[27]:= -1.016; 
let theta[27]:= -0.012; 
let v[27]:= 20.541; 
let a[27]:= -1.019; 
let phy[27]:= 0.006; 
let w[27]:= -0.008; 
let xf[27]:= 29.194; 
let yf[27]:= -1.047; 
let xr[27]:= 26.850; 
let yr[27]:= -1.019; 
let x[28]:= 27.625; 
let y[28]:= -1.026; 
let theta[28]:= -0.010; 
let v[28]:= 20.484; 
let a[28]:= -1.154; 
let phy[28]:= 0.006; 
let w[28]:= 0.001; 
let xf[28]:= 30.212; 
let yf[28]:= -1.052; 
let xr[28]:= 27.868; 
let yr[28]:= -1.028; 
let x[29]:= 28.639; 
let y[29]:= -1.033; 
let theta[29]:= -0.007; 
let v[29]:= 20.420; 
let a[29]:= -1.286; 
let phy[29]:= 0.007; 
let w[29]:= 0.009; 
let xf[29]:= 31.227; 
let yf[29]:= -1.053; 
let xr[29]:= 28.883; 
let yr[29]:= -1.035; 
let x[30]:= 29.650; 
let y[30]:= -1.038; 
let theta[30]:= -0.005; 
let v[30]:= 20.350; 
let a[30]:= -1.410; 
let phy[30]:= 0.008; 
let w[30]:= 0.018; 
let xf[30]:= 32.238; 
let yf[30]:= -1.051; 
let xr[30]:= 29.894; 
let yr[30]:= -1.039; 
let x[31]:= 30.658; 
let y[31]:= -1.040; 
let theta[31]:= -0.002; 
let v[31]:= 20.274; 
let a[31]:= -1.527; 
let phy[31]:= 0.009; 
let w[31]:= 0.027; 
let xf[31]:= 33.246; 
let yf[31]:= -1.044; 
let xr[31]:= 30.901; 
let yr[31]:= -1.040; 
let x[32]:= 31.661; 
let y[32]:= -1.038; 
let theta[32]:= 0.002; 
let v[32]:= 20.192; 
let a[32]:= -1.638; 
let phy[32]:= 0.011; 
let w[32]:= 0.035; 
let xf[32]:= 34.249; 
let yf[32]:= -1.032; 
let xr[32]:= 31.904; 
let yr[32]:= -1.037; 
let x[33]:= 32.660; 
let y[33]:= -1.031; 
let theta[33]:= 0.007; 
let v[33]:= 20.106; 
let a[33]:= -1.743; 
let phy[33]:= 0.013; 
let w[33]:= 0.041; 
let xf[33]:= 35.248; 
let yf[33]:= -1.014; 
let xr[33]:= 32.903; 
let yr[33]:= -1.029; 
let x[34]:= 33.655; 
let y[34]:= -1.019; 
let theta[34]:= 0.012; 
let v[34]:= 20.014; 
let a[34]:= -1.842; 
let phy[34]:= 0.015; 
let w[34]:= 0.046; 
let xf[34]:= 36.242; 
let yf[34]:= -0.988; 
let xr[34]:= 33.898; 
let yr[34]:= -1.016; 
let x[35]:= 34.644; 
let y[35]:= -1.001; 
let theta[35]:= 0.018; 
let v[35]:= 19.918; 
let a[35]:= -1.937; 
let phy[35]:= 0.017; 
let w[35]:= 0.049; 
let xf[35]:= 37.232; 
let yf[35]:= -0.954; 
let xr[35]:= 34.887; 
let yr[35]:= -0.997; 
let x[36]:= 35.629; 
let y[36]:= -0.976; 
let theta[36]:= 0.025; 
let v[36]:= 19.817; 
let a[36]:= -2.029; 
let phy[36]:= 0.020; 
let w[36]:= 0.045; 
let xf[36]:= 38.216; 
let yf[36]:= -0.911; 
let xr[36]:= 35.872; 
let yr[36]:= -0.970; 
let x[37]:= 36.608; 
let y[37]:= -0.944; 
let theta[37]:= 0.033; 
let v[37]:= 19.712; 
let a[37]:= -2.117; 
let phy[37]:= 0.021; 
let w[37]:= 0.035; 
let xf[37]:= 39.194; 
let yf[37]:= -0.860; 
let xr[37]:= 36.851; 
let yr[37]:= -0.937; 
let x[38]:= 37.581; 
let y[38]:= -0.905; 
let theta[38]:= 0.040; 
let v[38]:= 19.603; 
let a[38]:= -2.205; 
let phy[38]:= 0.022; 
let w[38]:= 0.016; 
let xf[38]:= 40.166; 
let yf[38]:= -0.801; 
let xr[38]:= 37.824; 
let yr[38]:= -0.895; 
let x[39]:= 38.548; 
let y[39]:= -0.859; 
let theta[39]:= 0.048; 
let v[39]:= 19.489; 
let a[39]:= -2.290; 
let phy[39]:= 0.021; 
let w[39]:= -0.014; 
let xf[39]:= 41.133; 
let yf[39]:= -0.736; 
let xr[39]:= 38.791; 
let yr[39]:= -0.848; 
let x[40]:= 39.509; 
let y[40]:= -0.807; 
let theta[40]:= 0.054; 
let v[40]:= 19.371; 
let a[40]:= -2.377; 
let phy[40]:= 0.019; 
let w[40]:= -0.054; 
let xf[40]:= 42.093; 
let yf[40]:= -0.667; 
let xr[40]:= 39.752; 
let yr[40]:= -0.794; 
let x[41]:= 40.463; 
let y[41]:= -0.751; 
let theta[41]:= 0.059; 
let v[41]:= 19.221; 
let a[41]:= -3.013; 
let phy[41]:= 0.014; 
let w[41]:= -0.106; 
let xf[41]:= 43.046; 
let yf[41]:= -0.599; 
let xr[41]:= 40.705; 
let yr[41]:= -0.737; 
let x[42]:= 41.412; 
let y[42]:= -0.694; 
let theta[42]:= 0.061; 
let v[42]:= 19.140; 
let a[42]:= -1.623; 
let phy[42]:= 0.005; 
let w[42]:= -0.162; 
let xf[42]:= 43.995; 
let yf[42]:= -0.537; 
let xr[42]:= 41.655; 
let yr[42]:= -0.679; 
let x[43]:= 42.358; 
let y[43]:= -0.638; 
let theta[43]:= 0.059; 
let v[43]:= 19.066; 
let a[43]:= -1.501; 
let phy[43]:= -0.005; 
let w[43]:= -0.219; 
let xf[43]:= 44.941; 
let yf[43]:= -0.486; 
let xr[43]:= 42.600; 
let yr[43]:= -0.624; 
let x[44]:= 43.300; 
let y[44]:= -0.589; 
let theta[44]:= 0.052; 
let v[44]:= 18.996; 
let a[44]:= -1.402; 
let phy[44]:= -0.019; 
let w[44]:= -0.273; 
let xf[44]:= 45.884; 
let yf[44]:= -0.453; 
let xr[44]:= 43.543; 
let yr[44]:= -0.576; 
let x[45]:= 44.240; 
let y[45]:= -0.550; 
let theta[45]:= 0.041; 
let v[45]:= 18.932; 
let a[45]:= -1.284; 
let phy[45]:= -0.035; 
let w[45]:= -0.322; 
let xf[45]:= 46.826; 
let yf[45]:= -0.445; 
let xr[45]:= 44.483; 
let yr[45]:= -0.541; 
let x[46]:= 45.178; 
let y[46]:= -0.529; 
let theta[46]:= 0.023; 
let v[46]:= 18.875; 
let a[46]:= -1.154; 
let phy[46]:= -0.053; 
let w[46]:= -0.364; 
let xf[46]:= 47.765; 
let yf[46]:= -0.470; 
let xr[46]:= 45.421; 
let yr[46]:= -0.523; 
let x[47]:= 46.113; 
let y[47]:= -0.530; 
let theta[47]:= -0.002; 
let v[47]:= 18.825; 
let a[47]:= -1.004; 
let phy[47]:= -0.073; 
let w[47]:= -0.397; 
let xf[47]:= 48.701; 
let yf[47]:= -0.535; 
let xr[47]:= 46.357; 
let yr[47]:= -0.531; 
let x[48]:= 47.046; 
let y[48]:= -0.561; 
let theta[48]:= -0.033; 
let v[48]:= 18.784; 
let a[48]:= -0.827; 
let phy[48]:= -0.094; 
let w[48]:= -0.423; 
let xf[48]:= 49.632; 
let yf[48]:= -0.646; 
let xr[48]:= 47.289; 
let yr[48]:= -0.569; 
let x[49]:= 47.976; 
let y[49]:= -0.628; 
let theta[49]:= -0.072; 
let v[49]:= 18.752; 
let a[49]:= -0.634; 
let phy[49]:= -0.117; 
let w[49]:= -0.457; 
let xf[49]:= 50.557; 
let yf[49]:= -0.814; 
let xr[49]:= 48.218; 
let yr[49]:= -0.646; 
let x[50]:= 48.900; 
let y[50]:= -0.738; 
let theta[50]:= -0.119; 
let v[50]:= 18.731; 
let a[50]:= -0.437; 
let phy[50]:= -0.140; 
let w[50]:= -0.466; 
let xf[50]:= 51.469; 
let yf[50]:= -1.045; 
let xr[50]:= 49.141; 
let yr[50]:= -0.767; 
let x[51]:= 49.817; 
let y[51]:= -0.899; 
let theta[51]:= -0.173; 
let v[51]:= 18.733; 
let a[51]:= 0.051; 
let phy[51]:= -0.162; 
let w[51]:= -0.450; 
let xf[51]:= 52.366; 
let yf[51]:= -1.344; 
let xr[51]:= 50.056; 
let yr[51]:= -0.940; 
let x[52]:= 50.724; 
let y[52]:= -1.116; 
let theta[52]:= -0.235; 
let v[52]:= 18.766; 
let a[52]:= 0.667; 
let phy[52]:= -0.184; 
let w[52]:= -0.443; 
let xf[52]:= 53.240; 
let yf[52]:= -1.718; 
let xr[52]:= 50.960; 
let yr[52]:= -1.172; 
let x[53]:= 51.613; 
let y[53]:= -1.395; 
let theta[53]:= -0.304; 
let v[53]:= 18.765; 
let a[53]:= -0.030; 
let phy[53]:= -0.205; 
let w[53]:= -0.423; 
let xf[53]:= 54.082; 
let yf[53]:= -2.170; 
let xr[53]:= 51.845; 
let yr[53]:= -1.468; 
let x[54]:= 52.479; 
let y[54]:= -1.741; 
let theta[54]:= -0.380; 
let v[54]:= 18.769; 
let a[54]:= 0.080; 
let phy[54]:= -0.225; 
let w[54]:= -0.392; 
let xf[54]:= 54.882; 
let yf[54]:= -2.702; 
let xr[54]:= 52.705; 
let yr[54]:= -1.831; 
let x[55]:= 53.314; 
let y[55]:= -2.157; 
let theta[55]:= -0.463; 
let v[55]:= 18.777; 
let a[55]:= 0.174; 
let phy[55]:= -0.242; 
let w[55]:= -0.350; 
let xf[55]:= 55.630; 
let yf[55]:= -3.312; 
let xr[55]:= 53.532; 
let yr[55]:= -2.266; 
let x[56]:= 54.110; 
let y[56]:= -2.645; 
let theta[56]:= -0.550; 
let v[56]:= 18.790; 
let a[56]:= 0.262; 
let phy[56]:= -0.257; 
let w[56]:= -0.295; 
let xf[56]:= 56.316; 
let yf[56]:= -3.998; 
let xr[56]:= 54.317; 
let yr[56]:= -2.773; 
let x[57]:= 54.859; 
let y[57]:= -3.205; 
let theta[57]:= -0.642; 
let v[57]:= 18.806; 
let a[57]:= 0.317; 
let phy[57]:= -0.268; 
let w[57]:= -0.225; 
let xf[57]:= 56.932; 
let yf[57]:= -4.753; 
let xr[57]:= 55.054; 
let yr[57]:= -3.350; 
let x[58]:= 55.552; 
let y[58]:= -3.832; 
let theta[58]:= -0.736; 
let v[58]:= 18.823; 
let a[58]:= 0.330; 
let phy[58]:= -0.275; 
let w[58]:= -0.136; 
let xf[58]:= 57.471; 
let yf[58]:= -5.569; 
let xr[58]:= 55.732; 
let yr[58]:= -3.995; 
let x[59]:= 56.184; 
let y[59]:= -4.523; 
let theta[59]:= -0.830; 
let v[59]:= 18.838; 
let a[59]:= 0.317; 
let phy[59]:= -0.276; 
let w[59]:= -0.027; 
let xf[59]:= 57.930; 
let yf[59]:= -6.433; 
let xr[59]:= 56.348; 
let yr[59]:= -4.703; 
let x[60]:= 56.749; 
let y[60]:= -5.270; 
let theta[60]:= -0.923; 
let v[60]:= 18.853; 
let a[60]:= 0.287; 
let phy[60]:= -0.271; 
let w[60]:= 0.089; 
let xf[60]:= 58.309; 
let yf[60]:= -7.334; 
let xr[60]:= 56.895; 
let yr[60]:= -5.464; 
let x[61]:= 57.245; 
let y[61]:= -6.066; 
let theta[61]:= -1.013; 
let v[61]:= 18.865; 
let a[61]:= 0.253; 
let phy[61]:= -0.262; 
let w[61]:= 0.192; 
let xf[61]:= 58.614; 
let yf[61]:= -8.261; 
let xr[61]:= 57.374; 
let yr[61]:= -6.272; 
let x[62]:= 57.672; 
let y[62]:= -6.901; 
let theta[62]:= -1.098; 
let v[62]:= 18.876; 
let a[62]:= 0.228; 
let phy[62]:= -0.248; 
let w[62]:= 0.274; 
let xf[62]:= 58.850; 
let yf[62]:= -9.205; 
let xr[62]:= 57.783; 
let yr[62]:= -7.117; 
let x[63]:= 58.032; 
let y[63]:= -7.768; 
let theta[63]:= -1.177; 
let v[63]:= 18.888; 
let a[63]:= 0.223; 
let phy[63]:= -0.232; 
let w[63]:= 0.336; 
let xf[63]:= 59.025; 
let yf[63]:= -10.157; 
let xr[63]:= 58.125; 
let yr[63]:= -7.992; 
let x[64]:= 58.329; 
let y[64]:= -8.659; 
let theta[64]:= -1.249; 
let v[64]:= 18.899; 
let a[64]:= 0.229; 
let phy[64]:= -0.213; 
let w[64]:= 0.378; 
let xf[64]:= 59.146; 
let yf[64]:= -11.114; 
let xr[64]:= 58.405; 
let yr[64]:= -8.889; 
let x[65]:= 58.567; 
let y[65]:= -9.568; 
let theta[65]:= -1.315; 
let v[65]:= 18.910; 
let a[65]:= 0.233; 
let phy[65]:= -0.192; 
let w[65]:= 0.424; 
let xf[65]:= 59.222; 
let yf[65]:= -12.071; 
let xr[65]:= 58.628; 
let yr[65]:= -9.803; 
let x[66]:= 58.752; 
let y[66]:= -10.489; 
let theta[66]:= -1.372; 
let v[66]:= 18.923; 
let a[66]:= 0.242; 
let phy[66]:= -0.170; 
let w[66]:= 0.432; 
let xf[66]:= 59.262; 
let yf[66]:= -13.026; 
let xr[66]:= 58.800; 
let yr[66]:= -10.728; 
let x[67]:= 58.891; 
let y[67]:= -11.422; 
let theta[67]:= -1.423; 
let v[67]:= 18.977; 
let a[67]:= 1.104; 
let phy[67]:= -0.149; 
let w[67]:= 0.435; 
let xf[67]:= 59.273; 
let yf[67]:= -13.981; 
let xr[67]:= 58.927; 
let yr[67]:= -11.663; 
let x[68]:= 58.990; 
let y[68]:= -12.361; 
let theta[68]:= -1.466; 
let v[68]:= 19.000; 
let a[68]:= 0.449; 
let phy[68]:= -0.127; 
let w[68]:= 0.434; 
let xf[68]:= 59.261; 
let yf[68]:= -14.934; 
let xr[68]:= 59.015; 
let yr[68]:= -12.603; 
let x[69]:= 59.055; 
let y[69]:= -13.304; 
let theta[69]:= -1.502; 
let v[69]:= 19.020; 
let a[69]:= 0.410; 
let phy[69]:= -0.106; 
let w[69]:= 0.425; 
let xf[69]:= 59.233; 
let yf[69]:= -15.885; 
let xr[69]:= 59.072; 
let yr[69]:= -13.546; 
let x[70]:= 59.093; 
let y[70]:= -14.249; 
let theta[70]:= -1.531; 
let v[70]:= 19.041; 
let a[70]:= 0.422; 
let phy[70]:= -0.086; 
let w[70]:= 0.406; 
let xf[70]:= 59.196; 
let yf[70]:= -16.835; 
let xr[70]:= 59.103; 
let yr[70]:= -14.492; 
let x[71]:= 59.109; 
let y[71]:= -15.196; 
let theta[71]:= -1.554; 
let v[71]:= 19.063; 
let a[71]:= 0.444; 
let phy[71]:= -0.067; 
let w[71]:= 0.380; 
let xf[71]:= 59.154; 
let yf[71]:= -17.784; 
let xr[71]:= 59.113; 
let yr[71]:= -15.439; 
let x[72]:= 59.110; 
let y[72]:= -16.145; 
let theta[72]:= -1.570; 
let v[72]:= 19.086; 
let a[72]:= 0.462; 
let phy[72]:= -0.050; 
let w[72]:= 0.347; 
let xf[72]:= 59.111; 
let yf[72]:= -18.732; 
let xr[72]:= 59.110; 
let yr[72]:= -16.388; 
let x[73]:= 59.099; 
let y[73]:= -17.094; 
let theta[73]:= -1.582; 
let v[73]:= 19.111; 
let a[73]:= 0.502; 
let phy[73]:= -0.034; 
let w[73]:= 0.309; 
let xf[73]:= 59.070; 
let yf[73]:= -19.682; 
let xr[73]:= 59.096; 
let yr[73]:= -17.337; 
let x[74]:= 59.082; 
let y[74]:= -18.045; 
let theta[74]:= -1.589; 
let v[74]:= 19.138; 
let a[74]:= 0.543; 
let phy[74]:= -0.021; 
let w[74]:= 0.265; 
let xf[74]:= 59.034; 
let yf[74]:= -20.632; 
let xr[74]:= 59.077; 
let yr[74]:= -18.288; 
let x[75]:= 59.061; 
let y[75]:= -18.997; 
let theta[75]:= -1.593; 
let v[75]:= 19.169; 
let a[75]:= 0.614; 
let phy[75]:= -0.010; 
let w[75]:= 0.219; 
let xf[75]:= 59.004; 
let yf[75]:= -21.584; 
let xr[75]:= 59.055; 
let yr[75]:= -19.240; 
let x[76]:= 59.039; 
let y[76]:= -19.951; 
let theta[76]:= -1.593; 
let v[76]:= 19.203; 
let a[76]:= 0.688; 
let phy[76]:= -0.002; 
let w[76]:= 0.173; 
let xf[76]:= 58.981; 
let yf[76]:= -22.538; 
let xr[76]:= 59.034; 
let yr[76]:= -20.194; 
let x[77]:= 59.020; 
let y[77]:= -20.907; 
let theta[77]:= -1.592; 
let v[77]:= 19.242; 
let a[77]:= 0.796; 
let phy[77]:= 0.005; 
let w[77]:= 0.130; 
let xf[77]:= 58.966; 
let yf[77]:= -23.494; 
let xr[77]:= 59.015; 
let yr[77]:= -21.150; 
let x[78]:= 59.003; 
let y[78]:= -21.865; 
let theta[78]:= -1.588; 
let v[78]:= 19.287; 
let a[78]:= 0.906; 
let phy[78]:= 0.009; 
let w[78]:= 0.090; 
let xf[78]:= 58.957; 
let yf[78]:= -24.453; 
let xr[78]:= 58.998; 
let yr[78]:= -22.108; 
let x[79]:= 58.990; 
let y[79]:= -22.826; 
let theta[79]:= -1.584; 
let v[79]:= 19.339; 
let a[79]:= 1.049; 
let phy[79]:= 0.012; 
let w[79]:= 0.058; 
let xf[79]:= 58.955; 
let yf[79]:= -25.414; 
let xr[79]:= 58.987; 
let yr[79]:= -23.069; 
let x[80]:= 58.981; 
let y[80]:= -23.790; 
let theta[80]:= -1.579; 
let v[80]:= 19.398; 
let a[80]:= 1.185; 
let phy[80]:= 0.014; 
let w[80]:= 0.030; 
let xf[80]:= 58.959; 
let yf[80]:= -26.378; 
let xr[80]:= 58.979; 
let yr[80]:= -24.033; 
let x[81]:= 58.978; 
let y[81]:= -24.756; 
let theta[81]:= -1.575; 
let v[81]:= 19.444; 
let a[81]:= 0.911; 
let phy[81]:= 0.014; 
let w[81]:= 0.007; 
let xf[81]:= 58.968; 
let yf[81]:= -27.344; 
let xr[81]:= 58.977; 
let yr[81]:= -24.999; 
let x[82]:= 58.979; 
let y[82]:= -25.729; 
let theta[82]:= -1.570; 
let v[82]:= 19.584; 
let a[82]:= 2.822; 
let phy[82]:= 0.013; 
let w[82]:= -0.012; 
let xf[82]:= 58.981; 
let yf[82]:= -28.317; 
let xr[82]:= 58.979; 
let yr[82]:= -25.972; 
let x[83]:= 58.983; 
let y[83]:= -26.708; 
let theta[83]:= -1.566; 
let v[83]:= 19.694; 
let a[83]:= 2.226; 
let phy[83]:= 0.012; 
let w[83]:= -0.029; 
let xf[83]:= 58.996; 
let yf[83]:= -29.296; 
let xr[83]:= 58.985; 
let yr[83]:= -26.951; 
let x[84]:= 58.992; 
let y[84]:= -27.692; 
let theta[84]:= -1.562; 
let v[84]:= 19.807; 
let a[84]:= 2.273; 
let phy[84]:= 0.010; 
let w[84]:= -0.042; 
let xf[84]:= 59.014; 
let yf[84]:= -30.280; 
let xr[84]:= 58.994; 
let yr[84]:= -27.935; 
let x[85]:= 59.003; 
let y[85]:= -28.682; 
let theta[85]:= -1.560; 
let v[85]:= 19.922; 
let a[85]:= 2.295; 
let phy[85]:= 0.007; 
let w[85]:= -0.053; 
let xf[85]:= 59.031; 
let yf[85]:= -31.269; 
let xr[85]:= 59.005; 
let yr[85]:= -28.925; 
let x[86]:= 59.015; 
let y[86]:= -29.677; 
let theta[86]:= -1.558; 
let v[86]:= 20.036; 
let a[86]:= 2.306; 
let phy[86]:= 0.004; 
let w[86]:= -0.062; 
let xf[86]:= 59.048; 
let yf[86]:= -32.265; 
let xr[86]:= 59.018; 
let yr[86]:= -29.921; 
let x[87]:= 59.028; 
let y[87]:= -30.679; 
let theta[87]:= -1.558; 
let v[87]:= 20.150; 
let a[87]:= 2.293; 
let phy[87]:= 0.001; 
let w[87]:= -0.069; 
let xf[87]:= 59.061; 
let yf[87]:= -33.266; 
let xr[87]:= 59.031; 
let yr[87]:= -30.922; 
let x[88]:= 59.040; 
let y[88]:= -31.685; 
let theta[88]:= -1.559; 
let v[88]:= 20.263; 
let a[88]:= 2.271; 
let phy[88]:= -0.003; 
let w[88]:= -0.076; 
let xf[88]:= 59.070; 
let yf[88]:= -34.273; 
let xr[88]:= 59.043; 
let yr[88]:= -31.928; 
let x[89]:= 59.049; 
let y[89]:= -32.698; 
let theta[89]:= -1.562; 
let v[89]:= 20.375; 
let a[89]:= 2.250; 
let phy[89]:= -0.007; 
let w[89]:= -0.085; 
let xf[89]:= 59.073; 
let yf[89]:= -35.285; 
let xr[89]:= 59.051; 
let yr[89]:= -32.941; 
let x[90]:= 59.054; 
let y[90]:= -33.716; 
let theta[90]:= -1.566; 
let v[90]:= 20.485; 
let a[90]:= 2.218; 
let phy[90]:= -0.012; 
let w[90]:= -0.092; 
let xf[90]:= 59.066; 
let yf[90]:= -36.303; 
let xr[90]:= 59.055; 
let yr[90]:= -33.959; 
let x[91]:= 59.053; 
let y[91]:= -34.739; 
let theta[91]:= -1.572; 
let v[91]:= 20.592; 
let a[91]:= 2.158; 
let phy[91]:= -0.017; 
let w[91]:= -0.096; 
let xf[91]:= 59.050; 
let yf[91]:= -37.326; 
let xr[91]:= 59.052; 
let yr[91]:= -34.982; 
let x[92]:= 59.043; 
let y[92]:= -35.767; 
let theta[92]:= -1.580; 
let v[92]:= 20.696; 
let a[92]:= 2.087; 
let phy[92]:= -0.021; 
let w[92]:= -0.095; 
let xf[92]:= 59.020; 
let yf[92]:= -38.355; 
let xr[92]:= 59.041; 
let yr[92]:= -36.010; 
let x[93]:= 59.024; 
let y[93]:= -36.800; 
let theta[93]:= -1.589; 
let v[93]:= 20.796; 
let a[93]:= 2.013; 
let phy[93]:= -0.026; 
let w[93]:= -0.088; 
let xf[93]:= 58.976; 
let yf[93]:= -39.388; 
let xr[93]:= 59.020; 
let yr[93]:= -37.043; 
let x[94]:= 58.994; 
let y[94]:= -37.838; 
let theta[94]:= -1.600; 
let v[94]:= 20.892; 
let a[94]:= 1.936; 
let phy[94]:= -0.029; 
let w[94]:= -0.067; 
let xf[94]:= 58.918; 
let yf[94]:= -40.425; 
let xr[94]:= 58.987; 
let yr[94]:= -38.081; 
let x[95]:= 58.952; 
let y[95]:= -38.880; 
let theta[95]:= -1.611; 
let v[95]:= 20.983; 
let a[95]:= 1.839; 
let phy[95]:= -0.030; 
let w[95]:= -0.029; 
let xf[95]:= 58.847; 
let yf[95]:= -41.465; 
let xr[95]:= 58.942; 
let yr[95]:= -39.123; 
let x[96]:= 58.898; 
let y[96]:= -39.925; 
let theta[96]:= -1.622; 
let v[96]:= 21.070; 
let a[96]:= 1.734; 
let phy[96]:= -0.029; 
let w[96]:= 0.033; 
let xf[96]:= 58.765; 
let yf[96]:= -42.510; 
let xr[96]:= 58.885; 
let yr[96]:= -40.168; 
let x[97]:= 58.835; 
let y[97]:= -40.974; 
let theta[97]:= -1.631; 
let v[97]:= 21.150; 
let a[97]:= 1.621; 
let phy[97]:= -0.023; 
let w[97]:= 0.124; 
let xf[97]:= 58.680; 
let yf[97]:= -43.557; 
let xr[97]:= 58.820; 
let yr[97]:= -41.217; 
let x[98]:= 58.767; 
let y[98]:= -42.027; 
let theta[98]:= -1.635; 
let v[98]:= 21.225; 
let a[98]:= 1.498; 
let phy[98]:= -0.011; 
let w[98]:= 0.235; 
let xf[98]:= 58.602; 
let yf[98]:= -44.609; 
let xr[98]:= 58.752; 
let yr[98]:= -42.270; 
let x[99]:= 58.702; 
let y[99]:= -43.083; 
let theta[99]:= -1.632; 
let v[99]:= 21.292; 
let a[99]:= 1.363; 
let phy[99]:= 0.006; 
let w[99]:= 0.349; 
let xf[99]:= 58.543; 
let yf[99]:= -45.666; 
let xr[99]:= 58.687; 
let yr[99]:= -43.326; 
let x[100]:= 58.649; 
let y[100]:= -44.142; 
let theta[100]:= -1.621; 
let v[100]:= 21.353; 
let a[100]:= 1.219; 
let phy[100]:= 0.029; 
let w[100]:= 0.451; 
let xf[100]:= 58.518; 
let yf[100]:= -46.727; 
let xr[100]:= 58.636; 
let yr[100]:= -44.385; 
let x[101]:= 58.617; 
let y[101]:= -45.206; 
let theta[101]:= -1.600; 
let v[101]:= 21.406; 
let a[101]:= 1.065; 
let phy[101]:= 0.055; 
let w[101]:= 0.534; 
let xf[101]:= 58.541; 
let yf[101]:= -47.792; 
let xr[101]:= 58.610; 
let yr[101]:= -45.449; 
let x[102]:= 58.620; 
let y[102]:= -46.272; 
let theta[102]:= -1.568; 
let v[102]:= 21.451; 
let a[102]:= 0.911; 
let phy[102]:= 0.085; 
let w[102]:= 0.597; 
let xf[102]:= 58.628; 
let yf[102]:= -48.859; 
let xr[102]:= 58.621; 
let yr[102]:= -46.515; 
let x[103]:= 58.671; 
let y[103]:= -47.338; 
let theta[103]:= -1.523; 
let v[103]:= 21.490; 
let a[103]:= 0.776; 
let phy[103]:= 0.117; 
let w[103]:= 0.645; 
let xf[103]:= 58.794; 
let yf[103]:= -49.923; 
let xr[103]:= 58.683; 
let yr[103]:= -47.581; 
let x[104]:= 58.784; 
let y[104]:= -48.402; 
let theta[104]:= -1.465; 
let v[104]:= 21.523; 
let a[104]:= 0.665; 
let phy[104]:= 0.151; 
let w[104]:= 0.682; 
let xf[104]:= 59.057; 
let yf[104]:= -50.975; 
let xr[104]:= 58.810; 
let yr[104]:= -48.643; 
let x[105]:= 58.973; 
let y[105]:= -49.456; 
let theta[105]:= -1.393; 
let v[105]:= 21.551; 
let a[105]:= 0.565; 
let phy[105]:= 0.187; 
let w[105]:= 0.717; 
let xf[105]:= 59.431; 
let yf[105]:= -52.002; 
let xr[105]:= 59.017; 
let yr[105]:= -49.695; 
let x[106]:= 59.254; 
let y[106]:= -50.490; 
let theta[106]:= -1.306; 
let v[106]:= 21.574; 
let a[106]:= 0.472; 
let phy[106]:= 0.223; 
let w[106]:= 0.732; 
let xf[106]:= 59.931; 
let yf[106]:= -52.988; 
let xr[106]:= 59.318; 
let yr[106]:= -50.725; 
let x[107]:= 59.637; 
let y[107]:= -51.490; 
let theta[107]:= -1.205; 
let v[107]:= 21.541; 
let a[107]:= -0.663; 
let phy[107]:= 0.259; 
let w[107]:= 0.735; 
let xf[107]:= 60.564; 
let yf[107]:= -53.906; 
let xr[107]:= 59.724; 
let yr[107]:= -51.717; 
let x[108]:= 60.134; 
let y[108]:= -52.438; 
let theta[108]:= -1.088; 
let v[108]:= 21.538; 
let a[108]:= -0.073; 
let phy[108]:= 0.296; 
let w[108]:= 0.733; 
let xf[108]:= 61.335; 
let yf[108]:= -54.730; 
let xr[108]:= 60.247; 
let yr[108]:= -52.653; 
let x[109]:= 60.751; 
let y[109]:= -53.312; 
let theta[109]:= -0.957; 
let v[109]:= 21.533; 
let a[109]:= -0.099; 
let phy[109]:= 0.332; 
let w[109]:= 0.719; 
let xf[109]:= 62.242; 
let yf[109]:= -55.427; 
let xr[109]:= 60.891; 
let yr[109]:= -53.511; 
let x[110]:= 61.488; 
let y[110]:= -54.086; 
let theta[110]:= -0.810; 
let v[110]:= 21.519; 
let a[110]:= -0.272; 
let phy[110]:= 0.366; 
let w[110]:= 0.697; 
let xf[110]:= 63.272; 
let yf[110]:= -55.961; 
let xr[110]:= 61.655; 
let yr[110]:= -54.263; 
let x[111]:= 62.339; 
let y[111]:= -54.732; 
let theta[111]:= -0.649; 
let v[111]:= 21.494; 
let a[111]:= -0.508; 
let phy[111]:= 0.400; 
let w[111]:= 0.672; 
let xf[111]:= 64.400; 
let yf[111]:= -56.296; 
let xr[111]:= 62.532; 
let yr[111]:= -54.879; 
let x[112]:= 63.287; 
let y[112]:= -55.218; 
let theta[112]:= -0.474; 
let v[112]:= 21.455; 
let a[112]:= -0.783; 
let phy[112]:= 0.431; 
let w[112]:= 0.638; 
let xf[112]:= 65.590; 
let yf[112]:= -56.399; 
let xr[112]:= 63.504; 
let yr[112]:= -55.329; 
let x[113]:= 64.308; 
let y[113]:= -55.518; 
let theta[113]:= -0.286; 
let v[113]:= 21.403; 
let a[113]:= -1.058; 
let phy[113]:= 0.460; 
let w[113]:= 0.570; 
let xf[113]:= 66.790; 
let yf[113]:= -56.248; 
let xr[113]:= 64.541; 
let yr[113]:= -55.587; 
let x[114]:= 65.364; 
let y[114]:= -55.611; 
let theta[114]:= -0.087; 
let v[114]:= 21.338; 
let a[114]:= -1.306; 
let phy[114]:= 0.483; 
let w[114]:= 0.471; 
let xf[114]:= 67.942; 
let yf[114]:= -55.836; 
let xr[114]:= 65.606; 
let yr[114]:= -55.632; 
let x[115]:= 66.413; 
let y[115]:= -55.486; 
let theta[115]:= 0.119; 
let v[115]:= 21.262; 
let a[115]:= -1.527; 
let phy[115]:= 0.499; 
let w[115]:= 0.326; 
let xf[115]:= 68.982; 
let yf[115]:= -55.179; 
let xr[115]:= 66.654; 
let yr[115]:= -55.457; 
let x[116]:= 67.410; 
let y[116]:= -55.150; 
let theta[116]:= 0.324; 
let v[116]:= 21.177; 
let a[116]:= -1.698; 
let phy[116]:= 0.500; 
let w[116]:= 0.025; 
let xf[116]:= 69.863; 
let yf[116]:= -54.326; 
let xr[116]:= 67.641; 
let yr[116]:= -55.073; 
let x[117]:= 68.319; 
let y[117]:= -54.629; 
let theta[117]:= 0.521; 
let v[117]:= 21.087; 
let a[117]:= -1.819; 
let phy[117]:= 0.483; 
let w[117]:= -0.346; 
let xf[117]:= 70.564; 
let yf[117]:= -53.342; 
let xr[117]:= 68.530; 
let yr[117]:= -54.508; 
let x[118]:= 69.116; 
let y[118]:= -53.955; 
let theta[118]:= 0.703; 
let v[118]:= 20.995; 
let a[118]:= -1.852; 
let phy[118]:= 0.455; 
let w[118]:= -0.574; 
let xf[118]:= 71.090; 
let yf[118]:= -52.283; 
let xr[118]:= 69.301; 
let yr[118]:= -53.798; 
let x[119]:= 69.786; 
let y[119]:= -53.162; 
let theta[119]:= 0.869; 
let v[119]:= 20.903; 
let a[119]:= -1.843; 
let phy[119]:= 0.421; 
let w[119]:= -0.686; 
let xf[119]:= 71.458; 
let yf[119]:= -51.186; 
let xr[119]:= 69.943; 
let yr[119]:= -52.976; 
let x[120]:= 70.329; 
let y[120]:= -52.281; 
let theta[120]:= 1.018; 
let v[120]:= 20.826; 
let a[120]:= -1.556; 
let phy[120]:= 0.385; 
let w[120]:= -0.723; 
let xf[120]:= 71.687; 
let yf[120]:= -50.078; 
let xr[120]:= 70.457; 
let yr[120]:= -52.074; 
let x[121]:= 70.749; 
let y[121]:= -51.340; 
let theta[121]:= 1.151; 
let v[121]:= 20.744; 
let a[121]:= -1.645; 
let phy[121]:= 0.347; 
let w[121]:= -0.769; 
let xf[121]:= 71.803; 
let yf[121]:= -48.976; 
let xr[121]:= 70.848; 
let yr[121]:= -51.118; 
let x[122]:= 71.057; 
let y[122]:= -50.353; 
let theta[122]:= 1.268; 
let v[122]:= 20.806; 
let a[122]:= 1.242; 
let phy[122]:= 0.307; 
let w[122]:= -0.792; 
let xf[122]:= 71.828; 
let yf[122]:= -47.882; 
let xr[122]:= 71.130; 
let yr[122]:= -50.121; 
let x[123]:= 71.264; 
let y[123]:= -49.336; 
let theta[123]:= 1.370; 
let v[123]:= 20.887; 
let a[123]:= 1.626; 
let phy[123]:= 0.267; 
let w[123]:= -0.801; 
let xf[123]:= 71.780; 
let yf[123]:= -46.800; 
let xr[123]:= 71.313; 
let yr[123]:= -49.097; 
let x[124]:= 71.383; 
let y[124]:= -48.301; 
let theta[124]:= 1.456; 
let v[124]:= 20.964; 
let a[124]:= 1.548; 
let phy[124]:= 0.227; 
let w[124]:= -0.806; 
let xf[124]:= 71.680; 
let yf[124]:= -45.730; 
let xr[124]:= 71.411; 
let yr[124]:= -48.059; 
let x[125]:= 71.429; 
let y[125]:= -47.259; 
let theta[125]:= 1.527; 
let v[125]:= 20.989; 
let a[125]:= 0.501; 
let phy[125]:= 0.188; 
let w[125]:= -0.798; 
let xf[125]:= 71.543; 
let yf[125]:= -44.674; 
let xr[125]:= 71.440; 
let yr[125]:= -47.016; 
let x[126]:= 71.417; 
let y[126]:= -46.215; 
let theta[126]:= 1.583; 
let v[126]:= 21.006; 
let a[126]:= 0.340; 
let phy[126]:= 0.149; 
let w[126]:= -0.780; 
let xf[126]:= 71.386; 
let yf[126]:= -43.628; 
let xr[126]:= 71.414; 
let yr[126]:= -45.972; 
let x[127]:= 71.361; 
let y[127]:= -45.173; 
let theta[127]:= 1.625; 
let v[127]:= 21.013; 
let a[127]:= 0.154; 
let phy[127]:= 0.112; 
let w[127]:= -0.751; 
let xf[127]:= 71.222; 
let yf[127]:= -42.589; 
let xr[127]:= 71.348; 
let yr[127]:= -44.930; 
let x[128]:= 71.275; 
let y[128]:= -44.132; 
let theta[128]:= 1.653; 
let v[128]:= 21.010; 
let a[128]:= -0.062; 
let phy[128]:= 0.076; 
let w[128]:= -0.713; 
let xf[128]:= 71.062; 
let yf[128]:= -41.553; 
let xr[128]:= 71.255; 
let yr[128]:= -43.890; 
let x[129]:= 71.172; 
let y[129]:= -43.094; 
let theta[129]:= 1.669; 
let v[129]:= 20.995; 
let a[129]:= -0.306; 
let phy[129]:= 0.043; 
let w[129]:= -0.664; 
let xf[129]:= 70.918; 
let yf[129]:= -40.519; 
let xr[129]:= 71.149; 
let yr[129]:= -42.852; 
let x[130]:= 71.065; 
let y[130]:= -42.058; 
let theta[130]:= 1.674; 
let v[130]:= 20.967; 
let a[130]:= -0.572; 
let phy[130]:= 0.014; 
let w[130]:= -0.594; 
let xf[130]:= 70.798; 
let yf[130]:= -39.484; 
let xr[130]:= 71.040; 
let yr[130]:= -41.816; 
let x[131]:= 70.962; 
let y[131]:= -41.023; 
let theta[131]:= 1.670; 
let v[131]:= 20.924; 
let a[131]:= -0.850; 
let phy[131]:= -0.011; 
let w[131]:= -0.496; 
let xf[131]:= 70.705; 
let yf[131]:= -38.448; 
let xr[131]:= 70.938; 
let yr[131]:= -40.781; 
let x[132]:= 70.870; 
let y[132]:= -39.990; 
let theta[132]:= 1.659; 
let v[132]:= 20.868; 
let a[132]:= -1.128; 
let phy[132]:= -0.029; 
let w[132]:= -0.370; 
let xf[132]:= 70.641; 
let yf[132]:= -37.413; 
let xr[132]:= 70.849; 
let yr[132]:= -39.748; 
let x[133]:= 70.794; 
let y[133]:= -38.960; 
let theta[133]:= 1.644; 
let v[133]:= 20.801; 
let a[133]:= -1.351; 
let phy[133]:= -0.041; 
let w[133]:= -0.227; 
let xf[133]:= 70.604; 
let yf[133]:= -36.379; 
let xr[133]:= 70.776; 
let yr[133]:= -38.717; 
let x[134]:= 70.736; 
let y[134]:= -37.932; 
let theta[134]:= 1.628; 
let v[134]:= 20.724; 
let a[134]:= -1.556; 
let phy[134]:= -0.045; 
let w[134]:= -0.091; 
let xf[134]:= 70.588; 
let yf[134]:= -35.348; 
let xr[134]:= 70.722; 
let yr[134]:= -37.689; 
let x[135]:= 70.694; 
let y[135]:= -36.906; 
let theta[135]:= 1.611; 
let v[135]:= 20.645; 
let a[135]:= -1.584; 
let phy[135]:= -0.045; 
let w[135]:= 0.005; 
let xf[135]:= 70.589; 
let yf[135]:= -34.321; 
let xr[135]:= 70.684; 
let yr[135]:= -36.663; 
let x[136]:= 70.668; 
let y[136]:= -35.885; 
let theta[136]:= 1.596; 
let v[136]:= 20.567; 
let a[136]:= -1.574; 
let phy[136]:= -0.042; 
let w[136]:= 0.062; 
let xf[136]:= 70.603; 
let yf[136]:= -33.298; 
let xr[136]:= 70.662; 
let yr[136]:= -35.642; 
let x[137]:= 70.657; 
let y[137]:= -34.867; 
let theta[137]:= 1.582; 
let v[137]:= 20.489; 
let a[137]:= -1.562; 
let phy[137]:= -0.037; 
let w[137]:= 0.092; 
let xf[137]:= 70.627; 
let yf[137]:= -32.279; 
let xr[137]:= 70.654; 
let yr[137]:= -34.624; 
let x[138]:= 70.657; 
let y[138]:= -33.852; 
let theta[138]:= 1.571; 
let v[138]:= 20.414; 
let a[138]:= -1.521; 
let phy[138]:= -0.032; 
let w[138]:= 0.106; 
let xf[138]:= 70.657; 
let yf[138]:= -31.265; 
let xr[138]:= 70.657; 
let yr[138]:= -33.609; 
let x[139]:= 70.666; 
let y[139]:= -32.842; 
let theta[139]:= 1.561; 
let v[139]:= 20.340; 
let a[139]:= -1.477; 
let phy[139]:= -0.027; 
let w[139]:= 0.109; 
let xf[139]:= 70.691; 
let yf[139]:= -30.254; 
let xr[139]:= 70.669; 
let yr[139]:= -32.599; 
let x[140]:= 70.684; 
let y[140]:= -31.835; 
let theta[140]:= 1.554; 
let v[140]:= 20.269; 
let a[140]:= -1.436; 
let phy[140]:= -0.021; 
let w[140]:= 0.106; 
let xf[140]:= 70.728; 
let yf[140]:= -29.248; 
let xr[140]:= 70.688; 
let yr[140]:= -31.592; 
let x[141]:= 70.707; 
let y[141]:= -30.831; 
let theta[141]:= 1.548; 
let v[141]:= 20.201; 
let a[141]:= -1.366; 
let phy[141]:= -0.016; 
let w[141]:= 0.102; 
let xf[141]:= 70.766; 
let yf[141]:= -28.244; 
let xr[141]:= 70.712; 
let yr[141]:= -30.588; 
let x[142]:= 70.734; 
let y[142]:= -29.831; 
let theta[142]:= 1.544; 
let v[142]:= 20.137; 
let a[142]:= -1.296; 
let phy[142]:= -0.011; 
let w[142]:= 0.098; 
let xf[142]:= 70.804; 
let yf[142]:= -27.244; 
let xr[142]:= 70.741; 
let yr[142]:= -29.588; 
let x[143]:= 70.763; 
let y[143]:= -28.834; 
let theta[143]:= 1.541; 
let v[143]:= 20.076; 
let a[143]:= -1.219; 
let phy[143]:= -0.006; 
let w[143]:= 0.098; 
let xf[143]:= 70.839; 
let yf[143]:= -26.247; 
let xr[143]:= 70.770; 
let yr[143]:= -28.591; 
let x[144]:= 70.793; 
let y[144]:= -27.840; 
let theta[144]:= 1.541; 
let v[144]:= 20.020; 
let a[144]:= -1.141; 
let phy[144]:= -0.002; 
let w[144]:= 0.100; 
let xf[144]:= 70.871; 
let yf[144]:= -25.253; 
let xr[144]:= 70.800; 
let yr[144]:= -27.597; 
let x[145]:= 70.822; 
let y[145]:= -26.848; 
let theta[145]:= 1.542; 
let v[145]:= 19.966; 
let a[145]:= -1.069; 
let phy[145]:= 0.004; 
let w[145]:= 0.105; 
let xf[145]:= 70.896; 
let yf[145]:= -24.261; 
let xr[145]:= 70.829; 
let yr[145]:= -26.605; 
let x[146]:= 70.847; 
let y[146]:= -25.859; 
let theta[146]:= 1.545; 
let v[146]:= 19.917; 
let a[146]:= -0.995; 
let phy[146]:= 0.009; 
let w[146]:= 0.110; 
let xf[146]:= 70.913; 
let yf[146]:= -23.272; 
let xr[146]:= 70.853; 
let yr[146]:= -25.615; 
let x[147]:= 70.867; 
let y[147]:= -24.871; 
let theta[147]:= 1.551; 
let v[147]:= 19.871; 
let a[147]:= -0.924; 
let phy[147]:= 0.015; 
let w[147]:= 0.116; 
let xf[147]:= 70.919; 
let yf[147]:= -22.284; 
let xr[147]:= 70.872; 
let yr[147]:= -24.628; 
let x[148]:= 70.879; 
let y[148]:= -23.886; 
let theta[148]:= 1.558; 
let v[148]:= 19.827; 
let a[148]:= -0.888; 
let phy[148]:= 0.021; 
let w[148]:= 0.120; 
let xf[148]:= 70.912; 
let yf[148]:= -21.299; 
let xr[148]:= 70.882; 
let yr[148]:= -23.643; 
let x[149]:= 70.883; 
let y[149]:= -22.903; 
let theta[149]:= 1.567; 
let v[149]:= 19.785; 
let a[149]:= -0.850; 
let phy[149]:= 0.027; 
let w[149]:= 0.121; 
let xf[149]:= 70.891; 
let yf[149]:= -20.316; 
let xr[149]:= 70.883; 
let yr[149]:= -22.660; 
let x[150]:= 70.875; 
let y[150]:= -21.922; 
let theta[150]:= 1.579; 
let v[150]:= 19.744; 
let a[150]:= -0.815; 
let phy[150]:= 0.033; 
let w[150]:= 0.116; 
let xf[150]:= 70.854; 
let yf[150]:= -19.335; 
let xr[150]:= 70.873; 
let yr[150]:= -21.679; 
let x[151]:= 70.854; 
let y[151]:= -20.943; 
let theta[151]:= 1.592; 
let v[151]:= 19.704; 
let a[151]:= -0.807; 
let phy[151]:= 0.038; 
let w[151]:= 0.104; 
let xf[151]:= 70.799; 
let yf[151]:= -18.356; 
let xr[151]:= 70.849; 
let yr[151]:= -20.700; 
let x[152]:= 70.819; 
let y[152]:= -19.967; 
let theta[152]:= 1.607; 
let v[152]:= 19.665; 
let a[152]:= -0.795; 
let phy[152]:= 0.042; 
let w[152]:= 0.079; 
let xf[152]:= 70.726; 
let yf[152]:= -17.381; 
let xr[152]:= 70.810; 
let yr[152]:= -19.724; 
let x[153]:= 70.769; 
let y[153]:= -18.993; 
let theta[153]:= 1.622; 
let v[153]:= 19.626; 
let a[153]:= -0.785; 
let phy[153]:= 0.044; 
let w[153]:= 0.039; 
let xf[153]:= 70.637; 
let yf[153]:= -16.409; 
let xr[153]:= 70.756; 
let yr[153]:= -18.750; 
let x[154]:= 70.705; 
let y[154]:= -18.022; 
let theta[154]:= 1.637; 
let v[154]:= 19.586; 
let a[154]:= -0.790; 
let phy[154]:= 0.043; 
let w[154]:= -0.020; 
let xf[154]:= 70.534; 
let yf[154]:= -15.440; 
let xr[154]:= 70.689; 
let yr[154]:= -17.779; 
let x[155]:= 70.628; 
let y[155]:= -17.054; 
let theta[155]:= 1.650; 
let v[155]:= 19.547; 
let a[155]:= -0.790; 
let phy[155]:= 0.038; 
let w[155]:= -0.096; 
let xf[155]:= 70.423; 
let yf[155]:= -14.474; 
let xr[155]:= 70.609; 
let yr[155]:= -16.811; 
let x[156]:= 70.542; 
let y[156]:= -16.088; 
let theta[156]:= 1.660; 
let v[156]:= 19.508; 
let a[156]:= -0.783; 
let phy[156]:= 0.029; 
let w[156]:= -0.183; 
let xf[156]:= 70.311; 
let yf[156]:= -13.511; 
let xr[156]:= 70.520; 
let yr[156]:= -15.846; 
let x[157]:= 70.450; 
let y[157]:= -15.125; 
let theta[157]:= 1.665; 
let v[157]:= 19.470; 
let a[157]:= -0.771; 
let phy[157]:= 0.015; 
let w[157]:= -0.271; 
let xf[157]:= 70.207; 
let yf[157]:= -12.549; 
let xr[157]:= 70.428; 
let yr[157]:= -14.883; 
let x[158]:= 70.360; 
let y[158]:= -14.164; 
let theta[158]:= 1.664; 
let v[158]:= 19.433; 
let a[158]:= -0.752; 
let phy[158]:= -0.002; 
let w[158]:= -0.353; 
let xf[158]:= 70.118; 
let yf[158]:= -11.587; 
let xr[158]:= 70.337; 
let yr[158]:= -13.921; 
let x[159]:= 70.275; 
let y[159]:= -13.203; 
let theta[159]:= 1.659; 
let v[159]:= 19.397; 
let a[159]:= -0.706; 
let phy[159]:= -0.016; 
let w[159]:= -0.282; 
let xf[159]:= 70.048; 
let yf[159]:= -10.626; 
let xr[159]:= 70.254; 
let yr[159]:= -12.961; 
let x[160]:= 70.199; 
let y[160]:= -12.244; 
let theta[160]:= 1.650; 
let v[160]:= 19.365; 
let a[160]:= -0.647; 
let phy[160]:= -0.025; 
let w[160]:= -0.168; 
let xf[160]:= 69.993; 
let yf[160]:= -9.665; 
let xr[160]:= 70.180; 
let yr[160]:= -12.002; 
let x[161]:= 70.132; 
let y[161]:= -11.288; 
let theta[161]:= 1.641; 
let v[161]:= 19.300; 
let a[161]:= -1.310; 
let phy[161]:= -0.028; 
let w[161]:= -0.059; 
let xf[161]:= 69.950; 
let yf[161]:= -8.706; 
let xr[161]:= 70.115; 
let yr[161]:= -11.045;